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EP4357525B1 - Procédé d'aide à la commande d'une machine de compactage de sol - Google Patents

Procédé d'aide à la commande d'une machine de compactage de sol Download PDF

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Publication number
EP4357525B1
EP4357525B1 EP23165120.9A EP23165120A EP4357525B1 EP 4357525 B1 EP4357525 B1 EP 4357525B1 EP 23165120 A EP23165120 A EP 23165120A EP 4357525 B1 EP4357525 B1 EP 4357525B1
Authority
EP
European Patent Office
Prior art keywords
compaction machine
soil compaction
reversing
soil
vibration input
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.)
Active
Application number
EP23165120.9A
Other languages
German (de)
English (en)
Other versions
EP4357525A1 (fr
Inventor
Niels Laugwitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bomag GmbH and Co OHG
Original Assignee
Bomag GmbH and Co OHG
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Filing date
Publication date
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Publication of EP4357525A1 publication Critical patent/EP4357525A1/fr
Application granted granted Critical
Publication of EP4357525B1 publication Critical patent/EP4357525B1/fr
Active legal-status Critical Current
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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
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/02—Registering or indicating driving, working, idle, or waiting time only
    • G07C5/06—Registering or indicating driving, working, idle, or waiting time only in graphical form
    • 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
    • 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
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
    • E01C19/283—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit pedestrian-controlled, e.g. with safety arrangements for operator
    • 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
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/286—Vibration or impact-imparting means; Arrangement, mounting or adjustment thereof; Construction or mounting of the rolling elements, transmission or drive thereto, e.g. to vibrator mounted inside the roll
    • 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
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows 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
    • 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
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit

Definitions

  • the invention relates to a method for assisted operation of a soil compaction machine.
  • Generic soil compaction machines are, for example, from the DE 102018 007 825 A1 and the DE 10 2019 002 442 A1 known to the applicant. They are typically used in road and path construction as well as in the construction of runways and airports. These are usually self-propelled machines, which in particular have a machine frame supported by a chassis.
  • the chassis typically comprises at least one roller drum and optionally wheels.
  • the chassis can, for example, also have two roller drums, which are separated from one another and arranged one behind the other, in particular in the working direction of the soil compaction machine, so that when the soil compaction machine travels forward, a specific position on the subsoil is successively traversed by both roller drums arranged one behind the other.
  • the working direction of the soil compaction machine corresponds to a longitudinal axis of the machine or a front/rear direction of the soil compaction machine.
  • the current working direction can be a forward or an opposite reverse direction, whereby reversing operation is usually the case.
  • the roller drums are typically metallic hollow cylinders, for example made of steel, which can in particular have a smooth outer surface.
  • a drive motor for example an internal combustion engine, usually a diesel engine, or an electric motor.
  • Such soil compaction machines typically have a driver's cab from which the soil compaction machine is controlled by the operator.
  • the operator controls, in particular, the travel of the soil compaction machine over the soil to be compacted. For example, both the direction of travel and the travel speed are specified by the operator.
  • the operator typically controls the operation of the vibration exciter(s) in the roller drum(s). These can be switched on and off and, in some cases, their frequency and/or amplitude can be varied.
  • Generic soil compaction machines typically have a control device, which may, for example, be an on-board computer or part of an on-board computer.
  • the control device is typically equipped with at least one sensor that records at least one parameter of the soil compaction machine's operation.
  • Such a parameter may be the direction of travel, the travel speed, the steering angle, the operating state of one or more vibration exciters, an acceleration value, a value associated with soil stiffness, a travel path, etc.
  • soil compaction machines of this type typically have a display device connected to the control device, such as a screen or display. This display can, for example, show the measured values from the sensor.
  • the control device can be configured to receive control commands from the operator—for example, via the display device, which can include a touchscreen, additional and/or separate input devices, etc.—and to control the soil compaction machine based on these control commands.
  • Soil compaction machines are typically driven over an area to be compacted several times. This usually requires the soil compaction machine to reverse several times. In other words, the direction of travel is reversed several times, so that the soil compaction machine moves back and forth over the soil to be compacted. The soil compaction machine can therefore drive over the same area of soil multiple times.
  • the objective of soil compaction machines is generally to create and leave behind a soil surface that is as smooth and homogeneously compacted as possible. For example, the evenness of a roadway is an essential, remuneration-relevant criterion and is therefore of great practical and economic interest.
  • the roller drums of the soil compaction machine will leave a bump in the surface to be compacted when reversing, i.e. when changing direction, if the subsoil is still deformable under the machine's own weight, for example when the asphalt temperature is still relatively high.
  • This bump must then typically be smoothed out as thoroughly as possible on subsequent passes in order to achieve a road surface of the desired quality.
  • the operators of the soil compaction machines are typically instructed to steer shortly before the soil compaction machine comes to a standstill when reversing, so that the roller drums and thus also the bump they leave behind are aligned at an angle to the working direction when reversing.
  • Such diagonal bumps can be smoothed out much more easily and quickly on subsequent passes than bumps that run perpendicular to the working direction.
  • the operator of the soil compaction machine must typically ensure that the operation of the vibration exciter(s) is controlled in such a way that too much vibration energy, or too many pulses per defined distance, are not introduced into the soil, for example, the asphalt layer, at one point or over too short a distance. This can also promote the formation of undesirable bumps. Therefore, the vibration input into the soil must be reduced in a timely manner before or during the braking of the soil compaction machine before reversing, for example, by switching off the vibration exciter in a timely manner while the soil compaction machine is still traveling at a sufficient speed.
  • the operator can therefore actively influence the waviness or evenness of the compacted soil left behind by the machine and thus the quality of the work result through the way in which they control the soil compaction machine.
  • achieving high-quality work results requires a considerable degree of experience and skill on the part of the operator. Therefore, situations often arise in which operators with sufficient training are not available, so that due to a lack of specialist knowledge, the soil compaction machine is not used in a way that achieves optimal evenness of the compacted soil, for example of the roadway.
  • the operator is generally unable to determine the achieved evenness during operation. Measuring the evenness of the soil during operation is technically complex and is therefore typically not carried out. Therefore, there is no The operator can ideally adapt his driving style during operation based on the current or most recently achieved result.
  • the object of the present invention is to provide a method and a soil compaction machine with which the evenness of the compacted soil can be improved.
  • driving errors that can occur when reversing the soil compaction machine are to be reduced.
  • feedback on the work result should be provided during and/or after compaction operation without the need to measure the evenness of the soil.
  • the feedback on the previous work sequence should make it possible to improve future work processes with regard to optimal evenness of the compacted soil.
  • the solution is achieved with a method for assisted operation of a soil compaction machine.
