EP0964958A1 - Method and device for milling road traffic surfaces - Google Patents
Method and device for milling road traffic surfacesInfo
- Publication number
- EP0964958A1 EP0964958A1 EP98959818A EP98959818A EP0964958A1 EP 0964958 A1 EP0964958 A1 EP 0964958A1 EP 98959818 A EP98959818 A EP 98959818A EP 98959818 A EP98959818 A EP 98959818A EP 0964958 A1 EP0964958 A1 EP 0964958A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- milling
- machine
- data
- profile data
- traffic area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
Definitions
- the invention relates to a method for milling traffic surfaces with a milling drum, a milling machine or a device for milling traffic surfaces according to the preamble of claim 20.
- Milling machines of this type are required in order to first apply the old road surface to a traffic surface in order to produce a new road surface.
- a sensor measures the change in the distance between the edge protection of the milling machine which scans the road profile and a fixed point on the machine frame.
- the change in distance is the amount by which the edge protector rises or falls according to the road profile, so that the milling depth can be automatically increased or decreased by this amount.
- the length of the edge protection is referred to as the scanning base. Longitudinal waves with a wavelength shorter than the edge protection length (approx. 1 to 2 m) are compensated for. Nevertheless, the original actual profile is still copied, since the edge protection runs on the existing profile and bumps of greater wavelength are nevertheless copied into the new road profile.
- a measuring ski or measuring wheel slides or rolls over the road surface.
- the ski or the wheel is fastened in a vertically movable manner to a rotary angle sensor, which measures the change in the distance between the measuring wheel or sliding ski and the fastening point of the rotary angle sensor on the machine frame.
- the milling depth is then increased or decreased by this amount.
- the scanning basis is the length of the sliding ski or the measuring stick. Longitudinal bumps with a wavelength greater than the length of the ski or the measuring stick are copied, smaller longitudinal waves can be compensated. Longitudinal waves with a wavelength in the range of 5 to 10 m can be compensated for by extending the measuring stick or the sliding ski.
- three ultrasonic sensors are permanently mounted on the machine frame on the machine side in the longitudinal direction of the machine, ie a sensor at the front machine end, a sensor above the axis of rotation of the milling drum and a sensor at the rear machine end.
- the sensors measure the change in distance between the machine frame and the road profile.
- An average value is calculated from these measured values, taking into account the longitudinal inclination of the machine contained in the measured values of the front and rear sensors, by the amount of which the milling depth is increased or decreased.
- This measure increases the scanning base to the length of the milling machine, which compensates for longitudinal waves with one wavelength smaller than the machine length.
- This procedure also improves the flatness of the road profile, although copy milling still takes place, in which long-wave unevenness with a wavelength of more than 5 to 10 m is still transferred to the newly created profile.
- a leveling wire is stretched and measured along the surface to be milled.
- the basis for a correct measurement is the previous measurement of the existing surface profile.
- the wire is continuously scanned by means of a distance measuring device fixed to the machine frame (angle encoder, sonic ski, etc.), the change in distance between the machine frame and the wire in turn being a measure of the milling depth correction of the milling drum.
- This procedure is based on the fact that a stationary rotating laser spans an artificial, disk-shaped plane with its beam.
- a laser receiver which is permanently installed on the machine frame, continuously measures the change in distance between the machine frame and the artificially spanned plane.
- the road profile must also be measured beforehand. This method can theoretically create a flat surface, possibly also an inclined surface, but it is not possible to create any profile, since the rotating laser only ever creates a disc-shaped plane.
- the application of the laser is limited.
- the laser must also be positioned and set up exactly, which is also time and cost intensive.
- Another disadvantage is the measuring accuracy, which is not as high as that of a mechanical sensor.
- the invention has for its object to provide a method and an apparatus for milling traffic areas, which allows a correction of the long ripple of a traffic area in a simple manner.
- the actual profile of the traffic area can be measured online using a profile scanning device, the measured actual profile data corresponding to position tion data can be assigned to a relative or absolute position determining device. Unless they are calculated by a computer installed on the milling machine, the target profile data are transferred to the machine control system using data carriers or by radio.
- the height coordinate z is determined with the aid of the position data of the relative or absolute position determination device in relation to the profile scanning device or the milling machine. This z coordinate is then further specified with the aid of a • depth measuring device, which is arranged both on the profile scanning device and on the milling machine. This z-coordinate value of the actual profile data provides an exact position value in space for the actual profile data.
