Paving system and method

• US 8,099,218 B2
• Filed: 11/30/2007
• Issued: 01/17/2012
• Est. Priority Date: 11/30/2007
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Glee, Katherine C., Potts, Dean R., Corcoran, Paul T., Rasmussen, Terry L.
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US11/998,660
• Publication Number:
  US 20090142133A1
• Time in Patent Office: 1,509 Days
• Field of Search: 701/50, 366/4, 366/7, 366/12, 366/25, 366/22, 366/57, 366/228, 366/233, 524/59, 524/60, 524/62, 524/64, 524/68, 524/70, 524/71, 524/476, 524/534, 524/575.5, 428/35.7, 428/36.8, 428/36.92, 428/440, 428/462, 428/489, 106/271, 106/274, 106/277, 106/278, 106/279, 106/280, 106/281.1, 427/138, 427/388.1, 427/388.5, 427/389.8, 404/17, 404/72, 404/77, 404/79, 404/92, 404/95, 220/260, 220/288, 206/447, 206/524.7, 208/44, 516/43
• US Class Current: 701/50
• CPC Class Codes: E01C 19/004 Devices for guiding or controlling the machines along a predetermined path for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045
• CPC Class Codes: E01C 19/288 adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements
• CPC Class Codes: E01C 19/48 for laying-down the materials and consolidating them, or finishing the surface , e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ E01C19/002, E01C23/065 take precedence; devices for guiding or controlling the machines along a predetermined path E01C19/004
• CPC Class Codes: Y10T 428/1352 Polymer or resin containing [i.e., natural or synthetic]
• CPC Class Codes: Y10T 428/1386 Natural or synthetic rubber or rubber-like compound containing
• CPC Class Codes: Y10T 428/1397 Single layer [continuous layer]
• CPC Class Codes: Y10T 428/31641 Next to natural rubber, gum, oil, rosin, wax, bituminous or tarry residue
• CPC Class Codes: Y10T 428/31696 Including polyene monomers [e.g., butadiene, etc.]

Abstract

A method of operating a paving system includes establishing a plan for paving a work area which is based on a positional temperature model. The method further includes receiving temperature data for paving material and comparing the temperature data with data predicted by the positional temperature model. Operation of the paving system is adjusted where actual data differs from model predicted data. A paving system and control system are provided having an electronic control unit configured to compare electronic temperature data with a positional temperature model for paving material. The electronic control unit can control machines of the paving system based on comparing actual data with model predicted data, and can further update either or both of a plan for paving a work area and the positional temperature model itself based on differences between actual data and model predicted data. A complete temperature profile of a paving work area, including a comparison with the model may be recorded in computer readable memory for forensic and predictive analysis.

Claims

1. A method of operating a paving system comprising the steps of:

establishing a plan for paving a work area with the paving system which is based on a positional temperature model for paving material recorded in a computer readable memory;

outputting machine navigation signals which are based on the plan to a paving machine, a compacting machine or a supply machine, of the paving system;

receiving electronic data that includes temperature data for a paving material subsequent to outputting the machine navigation signals; and

comparing the electronic data with data predicted by the positional temperature model.

2. The method of claim 1 wherein the step of receiving electronic data further comprises receiving temperature data from a temperature sensor of the paving system during paving the work area, the method further comprising a step of outputting a signal in response to comparing the electronic data with predicted data.

3. The method of claim 2 wherein the step of receiving electronic data further comprises receiving position data from a position sensor mounted on the paving machine, the compacting machine, or the supply machine, the method further comprising a step of mapping paving material temperature within a work area based on the temperature data and the position data.

4. The method of claim 3 further comprising a step of recording temperature mapping data and model comparison data corresponding to the temperature mapping data in a computer readable memory.

5. The method of claim 2 wherein the positional temperature model comprises a temperature decay model, and wherein the comparing step comprises comparing a sensed paving material temperature with a paving material temperature predicted by the temperature decay model.

6. The method of claim 5 further comprising a step of initializing the positional temperature model by inputting values for a plurality of model parameters.