  • it is a method for controlling the compaction process during compaction operation of the soil compaction machine or a method for monitoring the operation of the soil compaction machine during compaction operation by the operator.
  • the method is based on the control of the soil compaction machine by an operator. This is done in a conventional manner by entering appropriate control commands, for example regarding travel direction, travel speed, activation and/or adjustment of one or more vibration exciters, etc. Therefore, a soil compaction machine of this type is operated conventionally, in which the operator guides it over the soil to be compacted.
  • the soil to be compacted is, in particular, an asphalt layer laid by a road paver, which is still hot or still sufficiently warm for surface deformation by the soil compaction machine and from which, for example, a roadway or similar surface is created after compaction.
  • Controlling the soil compaction machine therefore particularly involves repeatedly driving over the soil to be compacted or repeatedly reversing the soil compaction machine.
  • the soil compaction machine is preferably repeatedly braked, in particular to a standstill, and then accelerated again in a direction opposite to the original direction of travel.
  • This is preferably
  • At least one roller drum of the soil compaction machine is at least partially vibrated by a vibration exciter in order to achieve dynamic soil compaction. This can be, for example, vibration or oscillation vibrations or any superimposition of these.
  • Control of the soil compaction machine by an operator is understood in this case to mean, in particular, semi-autonomous operation.
  • an automatic reversing system could be used in which an operator triggers a reversing process by means of a control input, for example by pressing a button, with the braking, reduction of the vibration input, acceleration in the opposite direction and subsequent increase of the vibration input being carried out automatically by the control device.
  • the operator can start the automatic reversing system, for example, based on his own judgment or, for example, after reaching a marker, for example a light spot projected onto the ground, which can be arranged at a specified distance from the reversal point necessary for the reversing process.
  • the automatic reversing function is particularly preferably designed in such a way that it only controls the braking and subsequent acceleration in the opposite direction of travel, in particular up to a desired target speed, but does not take over steering operations, which must preferably be controlled exclusively manually.
  • the soil compaction machine preferably comprises at least one suitable detection device, for example at least one sensor, which detects at least the change in driving speed directly or indirectly and in particular forwards it to the control device.
  • the detection and determination of various parameters, variables, times or locations can preferably also include, throughout the present description, that the detected or determined values are stored for later use, for example in a memory, in particular an electronic memory, of the control device.
  • a sensor of the detection device can be provided which detects several parameters or variables, or for each parameter or each A separate sensor can be provided for this size.
  • soil compaction machines usually already determine the travel speed directly or indirectly, the value of this parameter is usually already available and can be used for the method according to the invention.
  • the change in travel speed can in turn also be calculated from a repeatedly or continuously measured travel speed.
  • it is also possible to record the movement or acceleration of the soil compaction machine for example using an electronic compass or an IMU ( inertial measurement unit ).
  • the use of GNSS systems (global navigation satellite system ) for the repeated or continuous recording of the location of the soil compaction machine and/or its comparison over time is also possible.
  • the movement of the soil compaction machine can also be deduced from its movement by optically detecting its surroundings. For example, a camera or the image from a camera can be used to deduce the movement of the soil compaction machine.
  • the aforementioned variables which are not directly related to the driving speed, the change in driving speed, and/or a reversal of direction, can preferably be used to infer these. Alternatively, the aforementioned variables can also be used directly in the next step of the procedure.
  • a point in time is then determined at which the soil compaction machine reverses.
  • the reversal point of the soil compaction machine is determined. It is therefore preferably determined when a reversal of travel direction occurs, or when the driving speed first drops to zero and then increases again in the opposite direction. This is referred to herein as reversing the soil compaction machine. If the position of the soil compaction machine is also recorded, for example by a distance measurement or by a GNSS system, the location of the soil compaction machine at the time the reversal takes place is also determined. This location can therefore also be used as a starting point for the further process.
  • the vibration exciter can be switched off, for example, or the amplitude of the generated vibration can be reduced, in particular to zero, for example by rotating the amplitude to the horizontal.
  • the exciter When the exciter is switched off, it typically passes through a resonance range in which the amplitude of the generated vibrations increases.
  • the method according to the invention therefore provides for detecting a steering angle of the soil compaction machine and, preferably additionally, a vibration input from a vibration exciter into the soil or a variable correlated with the steering angle or the vibration input.
  • a vibration input from a vibration exciter into the soil or a variable correlated with the steering angle or the vibration input can be provided on the soil compaction machine as part of the detection device. These sensors detect the respective parameters or variables and forward their values to the control device.
  • the amplitude of the vibration exciter can be adjusted, in particular to zero, for example by changing the eccentricity of the flywheel masses of the vibration exciter. This can also change the vibration input into the soil. Therefore, variables that correlate with the vibration input include, for example, the frequency and/or the amplitude and/or the eccentricity of the inertia of the vibration exciter.
  • the so-called IPF value impacts per foot ) is also particularly preferred for this purpose, as it indicates how often a vibration exciter impacts the ground in a specific section of track.
  • the amplitude refers to the vertically directed portion of the oscillation. Additionally or alternatively, the amplitude of the horizontally directed portion of the oscillation can also be considered.
  • the control of the soil compaction machine during reversing or around reversing is particularly important for the evenness of the compacted soil.
  • the control of the soil compaction machine both before and after reversing is therefore the control of the soil compaction machine both before and after reversing.
  • the steering angle and preferably additionally the vibration input or the variables correlating therewith are therefore recorded within a time interval and preferably additionally within a distance around the already determined time of reversing and preferably additionally around the already determined location of the soil compaction machine at this time.
  • the aforementioned parameters or variables are therefore recorded before and after reversing.
  • the steering angle and preferably additionally the vibration input or variables correlating therewith are therefore, depending on which measurements are carried out, linked temporally or spatially to the also determined parameters of change in driving speed and preferably additionally driving speed and/or reversal of driving direction or the variables correlating therewith.
  • it records the steering angle and, preferably, the vibration input associated with the ground compaction machine's driving speed.
  • the interval and, preferably, the distance can be chosen arbitrarily and, for example, can encompass the entire working period or the entire construction site of the ground compaction machine. It is important that they include the reversing process of the ground compaction machine under consideration. Preferred, more specific intervals/distances are explained in more detail below.
  • a key point of the method according to the invention consists in comparing the detected or determined steering angle and preferably additional vibration input within the interval and preferably additionally the distance with specified reference values for a target steering angle and preferably additionally a target vibration input.
  • waves in the soil yet to be compacted that are oriented diagonally to the working direction and that arise during reversing can be better compensated for in subsequent passes.
  • excessive vibration input over a distance that is too short also contributes to wave formation. From these relationships, a target steering angle and/or a target vibration input can therefore be derived. These can, for example, be related to a travel speed, a change in travel speed or similar of the soil compaction machine.
