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31. 发明授权

US08989968B2 Self-propelled civil engineering machine system with field rover 有权
标题翻译：自走式土木工程机械系统与现场流动站
公开(公告)号：US08989968B2
公开(公告)日：2015-03-24
申请号：US13756646
申请日：2013-02-01
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Cyrus Barimani , Günter Hähn , Christian Berning
IPC分类号： G06F7/70 , E01C19/00 , G01C15/00 , E01C23/088 , G01C15/06 , E01C19/42 , G05D1/02
CPC分类号： G01C15/00 , E01C19/004 , E01C19/42 , E01C23/088 , G01C15/06 , G05D1/0278 , G05D2201/0202
摘要： A civil engineering machine has a machine control unit configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system independent of the position and orientation of the civil engineering machine. A geometrical shape to be produced on the ground is preset in either a machine control unit or a field rover control unit. The field rover is used to determine a position of at least one identifiable point of the preset geometrical shape in the independent reference system. Curve data defining a desired curve in the independent reference system, corresponding to the preset shape, is determined at least partially on the basis of the position of the at least one identifiable point of the preset geometrical shape in the independent reference system.
摘要翻译：土木工程机器具有机器控制单元，该机器控制单元被配置为确定关于独立于土木工程机械的位置和取向的参考系统在土木工程机器上定义参考点的位置和/或取向的数据。要在地面上产生的几何形状预设在机器控制单元或现场流动站控制单元中。现场漫游器用于确定独立参考系统中预设几何形状的至少一个可识别点的位置。至少部分地基于独立参考系统中的预设几何形状的至少一个可识别点的位置来确定对应于预设形状的在独立参考系中定义期望曲线的曲线数据。

32. 发明授权

US08888402B2 Self-propelled civil engineering machine and method of controlling a self-propelled civil engineering machine 有权
标题翻译：自行式土木工程机械及自行式土木工程机械的控制方法
公开(公告)号：US08888402B2
公开(公告)日：2014-11-18
申请号：US14087988
申请日：2013-11-22
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Cyrus Barimani , Günter Hähn
IPC分类号： E01C19/00 , E01C23/088 , E01C19/48 , B62D6/00 , G05D1/02 , E01C23/12
CPC分类号： G05D1/021 , B62D6/002 , E01C19/004 , E01C19/48 , E01C23/088 , E01C23/127
摘要： The invention relates to a self-propelled civil engineering machine, and in particular to a slipform paver, road paver or road milling machine, and to a method of controlling a self-propelled civil engineering machine. The civil engineering machine according to the invention has a control unit which is configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system (X, Y, Z) independent of the position and orientation of the civil engineering machine. The reference system (X, Y, Z) independent of the machine-related reference system (x, y, z) may be selected as desired, and there is thus no need for the positions of various reference points to be plotted on the ground.
摘要翻译：本发明涉及一种自推土木工程机，特别涉及一种滑动摊铺机，摊铺机或道路铣刨机，以及一种控制自走式土木工程机械的方法。根据本发明的土木工程机械具有控制单元，其被配置为确定与土木工程机器上的参考点相对于独立于参考系的参考系（X，Y，Z）的位置和/或取向的数据土木工程机械的位置和方向。可以根据需要选择独立于机器相关参考系（x，y，z）的参考系（X，Y，Z），因此不需要在地面上绘制各种参考点的位置。

33. 发明公开

US20240103179A1 POSITION DETERMINING SYSTEM AND METHOD FOR DETERMINING THE POSITION OF A REFERENCE POINT ON A SELF-PROPELLED CONSTRUCTION MACHINE AS WELL AS METHOD FOR INITIALIZING A REFERENCE STATION SET UP IN THE PERIPHERY OF A SELF-PROPELLED CONSTRUCTION MACHINE 审中-公开
公开(公告)号：US20240103179A1
公开(公告)日：2024-03-28
申请号：US18470802
申请日：2023-09-20
申请人： Wirtgen GmbH
发明人： Matthias Fritz
IPC分类号： G01S19/07 , G05D1/02
CPC分类号： G01S19/071 , G05D1/0278 , G05D2201/0202
摘要： The invention relates to a position determination system II and a method for determining the position of a reference point R on a self-propelled construction machine I in a coordinate system X, Y, Z independent of the construction machine, and a method for initializing a reference station 15 set up in the periphery of a self-propelled construction machine I for sending correction signals. The position determination system II according to the invention for determining the position of a reference point R on a self-propelled construction machine I in a coordinate system independent of the construction machine comprises a DGPS rover unit 14 for receiving satellite signals from a global navigation satellite system S and correction signals from a reference station 15. The position determination system according to the invention is characterized in that, for initializing the reference station 15, a position dataset PD describing the predetermined positions of a reference station is read out from a memory unit 23, 24, 27, wherein the actual reference station position is determined on the basis of a comparison of the predetermined positions P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4) of the reference station 15 with the reference station position P1′(X1′, Y1′, Z1′), P2′(X2′, Y2′, Z2′), P3′(X3′, Y3′, Z3′), P4′(X4′, Y4′, Z4′) determined by the reference station 15.