- the z coordinates can be combined with absolute or relative position data in the plane (x, y coordinates) and or with a route information about the route covered relative to a reference point.
- a major advantage of the method according to the invention is therefore also that an elaborate position determination with respect to the milling machine can be omitted if the assignment of the target profile data, e.g. via route information.
- the least complex position determination is that both the machine position in the direction of travel and the height coordinate are determined relatively. To carry out the method according to the invention, therefore, an accurate distance measurement is ultimately sufficient if the target profile data also contain distance information.
- the actual value of the set milling depth is the disturbance variable
- the target value from the target profile data is the control variable
- the control signal for the milling depth of the milling drum is the controlled variable.
- archived earlier data can also be used if necessary.
- the target profile data can be location vectors for controlling the milling machine, specifically the position of the milling machine in the plane (x, y, z or x, z coordinates), the milling depth corrected with respect to the long ripple (z coordinate) Incline and the direction of travel of the milling machine included.
- the steering and / or the transverse inclination of the milling machine can also be controlled by the machine control as a function of the target profile data and the current position data.
- the actual profile data obtained from the measurement of the actual profile with a profile scanning device contain, in particular, the long ripple of the traffic area.
- a certain basic length of the profile scanning device is not important, since the ripple of the profile data is compensated for anyway when the target profile data is created.
- the actual profile is preferably measured again and the actual profile data is stored with the associated position data for documentation. With the help of this documentation, it can be demonstrated to the client how exactly the target pro- fil the traffic area has been observed.
- the position of the profile scanning device and / or the milling machine can be determined absolutely or relatively three-dimensionally in space.
- the machine position in the plane can be determined absolutely and the height coordinate relatively.
- the steering controls of the milling machine can also follow based on the machine coordinates in the room.
- Such a machine control system could be used to operate the milling machine remotely without operating personnel on a construction site.
- the method is further developed by recording the actual profile by driving over a first section of the traffic area, generating the target profile data from an initial basic data record which contains the actual profile data of the first section of the traffic area, milling the first section of the traffic area. area with a milling depth control on the basis of the target profile data of the first subsection resulting from the initial basic data record, the continuous updating of the basic data record relating to a predetermined basic length of the traffic area after milling the first subsection in accordance with the further work progress, in that the actual Profile data are updated incrementally, and the milling of further sections of the traffic area in dependence on continuously updated target profile data on the basis of the constantly updated basic data set.
- the actual profile is first recorded in a first section of the traffic area.
- This section serves as the basic length for the recorded actual profile data which are stored in the initial basic data record.
- the actual profile data contained in the initial basic data record are used to generate the target profile data for the first subsection.
- the first subsection is then milled, the milling depth being controlled as a function of the position-dependent setpoint of the set profile data relating to the first subsection.
- the actual profile is continuously scanned beyond the first subsection, the basic data record being continuously updated by the newly recorded actual profile data.
- the basic data record relates to a predetermined basic length of the traffic area. This basic length moves with the work progress, so that the most recent actual profile data is removed from the basic data record in accordance with the inclusion of new actual profile data. Further sections of the traffic area are then milled as a function of continuously updated target profile data on the basis of the constantly updated basic data record.
- the length of the first section of the traffic area preferably corresponds to the basic length of the continuously updated basic data record.
- the basic data record contains the actual profile data of a section of the traffic area whose length is greater than the size of the longitudinal wave of the traffic area to be compensated.
- the basic data record contains, for example, the actual profile data of a section of the traffic area of approximately 50 to 300 m in length, preferably approximately 100 to 200 m in length.
- the actual profile of the traffic area in the first section can advantageously also be recorded by the milling machine.
- the milling drum is not in contact with the traffic area.
- a profile scanning device and a position determining device are arranged on the front machine frame of the milling machine.
- the actual profile of the traffic area can be recorded in the first section with a separately movable profile scanning device.
- the actual profile of the traffic area is recorded continuously with a profile scanning device arranged on the milling machine in the front area.
- the base length of the traffic area captured by the base data record for the generation of the target profile data can be changeable during the work progress. In this way, particularities of the terrain structure can be taken into account during the milling process.
- the separate profile scanning device can scan the actual profile in front of the milling machine with a preselectable distance to the milling machine.