  • a target steering angle can specify a value for how much the operator should steer the roller until it comes to a standstill during reversing in order to align the resulting bump in the ground at an angle to the working direction so that it can be optimally smoothed out in subsequent passes.
  • a target vibration input can, for example, specify a value for the maximum permissible vibration input at a specific driving speed of the soil compaction machine.
  • reference values for a target steering angle and/or a target vibration input are stored in a memory accessible to the control unit. These can be fixed limit values.
  • the reference values can, for example, be point-based, such as "from a driving speed X, only a maximum of Y vibration input," or continuous, such as characteristic maps that specify a wide range of driving speeds and, in each case, the maximum permissible vibration input.
  • the reference values can also include a calculation rule from which the target steering angle and/or the target vibration input can be determined for a given driving speed and/or acceleration around reversing. Since reversing the soil compaction machine during operation typically always proceeds in a nearly identical manner, at least in comparable work situations, the reference values can alternatively be based on a time interval and/or a distance before and/or after reversing instead of the driving speed.
  • Such reference values could therefore, for example, provide information such as "switch off the vibration exciter at the latest X seconds or Y meters before reversing" or "switch on the vibration exciter at the earliest X seconds or Y meters after reversing.”
  • the result can therefore, for example, be information about whether the steering angle and/or vibration input set by the operator corresponds to the reference values or not.
  • the result can also include, in particular, the extent to which the steering angle and/or vibration input set by the operator deviates from the reference values.
  • the result can include information about how much the steering angle set by the operator is smaller than the target steering angle when reversing the soil compaction machine. Since a steering angle that is too narrow when reversing can also be detrimental to the evenness of the soil, the target steering angle can also be an interval, which therefore specifies both a lower and an upper limit for the steering angle.
  • the result can also include information about how much the steering angle set by the operator when reversing the soil compaction machine is greater than the upper limit specified by the target steering angle. This occurs in particular in addition to the monitoring of the lower limit already described. Additionally or alternatively, the result can also include information about how much the vibration input set by the operator around the reversing is greater than the target vibration input. "Around the reversing" in this case refers to the interval and/or the distance around the determined time of reversing and/or around the location of the soil compaction machine at that time. Overall, the result of the comparison therefore includes information about the extent to which the control performed by the operator of the soil compaction machine corresponds to optimal control in terms of optimal evenness of the compacted soil.
  • the method according to the invention also includes outputting and preferably additionally storing the result of the comparison or comparisons.
  • the result can be output or displayed visibly for the operator of the soil compaction machine on a display device.
  • an acoustic output is also conceivable.
  • the operator receives immediate feedback as to whether or not his control of the soil compaction machine during the previous reversing was optimal with regard to the resulting evenness of the compacted soil. If necessary, the operator receives The result also provides feedback on the extent to which the control of the soil compaction machine deviated from optimal control during the previous reversing operation. The operator can use this information to perform future reversing of the soil compaction machine more optimally.
  • the result of the comparison according to the invention only provides the operator with information about the sequence of events already completed during the last reversing operation, this information can, however, be used positively to improve each subsequent reversing operation, thereby providing overall assisted operation of the soil compaction machine and improving the evenness of the soil overall after compaction work has been completed. Since this is a professional working environment, it can be assumed that the operator will implement the relevant instructions wherever possible. The result can also be saved, for example, in a memory of the control device. The operator can then, for example, view the result after completion of the work and thus receive feedback on the work process. This can then also be used for future work operations to improve the resulting evenness of the compacted soil.
  • the stored results are read out, for example by an operator of the soil compaction machine, who does not necessarily have to be the operator.
  • This provides the operator with feedback on the quality of the control of the soil compaction machine.
  • the operator can determine, for example, whether the operator requires additional driver training. This can also be used to improve the evenness of the ground in future work operations.
  • the soil compaction machine has a device for remote data transmission and that the result or results of the comparison are automatically transmitted to the operator, for example by uploading them to a central server of the operator.
  • the recording of the parameters driving speed, change in driving speed and/or reversal of driving direction as well as steering angle and/or vibration input or variables correlating with the aforementioned parameters were repeated at discrete, particularly temporal and/or spatial, intervals. As long as the discrete intervals are chosen close enough to determine the time of reversal of the soil compaction machine with sufficient accuracy, the method can be carried out with such data.
  • the recording of at least one of the parameters driving speed, A change in driving speed and/or reversal of driving direction or at least one variable correlating with one of the aforementioned parameters and/or the detection of the steering angle and/or the vibration input or a variable correlating therewith is carried out continuously.
  • the time of reversing can be determined particularly precisely.
  • the value of the respective parameters can be determined particularly precisely, for example, at a time when a certain driving speed is present or when a certain vibration input occurs.
  • the interval and preferably additionally the distance can be defined such that only the control of the soil compaction machine in the immediate temporal and/or spatial vicinity of the reversing is considered.
  • the size of the interval or the distance can be defined separately for each individual case, for example based on functional criteria.
  • the interval or the distance can be defined such that the beginning is specified by the travel speed of the soil compaction machine falling below a threshold value that signals that operation at a working speed in one direction of travel is terminated.
  • the working speed describes a travel speed at which the soil compaction machine is typically operated during operation while traveling straight ahead over the soil to be compacted.
  • the end of the interval or distance can be specified by the driving speed of the soil compaction machine increasing above the threshold value, thus signaling that acceleration is being returned to the working speed.
  • the beginning and end can be specified by the same threshold value or by different threshold values.
  • the threshold value can be, for example, 3 km/h, 5 km/h, or 7 km/h.
  • the working speed can be fixed and, for example, also correspond to the threshold value or lie above the threshold by a fixed value, for example, 1 km/h, 2 km/h, or 3 km/h.
  • the interval and/or distance are set such that the reversing is in the middle of the interval and/or distance.
  • the interval can be set such that it comprises a maximum of 20 seconds, preferably a maximum of 15 seconds or a maximum of 10 seconds, and particularly preferably a maximum of 5 seconds before and/or after the reversing.
  • the distance is set such that it covers a maximum of 50 m, preferably a maximum of 40 m or a maximum of 30 m or a maximum of 20 m or a maximum of 10 m and particularly preferably a maximum of 5 m before and/or after the reversing.
  • the time or location of the reversing must of course already have been determined.
  • the reference values used for comparison include a target steering angle, which indicates the minimum steering angle required at the determined time of reversing.
  • the target steering angle indicates how far the operator of the soil compaction machine should or should steer before the soil compaction machine comes to a standstill when reversing.