7. The method of claim 2 further comprising a step of updating the plan based on comparing the electronic data with the data predicted by the positional temperature model.

8. The method of claim 2 wherein the step of outputting a signal comprises outputting a machine navigation signal.

9. The method of claim 8 wherein:

the step of receiving electronic data includes receiving data indicative of a position of a first machine of the paving system relative to a second machine of the paving system; and

the method further comprising a step of controlling a relative position between the first and second machines in a manner which is responsive to the machine navigation signal.

10. The method of claim 8 wherein:

the step of receiving electronic data includes receiving data indicative of a position of at least one compacting machine relative to a region of the mat having a temperature within a predefined temperature range;

the method further comprising a step of controlling a position of the at least one compacting machine relative to the region of the mat in a manner which is responsive to the machine navigation signal.

11. The method of claim 10 wherein the step of receiving electronic data includes receiving data indicative of a position of each of two compacting machines relative to a region of the paving material mat having a temperature within a tender zone of the paving material, and wherein the step of controlling a position of the at least one compacting machine comprises controlling a position of each of the compacting machines.

12. A paving system comprising:

at least one machine having a frame and ground engaging elements mounted to said frame, and being configured to interact with a paving material, said at least one machine including a paving machine, a compacting machine, or a supply machine;

a control system which includes an electronic control unit, a computer readable memory, and a memory writing device;

said electronic control unit being configured via said memory writing device to record plan data on said computer readable memory for paving a work area, wherein the plan data is based on a positional temperature model recorded on said computer readable memory;

said electronic control unit being further configured to receive electronic data which includes temperature data for the paving material, and to compare said electronic data with data predicted by said positional temperature model.

13. The paving system of claim 12 further comprising a signaling device, said electronic control unit being configured via said signaling device to output machine navigation signals to at least one machine of said paving system which are based on said plan data.

14. The paving system of claim 13 wherein said electronic control unit is further configured via said memory writing device to update said plan data on comparing said electronic data with said predicted data.

15. The paving system of claim 13 wherein said at least one machine comprises a paving machine, and said paving system further comprises a plurality of compacting machines each having a receiver configured to receive said machine navigation signals and a transmitter configured to output data signals comprising paving material temperature data and machine position data associated with the corresponding compacting machine.

16. The paving system of claim 15 wherein said electronic control unit is further configured via said memory writing device to record temperature mapping data and model comparison data based on said data signals on said computer readable memory.

17. A paving control system comprising:

a computer readable memory;

a memory writing device; and

an electronic control unit configured via said memory writing device to record a positional temperature model for paving material on said computer readable memory, and also configured to record plan data for paving a work area with a paving system on said computer readable memory which is based on said positional temperature model;

said electronic control unit being further configured to receive electronic data including temperature data for a paving material and to output a signal based on a difference between said electronic data and data predicted by said positional temperature model.

18. The paving control system of claim 17 further comprising a signaling device coupled with said electronic control unit, wherein said electronic control unit is configured to determine said plan data based on said positional temperature model, and further configured via said signaling device to output machine navigation signals for a plurality of machines of said paving system which are based on said plan data.

19. The paving control system of claim 18 wherein said computer readable memory stores a closed loop control algorithm comprising computer executable code, said closed loop control algorithm comprising an outer loop and an inner loop, and said electronic control unit being configured via said outer loop to update said plan data and configured via said inner loop to determine said machine navigation signals.

20. The paving control system of claim 19 wherein said closed loop control algorithm comprises a learning algorithm, and wherein said electronic control unit is configured via said learning algorithm to update said positional temperature model based on comparing said electronic data with said predicted data.

21. A paving control system comprising:

an electronic control unit; and

a computer readable and writable memory coupled with the electronic control unit;

the electronic control unit being configured to record plan data on the computer readable and writable memory for paving a work area via a paving system, wherein the plan data is based on an electronically recorded positional temperature model; and

the electronic control unit being further configured to receive electronic temperature data for a paving material used in paving the work area, and to output a signal based on a difference between the electronic temperature data and temperature data predicted by the positional temperature model.