- the continuously generated target Profile data are generated from a basic data record that relates in part to a section of the traffic area that lies ahead relative to the milling machine and in part to a section that has already been run over by the milling machine.
- a separate profile scanning device must therefore always advance in relation to the milling machine.
- This method has the advantage that the basic length, to which the basic data set relates, always takes into account a section of the traffic area lying ahead, while in the case of on-line actual profile data acquisition on the milling machine, the basic length is essentially retrospective, that is to say to a section which has already been run over Traffic area relates.
- FIG. 4 shows a schematic representation of the device according to the invention for milling off traffic areas.
- the method for milling off traffic areas 2 is shown in Fig. L explained in more detail.
- the process consists of three process steps, namely first the actual profile recording with the creation of the actual profile data, then the creation of a desired target profile and finally the milling process. Following the milling process, the actual profile can be recorded again to document the milling result.
- the actual profile recording can take place in advance, with a profile scanning device 8 traversing the traffic area 2 to be processed later and thereby capturing the actual profile of the traffic area 2 at least two-dimensionally. It is expedient to use an absolute position determination device 16a, 16c, with the aid of which the actual profile can be created with high accuracy.
- the profile scanning device 8 is provided with a relative depth measuring device so that the depth values (z coordinate) of the absolute position determining device 16a, 16b can be corrected by the relative depth values of the profile scanning device 8. At least two-dimensional actual profile data are thus created by assigning the measured depth values to position data of the relative or absolute position determination device 16a, 16b.
- target profile data is then computed mathematically, geometrically or graphically on the screen from the existing Is profile data, possibly with intervention options, by an operator, which on the one hand have a predetermined milling depth and on the other hand depth correction values with regard to the long ripple of the traffic area 2 are dependent.
- the actual profile data is thus smoothed with regard to the depth values, which also means that a long-wave longitudinal the traffic area 2 can be corrected.
- the created target profile data can be smoothed by calculation or monitored, whereby an operator decides on a correction of the depth value, for example, when starting down gradients.
- the milling process now consists in first determining the current position of the milling machine, at least with regard to the path coordinate. This is done, for example, with a position determining device 16b, which is arranged on the machine frame 12 of the milling machine 6.
- the position can be determined for the position of the milling machine 6 in principle using three methods:
- the machine coordinates are measured absolutely in all three spatial coordinates (x, y, z). This can e.g. with a supported GPS system or with laser tracking stations with automatic target tracking (total stations).
- the position is determined with the aid of satellites, the time differences of signals between differently positioned satellites and the object being used to determine the position.
- Higher accuracies are achieved by means of the DGPS system (differential GPS), in which, in addition to the GPS receiver 16b moved with the milling machine 6, a stationary GPS receiver 16c is set up in the immediate vicinity. The difference between the signals of both GPS receivers results in higher accuracy.
- the position tion information can also be corrected via gyrocompass, displacement pulse and steering information (supported DGPS system).
- the machine When using one or more automatic total stations, the machine is equipped with a reflector, namely an active or passive prism, which reflects a laser beam emitted by a transmitter / receiver unit back to the same.
- the position of the machine can be calculated from the transit time and / or the phase position of the signal and the reception angles.
- Route information is additionally added to the actual profile data.
- the position determination of the milling machine 6 can then be assigned to the actual or target profile data solely on the basis of the distance traveled.
- the relative height coordinate between the bogies of a milling machine 6 or a profile scanning device 8 can also be measured, this relative z value being used to correct the absolute z coordinate.
- the machine controller 10 can directly determine the milling depth of the milling drum 4 as a function of the current position data of the milling machine 6 and of the difference between the actual value and that resulting from the target profile data Control the target value for the milling depth.
- the.-Absolute machine position in the plane or on the straight line is first determined with the aid of the position determining device 16b.
- the currently set milling depth z-actual is determined as the relative distance value of the machine frame 12 to the removed traffic area 3, so that the current position data with the current milling depth actual value is then available.
- the target value z target for the milling depth can be found in the target profile data.
- the difference between the value z-target minus z-actual represents the control deviation, as a result of which a height adjustment signal is generated for the trolleys 14, 15, so that the target value for the milling depth is regulated.
- both carriages 14, 15 can also be adjusted to adjust the milling depth for the milling drum 4. In contrast, it is more complex to provide a height adjustment of the milling drum 4 itself.