  • the effect on the evenness of the compacted soil does not initially depend on the direction of the steering angle. It is therefore irrelevant whether the steering is to the left or to the right. This can be freely selected depending on the conditions on the construction site. For example, only the amount of the steering angle as a deviation from straight-ahead travel is considered. Accordingly, the target steering angle also refers to the amount of the steering angle as a deviation from straight-ahead travel.
  • the target steering angle and/or the steering angle can be defined in particular as the deviation of the rolling direction of the soil compaction machine shortly before the standstill at the reversal point when reversing from the rolling direction at this Reversal point in at least one previous or subsequent pass during which the soil compaction machine does not reverse.
  • position data is collected, for example, over the entire working sequence of the soil compaction machine.
  • the rolling direction corresponds in particular to the current travel or working direction of the soil compaction machine. In this way, for example, it is also taken into account that the soil to be compacted can also be in a curve.
  • the steering angle then takes into account the deviation from the curvature of the curve when steering.
  • the steering takes place against the direction of the curve. This, too, can be monitored according to the invention and included in the evaluation.
  • the target steering angle can also refer to the front and/or rear roller drum and/or to an inclined position of the soil compaction machine. It is, for example, at least 20°, preferably at least 25° or at least 30° or at least 35° or at least 40°, particularly preferably at least 45° or at least 50° or at least 55° or at least 60°.
  • the vibration input into the soil must be reduced or slowed down in good time before reversing. In particular, it must be prevented that the soil compaction machine, when traveling particularly slowly, still introduces significant vibration into the soil shortly before coming to a standstill. After reversing, the vibration input may only be increased again once the soil compaction machine has already accelerated back to a sufficiently high travel speed. It is therefore preferred that the vibration input is reduced, in particular to zero, before reversing, and that the reference values used for comparison include a target vibration input that indicates the maximum vibration input, in particular based on the travel speed of the soil compaction machine.
  • the vibration input is increased, in particular starting from zero, after reversing, and that the reference values used for comparison include a target vibration input that indicates the maximum vibration input, in particular based on the travel speed of the soil compaction machine.
  • the IPF value is preferably used as a measure of vibration input.
  • the frequency, amplitude, eccentricity, and/or the vibration energy provided by the vibration exciter can be used.
  • the target vibration input can indicate the driving speed of the soil compaction machine at which no more vibration should be input before reversing and/or the driving speed of the soil compaction machine at which vibration should be input again after reversing.
  • the target vibration input can, for example, include an IPF value as a limit value.
  • a deviation of a maximum of 20%, preferably a maximum of 15% or a maximum of 10% or a maximum of 5%, from the IPF value stored as the reference value for the target vibration input can still be considered optimal. This can be taken into account when comparing the procedure and also in the evaluation.
  • vibration exciters especially circular exciters, inevitably pass through a resonance frequency when switched on and off, at which temporarily increased vibration amplitudes occur and therefore also a higher vibration input into the soil.
  • This also leads to waves in the soil. This effect is particularly noticeable when the vibration exciter is switched off, i.e. before the soil compaction machine reverses.
  • optimal control of the soil compaction machine therefore provides for the waves created to be passed over again after reversing with the highest possible compaction power. This means that, ideally, the waves should also be passed over with a high vibration input, for example, the maximum intended power of the vibration exciter.
  • the vibration exciter when the soil compaction machine accelerates after reversing, the vibration exciter must be switched on again earlier or closer to the reversal point than it was switched off before reversing.
  • This can also be monitored by the method according to the invention and incorporated into the evaluation explained in more detail below.
  • it can preferably be provided that within the interval and/or the distance a position of the maximum vibration input before reversing is determined, and that the reference value for the desired vibration input indicates the minimum Vibration input, this position should be passed after reversing.
  • the position of the maximum vibration input refers in particular to the position at which the vibration exciter passes through its resonance frequency when reducing the vibration input.
  • This position can be determined, for example, via the driving speed, the change in driving speed, or a location determination, for example via GNSS, as already described above.
  • the target vibration input can specify that this position should be passed after reversing with a nominal vibration input, for example the maximum compaction power of the vibration exciter.
  • the nominal vibration input refers in particular to a vibration input with which the vibration exciter operates optimally at the given position of the soil to be compacted. This can be specified, for example, by an automatic system, such as the applicant's "Asphalt Manager.”
  • the position of the maximum vibration input is determined separately for each roller drum of the soil compaction machine and considered individually as described above.
  • the soil compaction machine has a front and a rear roller drum that are spaced apart in the longitudinal direction of the machine, it is also important for optimal control of the soil compaction machine that the rear roller drum in the current direction of travel or working direction rolls over the position of the maximum vibration input of the front roller drum before reversing.
  • the vibration exciter of the front roller drum passes through its resonance frequency and has an increased vibration input, which leads to the formation of waves. These waves should therefore ideally be rolled over by the rear roller drum before reversing.
  • it is important that the vibration input is reduced in good time before reversing, for example, the vibration exciter is switched off in good time before reversing.
  • a position of the maximum vibration input of a front roller drum of the soil compaction machine is determined before reversing, and that it is monitored whether a rear roller drum of the soil compaction machine passes this position before reversing. Whether or not this succeeds, and if so, to what extent, can then also be included in the evaluation explained in more detail below.
  • the actual effect of the operator's control of the soil compaction machine on the evenness of the compacted soil is also influenced by external circumstances. These are referred to here as operating conditions.
  • operating conditions For example, the consistency of an asphalt layer laid by a road paver depends significantly on its temperature. The hotter the asphalt, the easier it is for unwanted waves to form, so that deviations from the reference values result in greater unevenness than with cooler asphalt.
  • the temperature of the asphalt is also influenced by external circumstances, such as the weather.
  • Soil stiffness which also depends on the properties of the soil beneath the asphalt, also has an influence. It also makes a difference whether the soil to be compacted has a gradient.
  • a gradient for example, can positively or negatively influence the effects of braking on an asphalt layer, depending on the direction of travel.
  • At least one external operating condition is also taken into account, wherein the operating condition includes, for example, a soil temperature and/or soil stiffness and/or weather conditions and/or a transverse and/or longitudinal gradient of the soil.
  • the external operating conditions can either be recorded by sensors, for which purpose the soil compaction machine is preferably equipped with one or more sensors that can detect the respective operating conditions. The measurement results from the sensors are forwarded accordingly to the control device, which can then take the external operating conditions into account when making the comparison. Additionally or alternatively, the external operating conditions can also be entered by the operator at the control device. It is preferably provided that the control device adapts the reference values based on the operating condition(s).
  • the reference values can be selected to be less strict, since the influence of the driving maneuvers of the soil compaction machine on cool soil or asphalt is less significant.
  • the adjustment of the reference values based on external operating conditions can also be qualitative or quantitative.
