Slipform Paver Conveyor Control for Collision-Aware Positioning
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Solution Overview
Problem
The operation of slipform pavers, particularly the conveying device, is complex and requires manual control of multiple actuators to manage the movement and positioning within a defined zone of movement, increasing the risk of collisions with machine parts or external objects.
Innovation Solution
A controller is implemented to define a collision area within the zone of movement, using actuators to pivot the conveying device about horizontal and vertical axes and move it translationally, with sensors and 3D cameras for position determination, emitting control signals for stopping or warning when approaching collision areas, and allowing for manual or automatic adaptation of the collision area based on machine frame and ground-engaging unit configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the conveying device is made pivotable about horizontal and vertical axes with multiple actuators to enable flexible material transport, then the adaptability and versatility of the slipform paver is improved, but the device complexity and ease of operation deteriorate due to the need for manual control of multiple actuators
Solution Approach 1:
The patent combines multiple actuator controls into a single integrated control system. The controller receives a single control input and automatically coordinates all actuators (first actuator for horizontal pivoting, second actuator for vertical pivoting, third actuator for translational movement) to achieve the desired conveying device position and orientation, eliminating the need for manual control of each actuator separately.
Solution Approach 2:
The control system performs self-coordination by automatically calculating and executing the sequence of actuator movements required to reposition the conveying device. The controller independently manages the complex multi-axis coordination based on the desired target position, freeing the operator from manual control complexity while maintaining full adaptability.
2Adaptability or versatility
If the conveying device is made pivotable about horizontal and vertical axes with multiple actuators to enable flexible material transport, then the adaptability and versatility of the slipform paver is improved, but the ease of operation deteriorates due to the increasing requirement to simplify operation
Solution Approach 1:
The controller acts as an intermediary between the operator and the multiple actuators. Instead of the operator directly controlling each actuator, the controller mediates by receiving a single high-level command and automatically translating it into coordinated actuator movements, simplifying the operator's task while maintaining precise control over the complex multi-axis system.
Solution Approach 2:
The control system autonomously manages the coordination of multiple actuators without requiring manual intervention for each movement. The controller independently calculates and executes the sequence of movements needed to reposition the conveying device, making the system self-sufficient in managing its own complexity while remaining easy to operate.
3Adaptability or versatility
If the zone of movement of the conveying device is enlarged to allow flexible positioning, then the adaptability is improved, but the risk of collision with machine parts or external objects increases
Solution Approach 1:
The system continuously monitors the position of the conveying device and compares it against defined collision areas. Sensors provide real-time feedback on the conveying device's location, and the controller uses this information to detect when the device approaches collision boundaries, enabling automatic corrective action to prevent collisions while maintaining full movement flexibility within safe zones.
Solution Approach 2:
The control system proactively prevents collisions by defining collision areas in advance and implementing preventive control measures. Before the conveying device can enter a collision area, the system detects the approach and automatically issues stop commands or warning signals, counteracting the potential harmful effect before it occurs while allowing maximum safe movement freedom.
4Reliability
If sensors and 3D cameras are added for position determination and collision detection, then the reliability of collision avoidance is improved, but the device complexity increases
Solution Approach 1:
The controller is designed as a multi-functional system that simultaneously performs position determination, collision area monitoring, collision prediction, and actuator coordination. By consolidating multiple functions into a single integrated control unit, the system achieves high collision avoidance reliability without proportionally increasing overall system complexity, as the controller handles all these tasks through unified processing.
Data Source
AI summary
A slipform paver includes at least one machine frame and at least three travelling devices connected to the machine frame. At least one conveyor is connected to the machine frame such that the conveyor is pivotable relative to the machine frame about a horizontal axis and about a vertical axis. At least one first actuator is configured to pivot the conveyor about the horizontal axis and at least one second actuator is configured to pivot the conveyor about the vertical axis, such that the conveyor is movable by at least the first actuator and the second actuator within a zone of movement defined relative to the machine frame. A controller is configured to define at least one area of collision within the zone of movement and to determine a position of the conveyor relative to the area of collision.