new 3d technology for wirtgen offset slipform · pdf file1 wirtgen autopilot matthias fritz /...

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WIRTGEN AutoPilot

Matthias Fritz / March 2012

New 3D Technology for Wirtgen Offset Slipform Pavers

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WIRTGEN AutoPilot


Machine Introduction

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WIRTGEN AutoPilot


Goals of the project

- Eliminate the string line: Easy to use 3D system for “anybody” but for a highly complex machine application

- Inexpensive but accurate - Fully integrated into machine onboard control

system - No surveying skills required - Missing innovations from the market for selected

applications - Platform for applications on other Wirtgen machines

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WIRTGEN AutoPilot


Requirements

- Highly accurate and reliable real-time 3D Sensors including position and heading

- Augmentation sensors such as machine slopes, ultrasonic and laser sensors

- Rugged and reliable machine computer - System display to visually show information and

allow user interaction - A method to define design information (trajectory,

elevation- and slope profile) either in the office or directly in the field

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WIRTGEN AutoPilot


First steps

Evaluation of GNSS sensors: - Autonomous low cost receivers - SBAS and Omnistar augmented receivers - RTK Base and Rover - Network RTK

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WIRTGEN AutoPilot


First steps

Circle with 3m radius, 2m/min speed

Autonmous GNSS SBAS enabled L1 RTK

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WIRTGEN AutoPilot


Overview Sensor Evaulation Results

- Autonumous GNSS is not accurate enough even for a short period of time

- SBAS augmented systems are not reliable and are highly depending on location. They drift particularly when losing signal.

- Omnistar is also highly depending on location, has very long initialization periods

- Omnistar HP is expensive, bound to a single receiver and not reliably available around the globe

- Network corrections have a high quality but require a local service - Surveying RTK has highest quality but expensive components - Robotic Totalstations are expensive, difficult to use for non-surveyors

and require additional heading sensor - L1 only, dual constellation RTK customized receivers show best

performance in regards to accuracy, cost and reliablity

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WIRTGEN AutoPilot


The components and their functions

TWO AXIS SLOPE SENSOR Detection of pitch & slope

GNSS* SATELLITES *GNSS = GPS & GLONASS

DUAL GNSS* RECEIVER & REFERENCE STATION Position and Direction of the machine

WIRTGEN COMPUTER & CONTROL DISPLAY Control and adjustment of Hard- and Software Handling

ROTATION LASER & RECEIVER Height adjustment

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WIRTGEN AutoPilot


Mechanical ski-sensor Accuracy ± 1 mm (0,05“)

☺☺Even surface

Options for height control of the machine

Ultra sonic sensor Accuracy ± 2 mm (0,1“)

☺☺even surface

GNSS Satellites Accuracy ± 20 mm (1“)

☺trimming only

Rotation laser & receiver Accuracy ± 2 mm (0,1“)

☺☺☺All applications

Height augmentation options

Robotic Totalstation Accuracy ± 2 mm (0,1“)

☺☺☺All applications

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WIRTGEN AutoPilot


Preparation on site Turn on GNSS base station with open view to the sky

Machine alignment to concrete profile Azimuth Starting position Height

Power up the rotating laser and receiver

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WIRTGEN AutoPilot


The components and their functions

The Wirtgen AutoPilot control display

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WIRTGEN AutoPilot


GO!

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WIRTGEN AutoPilot


During concrete paving

These information are displayed

IIII Position deviation IIII Height deviation IIII Cross slope IIII Long slope / draft IIII Machine heading Distance paved Actual paving speed

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WIRTGEN AutoPilot


Typical applications

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WIRTGEN AutoPilot



Pave a 1.5’(0.46m) radius fully automatic

Pave a 15’ (5m) inside radius fully automatic

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WIRTGEN AutoPilot



Application Video: Paving a record 1.5’ radius fully automated

new 3d technology for wirtgen offset slipform · pdf file1 wirtgen autopilot matthias fritz /...

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