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1. 发明授权

US11774965B2 Slipform paver and method for operating a slipform paver 有权
公开(公告)号：US11774965B2
公开(公告)日：2023-10-03
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 , B62D11/00 , B62D11/20 , E01C19/48 , E01C23/088 , G05D1/02
CPC分类号： G05D1/0088 , B62D11/003 , B62D11/20 , E01C19/4873 , E01C19/4893 , E01C23/088 , G05D1/0212 , G05D1/0278 , G05D2201/0202
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.

2. 发明授权

US11572661B2 Self-propelled construction machine and method for controlling a self-propelled construction machine 有权
公开(公告)号：US11572661B2
公开(公告)日：2023-02-07
申请号：US16908950
申请日：2020-06-23
申请人： Wirtgen GmbH
发明人： Matthias Fritz
IPC分类号： E01C19/00 , B62D6/02 , B62D11/06 , E01C19/48 , G05D1/02
摘要： A self-propelled construction machine comprises a machine frame having a working means arranged thereon, and a drive means for driving left and right crawler tracks at respective predetermined chain speeds. A control unit is configured such that, based on a distance between a front reference point with respect to the machine frame in the working direction and a predetermined path, the chain speed(s) of the left and/or right crawler track is predetermined such that the front reference point moves on the predetermined path. The control unit is further configured such that, during cornering, the control is corrected based on a distance between a rear reference point with respect to the machine frame in the working direction and the predetermined path such that the distance between the rear reference point with respect to the machine frame in the working direction and the predetermined path is reduced.

3. 发明授权

US11459712B2 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：US11459712B2
公开(公告)日：2022-10-04
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： A method for milling off traffic areas with a milling drum of a milling machine comprises: obtaining and storing target profile data of a desired target profile of a surface of the traffic area in target condition, wherein target values for a locally desired milling depth are assigned to position data in a stationary coordinate system independent of the milling machine; determining the current position of the milling drum in the coordinate system and detecting a current milling depth; during the milling operation, controlling the milling depth as a function of the target value assigned to the current position of the milling drum and the currently detected milling depth; updating the target profile data in the current position of the milling drum on the worked traffic area by the currently actually milled milling depth; and storing the updated target profile data.

4. 发明授权

US10982396B2 Slip form paver 有权
公开(公告)号：US10982396B2
公开(公告)日：2021-04-20
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 , G01S15/08 , G01S17/08
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.

5. 发明授权

US10180322B2 Self-propelled civil engineering machine system with field rover 有权
公开(公告)号：US10180322B2
公开(公告)日：2019-01-15
申请号：US14637532
申请日：2015-03-04
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Cyrus Barimani , Christian Berning
IPC分类号： G01C15/00 , E01C19/00 , E01C23/088 , E01C19/42 , G05D1/02 , G01C15/06
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.

6. 发明申请

US20170341649A1 Self-Propelled Civil Engineering Machine And Method Of Controlling A Civil Engineering Machine 审中-公开
公开(公告)号：US20170341649A1
公开(公告)日：2017-11-30
申请号：US15458146
申请日：2017-03-14
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Martin Dahm , Cyrus Barimani
IPC分类号： B60W30/18 , E02F9/20 , E01C19/48 , B60W10/04 , B60W10/20 , E01C19/00
CPC分类号： B60W30/18 , B60W10/04 , B60W10/20 , B60W2300/17 , B60W2530/18 , B60W2710/20 , B60W2720/10 , E01C19/00 , E01C19/004 , E01C19/008 , E01C19/4886 , E02F9/2045
摘要： A civil engineering machine and a method of controlling the machine are based on the position of at least one reference point which is relevant to the control of the civil engineering machine being changed, as the civil engineering machine moves, as a function of a relative position of the at least one reference point relative to a desired path of travel.

