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

• US 9,181,660 B2
• Filed: 01/18/2013
• Issued: 11/10/2015
• Est. Priority Date: 01/25/2012
• Status: Active Grant

• Current Assignee: Wirtgen GmbH (Deere & Company)
• Original Assignee: Wirtgen GmbH (Deere & Company)
• Inventors: Fritz, Matthias, Dahm, Martin, Barimani, Cyrus, Hhn, Gnter
• Primary Examiner(s): Risic, Abigail A
• Application Number:
  US13/744,862
• Publication Number:
  US 20130189031A1
• Time in Patent Office: 1,026 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/17 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: B60W 2530/18 Distance travelled
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: E01C 19/00 Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving surface stabilisation E01C21/00; apparatus specially adapted for reconditioning or repairing paving E01C23/00
• 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 19/008 by reference lines placed along the road, e.g. wires co-operating with feeler elements E01C19/006 takes precedence
• CPC Class Codes: E01C 19/4886 for forming in a continuous operation kerbs, gutters, berms, safety kerbs, median barriers or like structures in situ, e.g. by slip-forming, by extrusion removable forms for kerbs, gutters or similar structures E01C19/506; making conduits in situ E02D29/10
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004

Abstract

A civil engineering machine and a method of controlling the machine are based on the position of at least one reference point which is relevant to the control of the civil engineering machine being changed, as the civil engineering machine moves, as a function of a relative position of the at least one reference point relative to a desired path of travel.

Claims

1. A self-propelled civil engineering machine,

having a chassis,

having a working unit arranged on the chassis of the machine, the working unit configured to produce structures on a piece of ground or to change the piece of ground,

having a drive unit configured to enable the civil engineering machine to perform translatory and/or rotational movements on the ground, and

having a control and calculating unit,

the control and calculating unit being configured to determine a deviation from a desired distance or path of travel of at least one reference point on the civil engineering machine, the desired distance or path of travel being defined by at least one straight line and/or at least one curve, and

the control and calculating unit being configured to control the drive unit depending on the deviation from the desired distance or path of travel of the at least one reference point on the civil engineering machine, the reference point thus moving along the desired distance or path of travel or along the desired distance or path of travel at a preset spacing therefrom,

characterised in that

the control and calculating unit is configured such that, as the civil engineering machine moves, a position of the at least one reference point relative to the civil engineering machine can be changed continuously depending on a position of the at least one reference point relative to the desired distance or path of travel.

2. The civil engineering machine according to claim 1, wherein the control and calculating unit is configured such that, before a transition from a substantially straight section of the desired distance or path of travel to a curved section of the desired distance or path of travel, the position of the at least one reference point relative to the civil engineering machine can be shifted from a position which is at the front in the direction of operation to a position which is at the rear in the direction of operation.

3. The civil engineering machine according to claim 1, wherein the control and calculating unit is configured such that, after a transition from a substantially straight section of the desired distance or path of travel to a curved section of the desired distance or path of travel, the position of the at least one reference point relative to the civil engineering machine can be shifted from a position which is at the rear in the direction of operation to a position which is at the front in the direction of operation.

4. The civil engineering machine according to claim 1, wherein the control and calculating unit is configured to determine a deviation from a desired distance or path of travel of a front reference point on the civil engineering machine which is at the front in the direction of operation and of a rear reference point on the civil engineering machine which is at the rear in the direction of operation, the control and calculating unit being configured such that, in a first mode of control, the drive unit is controlled depending on the deviation of the front and rear reference points at the front and rear in the direction of operation when the civil engineering machine is moving along a substantially straight section of the desired distance or path of travel, the front and rear reference points thus moving along the desired distance or path of travel or along the desired distance or path of travel at a spacing therefrom.

5. The civil engineering machine according to claim 4, wherein the control and calculating unit is configured such that the front reference point which is at the front in the direction of operation can be shifted rearward from the position which is at the front in the direction of operation before the transition from the substantially straight section of the desired distance or path of travel to a curved section of the desired distance or path of travel.

6. The civil engineering machine according to claim 5, wherein the control and calculating unit is configured such that, after the transition from the substantially straight section of the desired distance or path of travel to the curved section of the desired distance or path of travel, the front reference point can be shifted forward.

7. The civil engineering machine of claim 4 wherein the control and calculating unit is configured such that, in a second mode of control, the drive unit is controlled depending on the position of the rear reference point which is at the rear in the direction of operation when the civil engineering machine is moving along a curved section of the desired distance or path of travel, the rear reference point thus moving along the desired distance or path of travel or along the desired distance or path of travel at a preset spacing therefrom.

