Self-propelled civil engineering machine and method of controlling a self-propelled civil engineering machine

• US 8,888,402 B2
• Filed: 11/22/2013
• Issued: 11/18/2014
• Est. Priority Date: 12/18/2009
• Status: Active Grant

• Current Assignee: Wirtgen GmbH (Deere & Company)
• Original Assignee: Wirtgen GmbH (Deere & Company)
• Inventors: Fritz, Matthias, Barimani, Cyrus, Hhn, Gnter
• Primary Examiner(s): Addie, Raymond W
• Application Number:
  US14/087,988
• Publication Number:
  US 20140081532A1
• Time in Patent Office: 361 Days
• Field of Search: 404 8405- 84
• US Class Current: 404/84.2
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• 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 19/48 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: E01C 23/088 Rotary tools, e.g. milling drums for forming recesses to receive marking materials E01C23/0946
• CPC Class Codes: E01C 23/127 rotary, e.g. rotary hammers
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles

Abstract

The invention relates to a self-propelled civil engineering machine, and in particular to a slipform paver, road paver or road milling machine, and to a method of controlling a self-propelled civil engineering machine. The civil engineering machine according to the invention has a control unit which is configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system (X, Y, Z) independent of the position and orientation of the civil engineering machine. The reference system (X, Y, Z) independent of the machine-related reference system (x, y, z) may be selected as desired, and there is thus no need for the positions of various reference points to be plotted on the ground.

Claims

1. A method of controlling a self-propelled civil engineering machine for movement in a reference system fixed relative to a ground surface, the machine including a working unit configured to produce a structure on the ground surface or to make changes to the ground surface, the method comprising:

(a) defining a defined shape independent from the reference system fixed relative to the ground surface;

(b) defining a desired position and orientation of the defined shape in the reference system fixed relative to the ground surface;

(c) determining on the basis of the defined shape and the desired position and orientation of the defined shape, path data in the reference system fixed relative to the ground surface;

(d) determining of data which defines a position and orientation of the civil engineering machine in relation to the reference system fixed relative to the ground surface; and

(e) controlling of the civil engineering machine as a function of the path data, in such a way that the working unit produces the structure or makes the changes to the ground surface according to the defined shape and in the desired position and orientation in the reference system fixed relative to the ground surface.

2. The method of claim 1, the machine being a road-milling machine, and wherein the working unit is a milling drum.

3. The method of claim 1, the machine being a slipform paver, and wherein the working unit is a concrete mold.

4. The method of claim 1, the machine being a road paver machine, and wherein the working unit is a screed for shaping material.

5. The method of claim 1, wherein:

in step (c) the path data includes a current position of the civil engineering machine in the reference system fixed relative to the ground surface, as a starting point for the path data.

6. The method of claim 1, wherein step (a) comprises inputting parameters defining the defined shape.

7. The method of claim 1, wherein step (a) comprises selecting one defined shape from a plurality of defined shapes.

8. The method of claim 1, wherein the path data defines a distance travelled along a desired path and/or its curvature.

9. The method of claim 1, wherein the reference system fixed relative to the ground surface is selected at random.

10. The method of claim 1, wherein step (d) is performed continuously.

11. The method of claim 1, wherein step (d) is performed in discrete increments.

12. A control system configured to control the movements of a civil engineering machine on a ground surface, the control system being configured to control the civil engineering machine as a function of path data defining a desired path of the civil engineering machine, the path data being determined on the basis of a defined shape defined independent of a reference system fixed relative to the ground surface and on the basis of a desired position and orientation of the defined shape in the reference system fixed relative to the ground surface, such that the civil engineering machine moves along the desired path such that a working unit of the civil engineering machine produces the structure or makes the changes to the ground surface according to the defined shape and in the desired position and orientation in the reference system fixed relative to the ground surface.

13. The control system of claim 12, wherein:

the desired position and orientation of the defined shape in the reference system fixed relative to the ground surface is based on a current position and orientation of the civil engineering machine relative to the reference system fixed relative to the ground surface.

14. The control system of claim 12, wherein:

the path data defines a distance travelled along the desired path and/or a curvature of the desired path.

15. The control system of claim 12, wherein the control system is configured to control the drive unit, as a function of the position and/or orientation of the civil engineering machine relative to the reference system fixed relative to the ground surface, such that the distance between a desired position of the civil engineering machine, as defined by the desired path, and an actual position of the civil engineering machine, and/or a difference in direction between a desired direction of the civil engineering machine defined by the desired path and an actual direction of the civil engineering machine, is minimal.

16. The control system of claim 12, further including at least one DGPS receiver for decoding GPS satellite signals from a satellite-based global positioning system and correcting signals from a reference station.

17. The control system of claim 16, wherein the control system is configured to determine the orientation of the civil engineering machine as a function of the data from the at least one DGPS receiver, an alignment of a steerable drive track or wheel of the civil engineering machine and a distance driven by the civil engineering machine.

18. The control system of claim 12, further including at least one terrestrial measuring system.

19. The control system of claim 12, further including a first and second DGPS receiver for decoding GPS satellite signals from a satellite-based global positioning system and correcting signals from a reference station for determining the position and orientation of the civil engineering machine, the first and second DGPS receivers being arranged in different positions on the civil engineering machine.

20. The control system of claim 12, further including a first and second receiver belonging to a non-satellite measuring system for determining the position and orientation of the civil engineering machine, the first and second receivers being arranged in different positions on the civil engineering machine.

21. The control system of claim 12, further including an input unit operable for the input of parameters to define the defined shape.

22. The control system of claim 21, wherein the parameters are parameters which define the length of a straight line and/or the radius of an arc of a circle.

23. The control system of claim 12, further including an input unit operable to select one defined shape from a plurality of pre-defined shapes.

24. The control system of claim 23, further including a storage unit which co-operates with the input unit and in which the plurality of pre-defined shapes are stored.

25. The control system of claim 23, wherein the input unit is operable to modify a pre-defined shape.

26. The control system of claim 12, wherein the control system is operable to start the movement of the civil engineering machine at a preset starting point on the ground surface at which the civil engineering machine is in a preset position and orientation.

27. The control system of claim 12, wherein the control system is operable to stop the movement of the civil engineering machine along the desired path.

28. The control system of claim 12, wherein the civil engineering machine is a road milling machine, the working unit having a milling arrangement having a milling drum.

29. The control system of claim 12, wherein the civil engineering machine is a slipform paver, the working unit having an arrangement for molding flowable material.

30. The control system of claim 12, wherein the civil engineering machine is a road paver, the working unit having a screed for shaping material.

31. The control system of claim 12, wherein:

the control system is configured to control the drive unit to steer the civil engineering machine to a point on the desired path when the civil engineering machine is not located on the desired path.

32. The control system of claim 12, wherein:

the control system is completely contained in a control unit mounted on the civil engineering machine.

33. The control system of claim 12, wherein:

the control system is configured such that a position and orientation of the civil engineering machine in relation to the reference system fixed relative to the ground surface is determined continuously.

34. The control system of claim 12, wherein:

the control system is configured such that a position and orientation of the civil engineering machine in relation to the reference system fixed relative to the ground surface is determined in discrete increments.