34. 发明公开

US20230383486A1 SELF-PROPELLED GROUND-PROCESSING MACHINE AND METHOD FOR CONTROLLING A SELF-PROPELLED GROUND-PROCESSING MACHINE, AS WELL AS METHOD FOR PROCESSING THE GROUND WITH ONE OR MORE SELF-PROPELLED GROUND-PROCESSING MACHINES 审中-公开
公开(公告)号：US20230383486A1
公开(公告)日：2023-11-30
申请号：US18318984
申请日：2023-05-17
申请人： Wirtgen GmbH
发明人： Matthias Fritz
IPC分类号： E01C23/088 , E01C23/12
CPC分类号： E01C23/088 , E01C23/127
摘要： The invention relates to a self-propelled ground-processing machine—in particular, road-milling machine—which has a machine frame 3 supported by running gears; and a ground-processing device—in particular, milling drum 10—arranged on the machine frame 3; and lifting devices 4A, 5A, 6A, 7A assigned to the running gears 4, 5, 6, 7. The ground-processing machine is characterized by a transverse inclination model determination device 17 which provides, in a preceding working process, the information, required for performing a working process following the preceding working process, with respect to the transverse inclination α to be set of the machine frame 3 or the milling drum 10, so that the subsequent processing process can be performed even if a suitable reference surface for determining distance values for a milling-depth control is not present on one side of the processed route portion. Furthermore, the invention relates to a method for controlling a ground-processing machine and to a method for processing the ground with one or more self-propelled ground-processing machines.

35. 发明授权

US11318941B2 Working combination encompassing an earth working machine and a further vehicle, and an automatic spacing monitoring system 有权
公开(公告)号：US11318941B2
公开(公告)日：2022-05-03
申请号：US16791015
申请日：2020-02-14
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Herbert Lange , Marc Pees , Carmen Kania
IPC分类号： B60W30/165 , B60W10/04 , B60W10/18 , E01C23/06
摘要： A system is provided for monitoring spacing during working operation between a first vehicle and at least one further self-propelled vehicle. A beam source is on one vehicle (source vehicle). A sensor arrangement on another vehicle (target vehicle) extends along a sensor axis. In a predetermined reference state, with the vehicles having a predetermined reference spacing apart, the beam source radiates toward the target vehicle electromagnetic radiation such that a predetermined sensor-axial reference detection region on the sensor arrangement is irradiated by the beam source. A change in the vehicle spacing results in a change, along the sensor axis, in the position of the detection region on the irradiated sensor arrangement, and thus in a change in the detection state of the sensor arrangement. Based on the detection state which depends on an actual spacing of the source and target vehicles, a spacing signal is generated with vehicle spacing information.

36. 发明申请

US20210189667A1 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 有权
公开(公告)号：US20210189667A1
公开(公告)日：2021-06-24
申请号：US17117433
申请日：2020-12-10
申请人： Wirtgen GmbH
发明人： Matthias Fritz
IPC分类号： E01C23/088
摘要： In the method for milling off traffic areas with a milling drum of a milling machine, the following steps are provided: obtaining and storing target profile data (x, y, Ft(x,y)) of a desired target profile (8) of a surface of the traffic area (3) in target condition, wherein target values (Ft(x,y)) for a locally desired milling depth (Ft), which are specified relative to the surface of the traffic area (2) to be worked, are assigned to position data (x, y) in an in particular stationary coordinate system independent of the milling machine (6), determining the current x, y position of the milling drum (4) in the coordinate system and detecting the milling depth (Ft′) of the milling drum (4) currently adjusted relative to the surface of the traffic area (2, 3), during the milling operation, controlling the milling depth (Ft) of the milling drum (4) as a function of the target value (Ft(x,y)) for the locally desired milling depth (Ft) assigned to the current x, y position of the milling drum (4) and the currently detected milling depth (Ft′), updating the target profile data (x, y, Ft(x,y)) in the current position (x, y) of the milling drum (4) on the worked traffic area (3) by the currently actually milled milling depth (Ft), and storing the updated target profile data (x, y, Ft(x,y)).