  • the reference values can be increased or decreased by a fixed value if corresponding external operating conditions exist, for example, particularly hot asphalt.
  • it can be provided that the adjustment of the reference values is gradually modified according to the external operating conditions.
  • the reference values for a specific initial value The external operating conditions are specified, such as soil temperature, outside temperature, precipitation amount, slope angle, etc., and are adapted to deviating external operating conditions using a calculation rule.
  • the reference values are dynamically and quantitatively adapted to the external operating conditions or the current conditions on the construction site.
  • Outputting the result of the comparison can include a display for the operator of the soil compaction machine.
  • the operator can adapt the control of the soil compaction machine for future reversing in order to achieve optimal results with regard to the evenness of the compacted soil.
  • the operator is shown instructions on how the deviation can be reduced or avoided in the future.
  • the operator is also provided with information on how they can specifically optimize the control of the soil compaction machine. This also applies to all other aspects of the control of the soil compaction machine that are described herein and that can be included in the evaluation.
  • Such instructions can also be used to display tips on how the operator can improve the control of the soil compaction machine.
  • Such instructions could include, for example, "switch off vibration exciter earlier,””switch on vibration exciter later,” or “steer more sharply when reversing.”
  • Several such instructions can also be displayed simultaneously if multiple deviations from the reference values were detected during the reversing maneuver. These instructions can be displayed visually, particularly in writing, on the display device. Additionally or alternatively, it is also possible to provide the instructions acoustically, for example via a voice output.
  • the operator of the soil compaction machine is automatically assisted during operation, providing them with insights into the effects of the soil compaction machine's controls on the evenness of the compacted soil, insights that are typically only available to very experienced operators. Even inexperienced operators can thus achieve increased soil evenness. Experienced operators, in turn, can further perfect their expertise.
  • the operator is shown a note along with the instruction if an external operating condition has led to an adjustment of the reference value(s), which increases a deviation of the steering angle and/or vibration input within the interval and/or the distance from the reference value(s).
  • Such notes could, for example, be "steer more when reversing due to the high ground temperature,” “steer more when reversing due to the steep gradient,” or "switch off the vibration exciter even earlier due to the low ground stiffness.” In this way, the operator is provided with additional specialist knowledge in addition to improving the current work result.
  • the result of the comparison can be output numerically. This could specifically indicate the numerical deviation of the recorded steering angle and/or vibration input from the reference value(s).
  • the result of the comparison be evaluated automatically. It is therefore preferable that the result of the comparison be assigned a rating that becomes worse with greater deviation from the reference value(s) or the optimal control of the soil compaction machine, and that this rating is also output or saved. For example, different levels could be defined that represent a spectrum from no deviation to slight deviation to high deviation.
  • a conventional grading system could be used, for example, with levels from 1 (very good) to 6 (unsatisfactory).
  • a rating in fewer levels for example, three levels, would also be possible. These could be, for example, "no deviation,””lowdeviation,” and "high deviation.”
  • the respective limit values for each level can either be fixed or adjustable by the operator or owner of the soil compaction machine. This allows, for example, consideration to be given to the fact that different construction sites may have different requirements for the evenness of the compacted soil. To make reading the rating even easier for the operator, it can be provided to display the rating in the form of a symbol, for example a pictogram or a smiley with a facial expression corresponding to the rating.
  • the method can also monitor other points that can influence the evenness of the compacted soil.
  • the soil compaction machine must be braked to reverse and then accelerated again. Both the braking and acceleration of the soil compaction machine should be as smooth as possible, i.e., without sudden or erratic changes in travel speed. Such sudden changes in travel speed can also lead to undulations in the soil. It is therefore preferable that sudden changes in travel speed are also recorded and included in the evaluation. In particular, sudden changes in travel speed within the interval and/or within the distance traveled are recorded. Such cases are characterized by a rapid increase in travel speed and/or acceleration, i.e., the change in travel speed, of the soil compaction machine.
  • Appropriate threshold values can also be provided for this purpose to detect sudden changes in travel speed. If such sudden changes are recorded, this can be included in the evaluation and, in particular, also taken into account in the instructions. For example, a message will be displayed indicating that braking or acceleration should be more gentle.
  • assisted operation and a related improvement in the evenness of the compacted soil can be achieved if the method according to the invention is applied to only a single reversal of the soil compaction machine. The operator can then use the resulting feedback to optimize future reversals if necessary. However, it is preferred that the method be carried out for several, in particular all, reversing operations within a work interval. In this way, the operator is continuously assisted and an optimal work result is achieved.
  • a work interval describes, for example, an operator's working day or a working period of an operator on a specific construction site. In principle, however, smaller work intervals could also be considered, for example, one or more hours of a workday or work assignment.
  • an overall rating is created from the individual ratings of all reversing operations of the work interval, which can also be output or saved.
  • the overall rating can, for example, follow the same pattern as the rating for a single reversal.
  • the overall rating is, for example, the average of all ratings for the work interval.
  • the operator can use the overall rating to find out whether the control of the soil compaction machine carried out by them was appropriate for the current construction site and/or whether their control of the soil compaction machine has improved or worsened.
  • an operator of the soil compaction machine can determine whether and which operators have a need for additional training.
  • the method described above thus preferably determines one or more of the aforementioned parameters, identifies a reversing process from them, for example by determining a reversal of travel direction, then compares the actual reversing process with an optimal reversing process with regard to one or more of the aforementioned parameters, for example by comparing it with one or more characteristic maps, formulas, etc., and, based on this comparison, evaluates how closely the actual reversing process comes to the theoretically optimal reversing process in the manner described above.
  • This evaluation result can then, for example, be displayed to the driver, who in this way receives an indication, even during ongoing driving, as to how they can further optimize their driving style in this operating situation.
  • a soil compaction machine in particular a tandem roller or single-drum roller, with at least one roller drum and a control device for carrying out the method.
  • the control device can be configured to carry out the method, naturally with the exception of the method step of controlling the soil compaction machine by the operator.
  • the soil compaction machine can be equipped like the soil compaction machine described above. All features, effects, and advantages described for the method according to the invention also apply, in a figurative sense, to such a soil compaction machine, and vice versa. Reference is made to the other embodiments merely to avoid repetition.
  • Figure 1 a tandem roller and Figure 2 a roller train.
  • the soil compaction machines 1 preferably have a machine frame 3 and a driver's cab 2.
  • the tandem roller according to Figure 1 preferably has a front and a rear roller drum 5, while the roller train according to Figure 2 preferably has a front roller drum 5 and preferably wheels 7 on the rear frame.
  • the soil compaction machines 1 preferably travel in or against the working direction R over the soil 8, for example an asphalt layer laid by a road finisher, and compact it.