8. The civil engineering machine according to claim 7 wherein the drive unit to enable the civil engineering machine to perform translatory and/or rotational movements on the ground has front wheels or running-gear units and rear wheels or running-gear units and a steering system configured to steer the front wheels or running-gear units and/or the rear wheels or running-gear units, the control and calculating unit being configured such that, in the first mode of control, the position of the front wheels or running-gear units and of the rear wheels or running-gear units can be varied depending on the deviation of the front reference point from the desired distance or path of travel and of the deviation of the rear reference point from the desired distance or path of travel, respectively, and, in the second mode of control, the position of the front wheels or running-gear units can be varied depending on the deviation of the rear reference point from the desired distance or path of travel.

9. The civil engineering machine according to claim 4, wherein the control and calculating unit is configured to determine data defining a line followed by the desired distance or path of travel, the control and calculating unit being configured such that a first control signal is generated when the front reference point is in the region of a transition between a substantially straight section and a curved section of the desired distance or path of travel, the front reference point thus being able to be shifted rearward from the position which is at the front in the direction of operation.

10. The civil engineering machine according to claim 9, wherein the control and calculating unit is configured such that a second control signal is generated when the rear reference point is in the region of the transition between the substantially straight section and the curved section, the front reference point thus being able to be shifted forward.

11. The civil engineering machine according to claim 1, wherein the control and calculating unit comprises a global navigation satellite system (GNSS) and a programmable logic control (PLC) system for the machine.

12. A self-propelled civil engineering machine, comprising:

a chassis;

a working unit arranged on the chassis and configured to produce structures on a piece of ground or to change the piece of ground;

a drive unit configured to move the chassis and working unit in translatory and/or rotational movements on the piece of ground;

at least one reference point defined on the civil engineering machine;

at least one position sensor; and

a controller configured to receive input signals from the at least one sensor and to send control signals to the drive unit, the controller being configured to determine a deviation of the at least one reference point from a desired path of travel and to control the drive unit depending on the deviation, so that the at least one reference point moves along the desired path of travel or at a preset spacing from the desired path of travel, the controller being configured such that as the civil engineering machine moves, a position of the at least one reference point relative to the civil engineering machine can be continuously changed depending on a position of the at least one reference point relative to the desired path of travel.

13. The civil engineering machine of claim 12, wherein:

the controller is configured such that before a transition from a substantially straight section of the desired path of travel to a curved section of the desired path of travel, the position of the at least one reference point relative to the civil engineering machine can be shifted rearward opposite to a direction of travel of the civil engineering machine.

14. The civil engineering machine of claim 12, wherein:

the at least one reference point includes a front reference point and a rear reference point; and

the controller is configured such that before or when the front reference point reaches a transition from a substantially straight section of the desired path of travel to a curved section of the desired path of travel, the position of the front reference point relative to the civil engineering machine is shifted rearward toward the rear reference point.

15. The civil engineering machine of claim 14, wherein:

the controller is configured such that when the rear reference point reaches the transition, the front reference point is substantially coincident with the rear reference point, and the front reference point is inactivated while the rear reference point traverses the curved section of the desired path of travel.

16. The civil engineering machine of claim 15, wherein:

the controller is configured such that as the rear reference point traverses the curved section of the desired path of travel the position of the front reference point relative to the civil engineering machine is shifted forward away from the rear reference point.

17. The civil engineering machine of claim 14, wherein:

the controller is configured such that when the rear reference point reaches the transition, the front reference point is at a preset spacing from the rear reference point.

18. The civil engineering machine of claim 17, wherein:

the controller is configured such that before or when the rear reference point reaches a second transition from the curved section to another substantially straight section of the desired path of travel, the position of the front reference point relative to the civil engineering machine is shifted forward relative to the civil engineering machine.

19. The civil engineering machine of claim 12, wherein:

the drive unit includes one or more front wheels or running-gear units and one or more rear wheels or running-gear units;

the at least one reference point includes a front reference point and a rear reference point; and

the controller is configured such that;

in a first mode of control a position of the front wheels or running-gear units and of the rear wheels or running-gear units is varied depending on a deviation of the front reference point from the desired path of travel and of a deviation of the rear reference point from the desired path of travel, respectively; and

in a second mode of control the position of the front wheels or running gear units is varied depending on the deviation of the rear reference point from the desired path of travel.