37. 发明申请

US20210010211A1 Slip Form Paver 有权
公开(公告)号：US20210010211A1
公开(公告)日：2021-01-14
申请号：US16508665
申请日：2019-07-11
申请人： Wirtgen GmbH
发明人： Matthias Fritz
IPC分类号： E01C19/48 , G01S17/08 , G01S15/08
摘要： A slip form paver machine includes a slip form mold and left and right side form assemblies closing the slip form mold on the sides. Each side form assembly includes a mounting portion, a side form, and a side form actuator configured to move the side form up and down relative to the mounting portion to adjust a height of the side form relative to the ground surface. At least one side form height sensor is configured to detect the height of the side form. A controller is configured to receive input signals from the side form height sensors and to send control signals to the side form actuators to control the height of the side forms relative to the ground surface.

38. 发明申请

US20200057444A1 SLIPFORM PAVER AND METHOD FOR OPERATING A SLIPFORM PAVER 审中-公开
公开(公告)号：US20200057444A1
公开(公告)日：2020-02-20
申请号：US16528977
申请日：2019-08-01
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Stefan Wagner , Cyrus Barimani
IPC分类号： G05D1/00 , E01C23/088 , E01C19/48 , G05D1/02 , B62D11/00 , B62D11/20
摘要： The invention relates to a self-propelled construction machine and to a method for controlling a self-propelled construction machine. The construction machine according to the invention has a position-determining device 13 for determining the position of a reference point R on the construction machine in a coordinate system (X, Y, Z) independent of the construction machine. The position-determining device has a navigation satellite system receiver 14 for receiving satellite signals from a global navigation satellite system 15 (GNSS) and a computing unit 16 which is configured so that the position of a reference point (R) on the construction machine and the orientation (ψ) of the construction machine can be determined based on the satellite signals in a coordinate system (X, Y, Z) that is independent of the construction machine. Moreover, the construction machine has a controller 18 which cooperates with the position-determining device 13 configured to adjust the steering angles of the steerable running gears 3, 4, 6 so that the reference point R of the construction machine moves along a set trajectory T. The computing unit 16 of the position-determining device 13 is configured so that, in a control mode in which the control of the construction machine is not based on the satellite signals of the global navigation satellite system 15, the position (xn, yn, zn) of the reference point (R) relating to the construction machine and the orientation (ψ) of the construction machine are determined in the coordinate system (X, Y, Z) that is independent of the construction machine while the construction machine is moving on the basis of a kinematic model 16A implemented in the computing unit 16 of the position-determining device 13 which describes the position (P) of the reference point (R) and the orientation (ψ) in the coordinate system (X, Y, Z) that is independent of the construction machine depending on the steering angles and the speeds of the running gears 3, 4, 6.

39. 发明申请

US20190212143A1 Self-Propelled Civil Engineering Machine System With Field Rover 审中-公开
公开(公告)号：US20190212143A1
公开(公告)日：2019-07-11
申请号：US16242861
申请日：2019-01-08
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Cyrus Barimani , Christian Berning
IPC分类号： G01C15/00 , G01C15/06 , E01C19/42 , E01C19/00 , E01C23/088 , G05D1/02
摘要： A civil engineering machine has a machine control unit configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system independent of the position and orientation of the civil engineering machine. A geometrical shape to be produced on the ground is preset in either a machine control unit or a field rover control unit. The field rover is used to determine a position of at least one identifiable point of the preset geometrical shape in the independent reference system. Curve data defining a desired curve in the independent reference system, corresponding to the preset shape, is determined at least partially on the basis of the position of the at least one identifiable point of the preset geometrical shape in the independent reference system.

40. 发明申请

US20190204852A1 Self-propelled construction machine and method for controlling a self-propelled construction machine 审中-公开
公开(公告)号：US20190204852A1
公开(公告)日：2019-07-04
申请号：US16218780
申请日：2018-12-13
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Stefan Wagner , Cyrus Barimani
IPC分类号： G05D1/02 , G01S19/13 , G01S19/45
CPC分类号： G05D1/0278 , E01C19/004 , E01C19/4886 , E01C19/4893 , E01C23/088 , E01C23/127 , E02F9/20 , G01S19/13 , G01S19/45 , G05D1/0212 , G05D1/0234 , G05D1/0282 , G05D2201/0202
摘要： A construction machine system comprises a self-propelled construction machine and a total station. The construction machine possesses a machine frame, a drive means and a working means for altering the terrain. A position-determination means determines the position of a reference point on the machine in a first coordinate system independent of the machine. The position-determination means receives satellite signals from a global navigation satellite system (GNSS), wherein in normal operation the machine is controlled using the GNSS such that a reference point on the machine moves along a set target travel path. In a total station control mode, the machine is controlled without the GNSS and only using the total station based on a position of the standpoint and orientation of the total station ascertained in the GNSS control mode, and the position-determination of the construction machine occurs in a second coordinate system based on the total station.

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