  • they preferably have a drive motor 4, which can be, for example, an internal combustion engine or an electric motor.
  • the roller drums 5 can each be equipped with a vibration exciter 10, which The respective roller drum 5 is set into vibration to influence the compaction performance.
  • the soil compaction machines 1 further preferably comprise a control device 6, which in particular carries out the essential steps of the method.
  • the control device 6 can also be connected to a display device 9, for example a display.
  • input devices such as buttons, levers, etc. can be provided, via which the driver of the soil compaction machine can issue control commands, for example with regard to the driving speed, steering specifications, settings for an excitation device, etc.
  • control device 6 can be connected to a sensor 11 or to several sensors 11 of one or more detection devices, which are designed to detect a change in driving speed and preferably additionally to detect the driving speed and/or the reversal of driving direction and/or the steering angle and/or the vibration input or variables correlated therewith.
  • the soil compaction machine 1 can furthermore have a data transmission device 12 which can be designed, for example, to transmit data via the Internet or via another wireless data connection.
  • FIG 3 a reversing of the soil compaction machine 1 is shown.
  • illustrations a) to e) show the same soil compaction machine 1 on the same construction site section in a top view from a bird's eye view, but in chronologically successive snapshots.
  • the soil compaction machine 1 travels at a travel speed v in the working direction R, whereby the travel speed v in illustration a) corresponds to a working speed of the soil compaction machine 1 at which it usually compacts the soil 8.
  • the soil compaction machine 1 has already been partially braked, so that the travel speed v is lower than that in illustration a).
  • illustration c) the soil compaction machine 1 has come to a standstill.
  • the time shown in illustration c) is therefore the time of reversing or the turning point of the soil compaction machine 1, when the machine starts moving again in the opposite direction of travel, as shown in d).
  • the soil compaction machine 1 has already been accelerated in the opposite direction of travel, i.e., opposite to the working direction R, and is traveling at a speed v, which, however, is still below the working speed or the working speed to be achieved of the soil compaction machine 1.
  • the soil compaction machine 1 has been accelerated back to a travel speed v corresponding to the working speed.
  • the distance L to which the method can refer, for example, can be defined by the distance from the turning point of the soil compaction machine 1 to the location at which the soil compaction machine 1 has again reached a travel speed v corresponding to the specified working speed.
  • the distance L can also be specified by a distance, for example, 30 m.
  • the soil compaction machine 1 or its roller drums 5 leaves a bump 13 at the location of reversing or at the reversal point of the soil compaction machine 1.
  • These bumps 13 are aligned perpendicular to the working direction R, since no steering was performed during reversing.
  • Such bumps 13 are only poorly smoothed during subsequent passes of the soil compaction machine 1. There is therefore an increased risk that the bumps 13 will continue to negatively affect the evenness of the ground 8 even at the end of the work.
  • Figure 4 shows the same process as Figure 3 The only difference is that the operator of the soil compaction machine 1 in Figure 4 when reversing, as shown in particular in illustration c).
  • the resulting bumps 13 are no longer aligned perpendicular to the working direction R with regard to the longitudinal course of their wave trough, but diagonally to the working direction R.
  • Such bumps 13 are smoothed out significantly more efficiently during subsequent passes of the soil compaction machine 1 than the bumps 13 according to Figure 3 , as they are driven over at an oblique angle. Overall, therefore, the procedure according to Figure 4 a significantly more level compacted soil 8.
  • the Figures 5 and 6 show the process of reversing the soil compaction machine 1, analogous to the Figures 3 and 4 .
  • the influences 14 from vibrations of the rolling drums 5 on the soil 8 are now shown.
  • the influences 14 can be understood as impacts in the sense of an IPF value.
  • an influence 14 indicates a location where the vibration of the rolling drum 5 presses it onto the soil 8.
  • vibration energy is transferred to the soil 8 at the locations of the influences 14.
  • the distance between the influences 14 is a measure of the vibration input, with influences 14 shown closer to one another indicating a higher vibration input.
  • the Figures 5 and 6 merely schematic sketches intended to make the underlying processes understandable, but do not represent them in a realistic way.
  • FIG. 6 The sequence of reversing the soil compaction machine 1 is shown.
  • the soil compaction machine 1 brakes to reverse, whereby in particular the vibration input is reduced in good time before the standstill.
  • the Vibration exciter 10 is switched off sufficiently early so that the reduction in the driving speed v of the soil compaction machine 1 is compensated by a reduction in the vibration input, for example by a decrease in the frequency of the vibration exciter 10.
  • the vibration input therefore decreases essentially to the same extent as the driving speed v and there are no sections where the vibration input is too great, i.e. where compaction is too strong. This is shown by the uniform spacing of the influences 14.
  • Figure 7 shows the temporal relationship between the driving speed v, the change in driving speed a as well as the steering angle w and the vibration input S of the soil compaction machine 1.
  • diagrams are shown one above the other for these respective values, the abscissa of which indicates the time t which is spread over all diagrams of the Figure 7 is synchronized across the system. The corresponding values of the parameters mentioned are then plotted on the ordinate of the respective diagrams.
  • the top diagram of the Figure 7 shows, for example, the driving speed v of the soil compaction machine 1. From left to right it is shown that the Soil compaction machine 1 is accelerated from a standstill until it has reached a constant travel speed v, for example the working speed. After the soil compaction machine 1 has covered a distance at this travel speed v, it is braked again to a standstill. It is then accelerated again in the same direction as before until it has reached a constant travel speed v again.
  • This process therefore involves braking and subsequent acceleration of the soil compaction machine 1, whereby the direction of travel has not changed. Although this process can also influence the evenness of the ground 8 after work, it does not involve reversing the soil compaction machine 1, which is the main focus here.
  • interval T The time period around the reversal is referred to as interval T.
  • This can, for example, have a fixed value or, alternatively, be determined, for example, by when the soil compaction machine 1 was decelerated from the working speed before reversing and accelerated back to the working speed after reversing.
  • the soil compaction machine 1 then travels at an essentially constant travel speed v, for example the working speed, and is then reversed again.
  • the soil compaction machine 1 is therefore decelerated again to a standstill and then accelerated in the opposite direction.
  • This reversal also takes place within a time interval T.
  • This second interval T can, in principle, be of the same length as the first interval T.
  • the intervals T are of different lengths, for example, in particular when they are defined functionally, for example based on a value of the travel speed v.
  • the diagram of the travel speed v also shows how a reversal of the soil compaction machine 1 can be inferred from the travel speed v or a reversal of travel direction. This results in particular from a reversal of the sign of the travel speed v.
  • FIG. 7 a diagram of the acceleration or the change in driving speed a of the soil compaction machine 1.
  • the change in driving speed a can also be used to This can be used to identify a reversal of the soil compaction machine 1.
