公开(公告)号：WO2021052945A1

公开(公告)日：2021-03-25

申请号：PCT/EP2020/075731

申请日：2020-09-15

Applicant: MOBA MOBILE AUTOMATION AG

Inventor： SHELSTAD, David

IPC: E01C19/00 ,  E01C19/48 ,  E01C23/088

Abstract: Road construction machine (10), especially a paving machine or a milling machine, comprising a levelling system (1), the road construction machine (10) comprising a chassis (17) and a tool (15), the levelling system (1) comprising: - a first height sensor arrangement (3L/R, 40L/R) coupled to a first side of the tool (15) or to a first side (10L/R) of the chassis (17) of the machine (10) and configured to determine a first distance information (DL/DR) as first actual value for a distance to an underground (21) or to an applied layer (22) in reference to a reference point belonging to the first side of the tool (15) or to the first side (10L/R) of the chassis (17); and - a second height sensor arrangement (3L/R, 40L/R) coupled to the second side of the tool (15) or to a second side (1 OL/R) of the chassis (17) and configured to determine a second distance information (DL/ DR) serving as second actual value for a distance to the underground (21) or to the applied layer (22) in reference to the reference point belonging to the second side of the tool (15) or to the second side (10L/R) of the chassis (17); and - a first controller (5L/R, 45L/R) comprising a first controller loop configured to control a height position of the first side of the tool (15) or of the machine chassis (17) based on the first actual value and a first setpoint for the height position of the first side of the tool (15) or of the chassis (17); and - a second controller (5L/R, 45L/R) comprising a second controller loop configured to control a height position of the second side of the tool (15) or of the chassis (17) based on the second actual value and a second setpoint for the height position of the second side of the tool (15) or of the chassis (17); and - an additional sensor (2, 200, 300, 400) coupled to the tool (15) or the chassis (17) and configured to determine an actual reference value for either the first or the second side of the tool (15) or either the first or the second side of the chassis (17), the actual reference value describing a height position of either the first or the second side of the tool (15) or either the first or the second side of the chassis (17) wherein at least one of the first and the second controller (5L/R, 45UZ R) are configured to adapt the setpoint based on the actual reference value of the additional sensor (2, 200, 300, 400), whereby a setpoint adaption takes place only either on the first side or the second side of the tool (15) or of the chassis (17).