- the old traffic area 2 has a considerable long ripple, which can be eliminated with the aid of the milling depth control of the machine control 10.
- the removed traffic area 3 can be produced with an accuracy in the millimeter range.
- the profile scanning device 8 travels in front of the milling machine 6 over the traffic area 2 to be renewed.
- the same profile scanning device 8 can also travel over the removed traffic area 3 in order to create a new one Enable actual profile data acquisition for documentation.
- FIG 4 shows the milling machine with an absolute position determination device 16b, 16c (differential GPS).
- This consists of a stationary global positioning system (GPS) 16c, which is installed at a suitable location next to the traffic area 2 to be processed and is also required for the profile scanning device 8.
- GPS global positioning system
- the milling machine 6 has a further GPS system 16b arranged on the machine frame 12.
- the actual position of the milling machine 16a or the profile scanning device 8 can be determined in absolute values in x, y and z coordinates.
- the measured values of the position determining device 16b, 16c are fed to the machine control 10 and can be displayed there with the aid of a monitor 20.
- the target profile data are, for example, as in FIG. 4, created externally on a computer 22 and then fed to the machine controller 10 with the aid of a data carrier reading device 24. Alternatively, it can also be provided to transmit the target profile data to the machine control 10 by radio.
- Another possibility is to create the target profile data with the aid of a computer of the machine control 10.
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Road Repair (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19756676 | 1997-12-19 | ||
DE19756676A DE19756676C1 (en) | 1997-12-19 | 1997-12-19 | Method for cutting road surfaces |
PCT/EP1998/006899 WO1999032726A1 (en) | 1997-12-19 | 1998-10-31 | Method and device for milling road traffic surfaces |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0964958A1 true EP0964958A1 (en) | 1999-12-22 |
EP0964958B1 EP0964958B1 (en) | 2005-12-28 |
Family
ID=7852611
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98959818A Expired - Lifetime EP0964958B1 (en) | 1997-12-19 | 1998-10-31 | Method for milling road traffic surfaces |
Country Status (5)
Country | Link |
---|---|
US (1) | US6371566B1 (en) |
EP (1) | EP0964958B1 (en) |
JP (1) | JP2001512543A (en) |
DE (2) | DE19756676C1 (en) |
WO (1) | WO1999032726A1 (en) |
Cited By (2)
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EP3839146A1 (en) | 2019-12-19 | 2021-06-23 | Wirtgen GmbH | Method for milling traffic surfaces with a milling roller, and milling machine for carrying out the method for milling traffic surfaces |
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US5607205A (en) * | 1995-06-06 | 1997-03-04 | Caterpillar Inc. | Object responsive implement control system |
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1997
- 1997-12-19 DE DE19756676A patent/DE19756676C1/en not_active Expired - Fee Related
-
1998
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- 1998-10-31 EP EP98959818A patent/EP0964958B1/en not_active Expired - Lifetime
- 1998-10-31 WO PCT/EP1998/006899 patent/WO1999032726A1/en active IP Right Grant
- 1998-10-31 DE DE59813317T patent/DE59813317D1/en not_active Expired - Lifetime
- 1998-10-31 JP JP53321099A patent/JP2001512543A/en active Pending
Non-Patent Citations (1)
Title |
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See references of WO9932726A1 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2354310A2 (en) | 2010-02-08 | 2011-08-10 | Wirtgen GmbH | Adaptive drive control for milling machine |
EP3839146A1 (en) | 2019-12-19 | 2021-06-23 | Wirtgen GmbH | Method for milling traffic surfaces with a milling roller, and milling machine for carrying out the method for milling traffic surfaces |
US11459712B2 (en) | 2019-12-19 | 2022-10-04 | Wirtgen Gmbh | Method for milling off traffic areas with a milling drum, as well as milling machine for carrying out the method for milling off traffic areas |
US11795633B2 (en) | 2019-12-19 | 2023-10-24 | Wirtgen Gmbh | Method for milling off traffic areas with a milling drum, as well as milling machine for carrying out the method for milling off traffic areas |
Also Published As
Publication number | Publication date |
---|---|
JP2001512543A (en) | 2001-08-21 |
DE59813317D1 (en) | 2006-02-02 |
US6371566B1 (en) | 2002-04-16 |
DE19756676C1 (en) | 1999-06-02 |
EP0964958B1 (en) | 2005-12-28 |
WO1999032726A1 (en) | 1999-07-01 |
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