  • reversing results in a double change in driving speed a in the same direction, separated by the machine's standstill, from which reversing can be inferred.
  • such a double, identically directed change in driving speed a does not occur during interrupted straight-ahead travel in one direction.
  • FIG. 7 a diagram of the steering angle w is shown. Since the direction of steering during reversing is not important, at least with regard to the evenness of the ground 8 after work, only the magnitude of the steering angle w is shown. Furthermore, the diagram only shows steering angles w that correspond to steering during reversing within the intervals T. Other steering angles w that occur while the soil compaction machine 1 is traveling are not shown. In particular, the diagram shows that the steering angle w in the first interval T shown on the left remains below a threshold value represented by the dashed line parallel to the abscissa.
  • the diagram shows that the steering angle w in the second interval T shown on the right is above the threshold value represented by the dashed line parallel to the abscissa.
  • the operator has thus steered sufficiently far when reversing the soil compaction machine 1, which results in the bumps 13 created at the reversal point being aligned at an angle to the working direction R such that they can be optimally smoothed out during subsequent passes of the soil compaction machine 1.
  • the overall evenness of the compacted soil 8 left behind by the soil compaction machine 1 is positively influenced.
  • the situation when reversing in the second interval T shown on the right therefore corresponds to that according to Figure 4 .
  • the lowest in Figure 7 The diagram shown relates to the vibration input S.
  • the vibration input S is only increased during working operation of the soil compaction machine 1, or the vibration exciter 10 is only operated with energy transfer to the soil 8, when the soil compaction machine 1 is traveling at a sufficient travel speed v.
  • This is also shown, for example, on the left in the diagram when the soil compaction machine 1 is paused in its forward travel.
  • the reversing of the soil compaction machine 1 has a special significance, if only because it occurs particularly frequently during working operation of the soil compaction machine 1.
  • the vibration input S is only increased again when the soil compaction machine 1 has reached a sufficient travel speed v. Therefore, no sections arise in which excessive compaction of the soil 8 occurs or in which excessive vibration input S is present.
  • the control of the soil compaction machine 1 in this interval T is therefore optimal with regard to the evenness of the soil 8 left behind. The situation therefore corresponds to that of Figure 6 .
  • the diagram shows in the second interval T, shown on the right, that the vibration input S is reduced too late before the machine comes to a standstill during reversing.
  • the vibration input S is still at its maximum even when the driving speed v of the soil compaction machine 1 has already decreased to an extent that leads to the soil 8 driven over by the soil compaction machine 1 being compacted too much.
  • the Figures 8, 9 and 10 show, by way of example, how a display of the result of the comparison could look during the output on the display device 9.
  • the display device 9 can, for example, be a screen or a display which is connected to the control device 6.
  • the output of the result of the comparison can, for example, be via a rating symbol 15, which symbolizes the rating determined by the comparison.
  • the rating symbol 15 is a smiley, which, depending on the result of the comparison or the quality of the rating, indicates, for example, compliance with the reference values ( Figure 8 ), a slight deviation from the reference values ( Figure 9 ) or a significant deviation from the reference values ( Figure 10 ).
  • an instruction 16 for example in written form, can be output on the display device 9 in addition to the evaluation symbol 15. Alternatively, the instruction 16 could also be output acoustically.
  • the instruction 16 preferably includes concrete information about which reference values were not adhered to during the last reversing operation and/or how the deviation from the reference values can be avoided or at least reduced during future reversing operations.
  • FIG. 11 a flow chart of the method 20 is shown.
  • This begins with the control 21 of the soil compaction machine 1 by an operator.
  • the operator operates the soil compaction machine 1 on a construction site to compact a soil 8.
  • several passes of the soil compaction machine 1 are required to compact the soil 8.
  • the method 20 provides for detection 22 of at least the travel speed change a and, additionally, preferably at least one the parameter travel speed v and/or reversal of travel direction or at least one variable correlating with one of the aforementioned parameters.
  • a time at which a reversal of the soil compaction machine 1 takes place is determined 27 from the at least one recorded parameter or the at least one recorded variable. This preferably also records the location of the soil compaction machine 1 at this time if a position or path detection takes place. By determining when a reversal of the soil compaction machine 1 takes place, the control of the soil compaction machine 1 by the operator around the reversal can be checked.
  • a steering angle w of the soil compaction machine 1 and, additionally, preferably, a vibration input S of a vibration exciter 10 into the soil 8 or a variable correlating with the steering angle w or with the vibration input S within a time interval T and, additionally, preferably, a distance L around the determined time of reversing and, additionally, preferably, around a location of the soil compaction machine 1 at this time are recorded 23.
  • Recommendations exist for the steering angle w at the time of reversing and for the vibration input S around the reversing, which are intended to ensure optimal evenness of the soil 8 after the work process.
  • Whether the recommendations are adhered to is determined by comparing 24 the recorded steering angle w and, additionally, preferably, the vibration input S within the interval T and, additionally, preferably, the distance L with predetermined reference values for a target steering angle and, additionally, preferably, for a target vibration input. In particular, it can be directly determined from this whether or not the operator is adhering to the recommendations when controlling the soil compaction machine 1. Furthermore, it can also be quantitatively determined to what extent the recommendations are not being adhered to. In order to obtain assisted operating support or assistance for the operator, the result of the comparison 24 is output 25 and, additionally, preferably, saved 26.
  • the operator and, if applicable, also an operator of the soil compaction machine 1 therefore receive overall feedback on the extent to which the control of the soil compaction machine 1 during reversing corresponds to the recommendations for optimal evenness of the compacted soil 8.
  • the operator can therefore adapt the way in which he controls the soil compaction machine 1 in the future and improve his work results.
  • the operator in turn, can determine the extent to which an operator needs training or needs training. All in all, the method 20 according to the invention therefore enables an improvement in the evenness of the compacted soil 8 without having to detect this evenness using sensors.

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Claims (13)

  1. Procédé (20) pour l'assistance à la manœuvre d'une machine de compactage du sol (1), comprenant les étapes consistant à :
    a) commander (21) la machine de compactage du sol (1) par un opérateur ;
    b) détecter (22) au moins un changement de vitesse de déplacement (a), dans lequel le procédé est caractérisé par les étapes supplémentaires consistant à
    c) déterminer (27) un instant auquel une inversion de la machine de compactage du sol (1) a lieu, à partir de la grandeur détectée à l'étape b) ;
    d) détecter (23) un angle de braquage (w) de la machine de compactage du sol (1) pendant un intervalle de temps (T) à l'instant déterminé à l'étape c) ;
    e) comparer (24) l'angle de braquage (w) détecté à l'étape d) pendant l'intervalle (T) avec des valeurs de référence prédéfinies pour un angle de braquage de consigne ;
    f) délivrer en sortie (25) un résultat de la comparaison (24).