20. A self-propelled civil engineering machine, comprising:

a machine frame;

a working unit arranged on the machine frame and configured to produce structures on a piece of ground or to change the piece of ground;

a drive unit configured to move the machine frame and working unit on the piece of ground;

at least one reference point defined on the civil engineering machine;

at least two global navigation satellite system (GNSS) sensors supported from the machine frame; and

a controller configured to receive input signals from the at least two GNSS sensors and to send control signals to the drive unit, the controller being configured to determine based upon the input signals from the GNSS sensors a deviation of the at least one reference point from a desired path of travel and to control the drive unit depending on the deviation, so that the at least one reference point moves along the desired path of travel or at a preset spacing from the desired path of travel, the controller being configured such that as the civil engineering machine moves, a position of the at least one reference point relative to the civil engineering machine can be changed depending on a position of the at least one reference point relative to the desired path of travel.

21. The civil engineering machine of claim 20, wherein:

the at least one reference point is an imaginary reference point on the civil engineering machine.

22. The civil engineering machine of claim 21, wherein:

the controller is configured such that the position of the at least one imaginary reference point relative to the civil engineering machine can be continuously changed.

23. The civil engineering machine of claim 21, wherein:

the controller is configured such that the position of the at least one imaginary reference point relative to the civil engineering machine can be changed in individual steps.

24. The civil engineering machine of claim 20, wherein:

the controller is configured such that before a transition from a substantially straight section of the desired path of travel to a curved section of the desired path of travel, the position of the at least one reference point relative to the civil engineering machine can be shifted rearward opposite to a direction of travel of the civil engineering machine.

25. The civil engineering machine of claim 20, wherein:

the at least one reference point includes a front reference point and a rear reference point; and

the controller is configured such that before or when the front reference point reaches a transition from a substantially straight section of the desired path of travel to a curved section of the desired path of travel, the position of the front reference point relative to the civil engineering machine is shifted rearward toward the rear reference point.

26. The civil engineering machine of claim 25, wherein:

the controller is configured such that when the rear reference point reaches the transition, the front reference point is at a preset spacing from the rear reference point.

27. The civil engineering machine of claim 26, wherein:

the controller is configured such that before or when the rear reference point reaches a second transition from the curved section to another substantially straight section of the desired path of travel, the position of the front reference point relative to the civil engineering machine is shifted forward relative to the civil engineering machine.

28. A self-propelled civil engineering machine, comprising:

a machine frame;

a working unit arranged on the machine frame and configured to produce structures on a piece of ground or to change the piece of ground;

a drive unit configured to move the machine frame and working unit on the piece of ground;

at least one spacing sensor supported from the machine frame and configured to detect a position of the at least one spacing sensor relative to the piece of ground; and

a controller configured to receive input signals from the at least one spacing sensor and to send control signals to the drive unit, the controller being configured to determine a deviation of the position of the at least one spacing sensor from a desired path of travel and to control the drive unit depending on the deviation, so that the at least one spacing sensor moves along the desired path of travel or at a preset spacing from the desired path of travel, the controller being configured such that as the civil engineering machine moves, a position of the at least one spacing sensor relative to the civil engineering machine can be changed as depending on the position of the at least one spacing sensor relative to the desired path of travel.

29. The civil engineering machine of claim 28, wherein:

the controller is configured such that the position of the at least one spacing sensor relative to the civil engineering machine can be continuously changed.

30. The civil engineering machine of claim 28, wherein:

the controller is configured such that the position of the at least one spacing sensor relative to the civil engineering machine can be changed in individual steps.

31. The civil engineering machine of claim 28, wherein:

the controller is configured such that before a transition from a substantially straight section of the desired path of travel to a curved section of the desired path of travel, the position of the at least one spacing sensor relative to the civil engineering machine can be shifted rearward opposite to a direction of travel of the civil engineering machine.

32. The civil engineering machine of claim 28, wherein:

the at least one spacing sensor includes a front spacing sensor and a rear spacing sensor; and

the controller is configured such that before or when the front spacing sensor reaches a transition from a substantially straight section of the desired path of travel to a curved section of the desired path of travel, the position of the front spacing sensor relative to the civil engineering machine is shifted rearward toward the rear spacing sensor.

33. The civil engineering machine of claim 32, wherein:

the controller is configured such that when the rear spacing sensor reaches the transition, the front spacing sensor is at a preset spacing from the rear spacing sensor.

34. The civil engineering machine of claim 32, wherein:

the controller is configured such that before or when the rear spacing sensor reaches a second transition from the curved section to another substantially straight section of the desired path of travel, the position of the front spacing sensor relative to the civil engineering machine is shifted forward relative to the civil engineering machine.

35. The civil engineering machine of claim 28, wherein:

the at least one spacing sensor is a mechanical sensor configured to detect a position of the at least one spacing sensor relative to a stringline fixed relative to the piece of ground.