Laser-based controller for adjusting the height of a machining tool of a construction machine

• US 6,916,070 B2
• Filed: 11/28/2001
• Issued: 07/12/2005
• Est. Priority Date: 12/07/2000
• Status: Expired due to Fees

• Current Assignee: MOBA Mobile Automation GmbH
• Original Assignee: MOBA Mobile Automation GmbH
• Inventors: Sehr, Willibald
• Primary Examiner(s): KRECK, JOHN J
• Application Number:
  US10/433,863
• Publication Number:
  US 20040068896A1
• Time in Patent Office: 1,322 Days
• Field of Search: 299/1.05, 299/1.4, 299/1.5, 299/39.6, 404 841- 848, 356 303- 308
• US Class Current: 299/1.5
• CPC Class Codes: E01C 19/006 by laser or ultrasound

Abstract

A laser-regulating means for a construction machine for adjusting the height of a height-adjustable machining tool includes three laser measuring heads which are directed to three measuring points being spaced from each other on a reference surface, and an evaluating means, which, from the output signals of the laser measuring heads and from the known geometric arrangement of the laser measuring heads as regards the machining tool, determines the height of the machining tool relative to a reference surface and, from this height and from a target height determines a control signal for a height-adjustment of the machining tool. The construction machine is a road finisher with a height-adjustable plank or a cold planer with a height-adjustable milling drum.

Claims

1. Laser-regulating means for a construction machine for adjusting the height of a height-adjustable machining tool, comprising

a first laser measuring head, a second laser measuring head, and a third laser measuring head, which are arranged at the construction machine, with the first laser measuring head and the second laser measuring head being arranged at a first angle to each other, with the first laser measuring head and the third laser measuring head being arranged at a second angle to each other, with the first angle and the second angle being selected such that a first measuring point of the first laser measuring head, a second measuring point of the second laser measuring head, and a third measuring point of the third laser measuring head are spaced from each other on a reference surface, with the first measuring point, the second measuring point, and the third measuring point being arranged essentially behind each other in the direction of motion of the construction machine;

and

an evaluating means, which, depending on output signals of the first laser measuring head, the second laser measuring head, and the third laser measuring head, determines a first distance of the first laser measuring head from the reference surface, a second distance of the second laser measuring head from the reference surface, and a third distance of the third laser measuring head from the reference surface, on the basis of the determined distances and the known geometric arrangement of the first laser measuring head, the second laser measuring head, and the third laser measuring head relative to the machining tool, calculates the height of the machining tool relative to the reference surface and, depending on the calculated height and a target height, generates a height-control signal for the machining tool.

2. Laser-regulating means in accordance with claim 1, including a fourth laser measuring head and a fifth laser measuring head, with the fourth laser measuring head being arranged at the construction machine at a third angle relative to the first laser measuring head, with the fifth laser measuring head being arranged at the construction machine at a fourth angle relative to the first laser measuring head, with the third angle and the fourth angle being selected such that the first measuring point, the second measuring point, the third measuring point, a fourth measuring point of the fourth laser measuring head, and a fifth measuring point of the fifth laser measuring head being spaced from each other on the reference surface and that the first, second, third, fourth and fifth measuring point lie essentially behind each other in the direction of motion of the construction machine, with the evaluating means further calculating the height of the machining tool depending on a fourth distance of the fourth laser measuring head relative to the reference surface, a fifth distance of the fifth laser measuring head relative to the reference surface, and the known geometric arrangement of the fourth laser measuring head and the fifth laser measuring head with respect to the machining tool.

3. Laser-regulating means in accordance with claim 2, wherein on the basis of the first, second, third, fourth, and fifth distance the evaluating means determines differences of two distances thereof, and classifies those distances as valid, the differences of which are smaller than a threshold value.

4. Laser-regulating means in accordance with claim 1, wherein the evaluating means discards one of the determined distances as invalid and does not use the same for generating the height-control signal, if the respective distance lies outside a predetermined range.

5. Laser-regulating means in accordance with claim 4, wherein the predetermined range is specified by a predetermined distance above/below a plane, with the plane being specified by the remaining distances.

6. Laser-regulating means in accordance with claim 1, wherein the evaluating means averages the determined distances.

7. Laser-regulating means in accordance with claim 1, wherein the laser measuring heads are adjacent to each other in spatial proximity, and are arranged essentially behind each other in the direction of motion and essentially at equal distances to the machining tool.

8. Laser-regulating means in accordance with claim 1, wherein one of the laser measuring heads is aligned with the pertaining measuring point and the machining tool.

9. Laser-regulating means in accordance with claim 1, wherein the construction machine is a road finisher, and the machining tool is a plank, which is connected to the road finisher via a traction arm, with the laser measuring heads being mounted via a mounting to the traction arm in a common housing, with the height-control signal generated by the evaluating means causing an adjustment of the traction arm of the plank.

10. Laser-regulating means in accordance with claim 1, wherein the construction machine is a cold planer having a front and a rear gear, at least one of which is height-adjustable, and wherein the machining tool is a mill, with the laser measuring heads being mounted in a common housing via a mounting to the cold planer, with the height-control signal generated by the evaluating means causing a height-adjustment of the front and/or rear gear.

11. Laser-regulating means in accordance with claim 9, wherein one of the laser measuring heads being aligned with the pertaining measuring point and the rear edge of the plank.

12. Laser-regulating means in accordance with claim 10, wherein one of the laser measuring heads is aligned with the pertaining measuring point and the axis of the milling drum.

13. Laser-based controller for adjusting the height of a machining tool of a construction machine, the controller comprising

a first laser measuring head;

a second laser measuring head;

a third laser measuring head;

wherein the first laser measuring head is configured to emit a first laser beam, the second laser measuring head is configured to emit a second laser beam under a first angle with regard to the first laser beam, and the third laser measuring head is configured to emit a third laser beam under a second angle with regard to the first laser beam,

wherein the first angle and the second angle are selected such that a first, second and third measuring point of the first, second and third laser measuring head are arranged spaced from each other and behind each other in the direction of motion of the construction machine on a reference surface, and

wherein the laser measuring heads are arranged adjacent to each other in spatial proximity above the adjustable machining tool; and

an evaluating means configured to determine, on the basis of output signals from the first, second and third laser measuring heads, a first distance of the first laser measuring head from the reference surface, a second distance of the second laser measuring head from the reference surface, and a third distance of the third laser measuring head from the reference surface,

wherein the evaluating means is further configured to calculate, on the basis of the determined distances and the known geometric arrangement of the first, second and third measuring head relative to the machining tool, the height of the machining tool relative to the reference surface, and

wherein the evaluating means is further configured to generate, on the basis of the calculated height and a target height, a height-control signal for the machining tool.