  2. Procédé (20) selon la revendication 1,
    caractérisé en ce
    que la détection (22, 23) à l'étape b) ou d) est effectuée en continu.
  3. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que l'intervalle (T) est spécifié de telle sorte que l'inversion se situe au milieu de l'intervalle (T).
  4. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que les valeurs de référence utilisées pour la comparaison (24) à l'étape e) comprennent un angle de braquage de consigne qui indique quelle doit être la valeur minimale de l'angle de braquage (w) à l'instant de l'inversion déterminé à l'étape c).
  5. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    qu'avant l'inversion, une réduction, en particulier à zéro, de l'apport vibratoire (S) a lieu et les valeurs de référence utilisées pour la comparaison (24) à l'étape e) comprennent un apport vibratoire de consigne qui indique quelle doit être la valeur maximale de l'apport vibratoire (S), en particulier par rapport à la vitesse de déplacement (v) de la machine de compactage du sol (1), et
    qu'après l'inversion, une augmentation, en particulier à partir de zéro, de l'apport vibratoire (S) a lieu et les valeurs de référence utilisées pour la comparaison (24) à l'étape e) comprennent un apport vibratoire de consigne qui indique quelle doit être la valeur maximale de l'apport vibratoire (S), en particulier par rapport à la vitesse de déplacement (v) de la machine de compactage du sol (1).
  6. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que, pendant l'intervalle (T), une position de l'apport vibratoire (S) maximal est déterminée avant l'inversion, et que la valeur de référence pour l'apport vibratoire de consigne indique avec quel apport vibratoire (S) minimal ladite position doit être franchie après l'inversion.
  7. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que, pendant l'intervalle (T), une position de l'apport vibratoire (S) maximal d'un rouleau avant (5) de la machine de compactage du sol (1) avant l'inversion est déterminée, et que l'on surveille si un rouleau arrière (5) de la machine de compactage du sol (1) dépasse ladite position avant l'inversion.
  8. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que, à l'étape e), au moins un état de fonctionnement extérieur est en outre pris en compte, dans lequel l'état de fonctionnement comprend une température du sol.
  9. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que la sortie (25) du résultat de la comparaison (24) à l'étape f) comprend un affichage pour l'opérateur de la machine de compactage du sol (1), dans lequel, dans le cas où un écart entre l'angle de braquage (w), et pendant l'intervalle (T), et les valeurs de référence a été constaté, une instruction de manipulation (16) concernant la possibilité de réduction de l'écart à l'avenir est affichée à l'opérateur.
  10. Procédé (20) selon les revendications 8 et 9,
    caractérisé en ce
    qu'une indication est affichée à l'opérateur avec l'instruction de manipulation si un état de fonctionnement extérieur a conduit à une adaptation des valeurs de référence qui augmente un écart entre l'angle de braquage (w) pendant l'intervalle (T) et les valeurs de référence.
  11. Procédé (20) selon l'une des revendications précédentes,
    caractérisé en ce
    que, à l'étape e), une évaluation est attribuée au résultat de la comparaison (24), laquelle évaluation devient plus mauvaise au fur et à mesure que l'écart par rapport aux valeurs de référence augmente.
  12. Procédé (20) selon la revendication précédente,
    caractérisé en ce
    que des variations brusques de la vitesse de déplacement (v) sont également détectées et prises en compte dans l'évaluation.
  13. Procédé (20) selon l'une des revendications 11 ou 12,
    caractérisé en ce
    que le procédé (20) est exécuté pour tous les processus d'inversion pendant un intervalle de travail, dans lequel une évaluation globale est établie à partir des évaluations individuelles de l'étape e), laquelle évaluation globale est également délivrée en sortie ou mémorisée à l'étape f).
EP23165120.9A 2022-04-09 2023-03-29 Procédé d'aide à la commande d'une machine de compactage de sol Active EP4357525B1 (fr)

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DE102022108663.1A DE102022108663A1 (de) 2022-04-09 2022-04-09 Verfahren zur assistierten bedienunterstützung einer bodenverdichtungsmaschine und bodenverdichtungsmaschine

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Publication number Priority date Publication date Assignee Title
US20230220645A1 (en) * 2022-01-10 2023-07-13 Caterpillar Paving Products Inc. Compaction-based dynamic automated compaction plan
DE102022106657A1 (de) * 2022-03-22 2023-09-28 Hamm Ag Verfahren zum Betreiben eines Bodenverdichters und Bodenverdichter
DE102022107761A1 (de) * 2022-04-01 2023-10-05 Hamm Ag Verfahren zum Betreiben einer Bodenbearbeitungsmaschine
DE102024113082A1 (de) * 2024-05-09 2025-11-13 Wirtgen Gmbh Selbstfahrende strassenbaumaschine

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DE10317160A1 (de) * 2003-04-14 2004-11-18 Wacker Construction Equipment Ag System und Verfahren zur automatisierten Bodenverdichtung
DE102007018743A1 (de) * 2007-04-22 2008-10-23 Bomag Gmbh Verfahren und System zur Steuerung von Verdichtungsmaschinen
DE102014201240A1 (de) 2014-01-23 2015-07-23 Hamm Ag Selbstfahrende Straßenbaumaschine, insbesondere Straßenwalze, sowie Verfahren zum Fahren einer Straßenbaumaschine
CN106677032A (zh) * 2017-03-07 2017-05-17 陕西中大机械集团有限责任公司 一种智能调向振动压路机的激振力控制系统和控制方法
DE102017008602A1 (de) * 2017-09-13 2019-03-14 Bomag Gmbh Verfahren zur Überwachung des Verdichtungsprozesses im Straßenbau und Straßenwalze
DE102018007825A1 (de) * 2018-10-04 2020-04-09 Bomag Gmbh Verfahren zur Steuerung einer Bodenverdichtungsmaschine und Bodenverdichtungsmaschine
US10787198B2 (en) * 2018-10-15 2020-09-29 Caterpillar Paving Products Inc. Controlling compactor turning radius
JP7117255B2 (ja) * 2019-02-22 2022-08-12 日立建機株式会社 転圧機械
DE102019002442A1 (de) 2019-04-03 2020-10-08 Bomag Gmbh Verfahren zur teilautonomen Steuerung einer Baumaschine, insbesondere einer Bodenverdichtungsmaschine und Baumaschine, insbesondere Bodenverdichtungsmaschine

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DE102022108663A1 (de) 2023-10-12
CN116892147A (zh) 2023-10-17
US20230326263A1 (en) 2023-10-12
EP4357525A1 (fr) 2024-04-24

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