7. 发明申请

US20160060820A1 Self-Propelled Construction Machine And Method For Controlling A Self-Propelled Construction Machine 有权
标题翻译：自走式施工机械及自走式施工机械控制方法
公开(公告)号：US20160060820A1
公开(公告)日：2016-03-03
申请号：US14835481
申请日：2015-08-25
申请人： Wirtgen GmbH
发明人： Christian Berning , Matthias Fritz , Cyrus Barimani , Günter Hähn
IPC分类号： E01C19/00 , E01C19/48 , E01C19/05 , E01C19/26 , H04N7/18 , H04N5/232
CPC分类号： E01C19/004 , E01C19/05 , E01C19/264 , E01C19/266 , E01C19/268 , E01C19/48 , E01C23/01 , E01C23/088 , H04N5/23293 , H04N7/183
摘要： The invention relates to a self-propelled construction machine, which has a chassis having front and rear wheels or running gears in the working direction, a drive device for driving the front and rear wheels or running gears, and a working device. The construction machine has an image capturing unit for capturing an image of the terrain and a display unit on which the captured image is displayed. The image data of the image capturing unit are processed in a data processing unit, which comprises an identification unit and a referencing unit. In the image displayed on the display unit, objects that are relevant to the building project, for example manhole covers, water inlets or curbs, are identified and a spatial data set containing information regarding the position of the identified objects in a reference system which is independent of the movement of the construction machine is determined from the image data of the capturing unit. The construction machine is then controlled in order to carry out translational and/or rotational movements on the terrain and/or to install a structure on the terrain or to alter the terrain on the basis of the spatial data set. As a result, the previously identified objects can be taken into account in the building project.
摘要翻译：本发明涉及一种自走式施工机械，其具有在工作方向上具有前后轮或行走齿轮的底盘，用于驱动前轮和后轮或行走齿轮的驱动装置和工作装置。施工机械具有用于捕获地形图像的图像捕获单元和显示捕获图像的显示单元。图像捕获单元的图像数据在包括识别单元和参考单元的数据处理单元中被处理。在显示单元上显示的图像中，识别与建筑项目相关的对象，例如人孔盖，进水口或路缘石，以及空间数据集，该空间数据集包含与参考系统中的所识别物体的位置有关的信息，根据拍摄单元的图像数据确定与施工机械的运动无关的功能。然后控制施工机器，以便在地形上进行平移和/或旋转运动，和/或在地形上安装结构，或者根据空间数据集来改变地形。因此，可以在建筑项目中考虑先前识别的对象。

8. 发明申请

US20140348584A1 Milling Machine With Location Indicator System 有权
标题翻译：具有位置指示系统的铣床
公开(公告)号：US20140348584A1
公开(公告)日：2014-11-27
申请号：US13901263
申请日：2013-05-23
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Christian Berning , Cyrus Barimani , Günter Hähn
IPC分类号： E01C23/088
CPC分类号： E01C23/088 , E01C19/004 , E01C21/00 , E01C23/065 , E01C23/127 , G05D1/0214 , G05D1/0278 , G05D2201/0202
摘要： A construction machine apparatus includes a plurality of ground engaging supports, a machine frame supported from the ground engaging supports and a milling drum supported from the machine frame. A milling drum location detection system is configured to determine a drum location in an external reference system. A location indicator system includes a memory configured to store information identifying a location of one or more areas to be avoided in the external reference system, and a controller configured to compare the drum location to the location of the one or more areas to be avoided, and to provide an output corresponding to a proximity of the milling drum to the location of the one or more areas to be avoided.
摘要翻译：一种建筑机械设备包括多个地面接合支撑件，从地面接合支撑件支撑的机架和从机架支撑的铣削滚筒。研磨鼓位置检测系统被配置为确定外部参考系统中的鼓位置。位置指示器系统包括存储器，其被配置为存储识别外部参考系统中要避免的一个或多个区域的位置的信息;以及控制器，被配置为将鼓位置与要避免的一个或多个区域的位置进行比较，并且提供对应于铣削鼓的接近的输出到要避免的一个或多个区域的位置。

9. 发明申请

US20140081532A1 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控制方法
公开(公告)号：US20140081532A1
公开(公告)日：2014-03-20
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： G05D1/02 , E01C23/12 , E01C19/00 , E01C23/088
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。

10. 发明授权

US08613566B2 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：US08613566B2
公开(公告)日：2013-12-24
申请号：US13769436
申请日：2013-02-18
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Cyrus Barimani , Günter Hähn
IPC分类号： E01C19/00
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。

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