US 11,774,965 B2
Slipform paver and method for operating a slipform paver
Matthias Fritz, Hennef (DE); Stefan Wagner, Bad Honnef (DE); and Cyrus Barimani, Königswinter (DE)
Assigned to Wirtgen GmbH
Filed by Wirtgen GmbH, Windhagen (DE)
Filed on Aug. 1, 2019, as Appl. No. 16/528,977.
Claims priority of application No. 10 2018 119 962.7 (DE), filed on Aug. 16, 2018.
Prior Publication US 2020/0057444 A1, Feb. 20, 2020
Int. Cl. G05D 1/00 (2006.01); B62D 11/00 (2006.01); B62D 11/20 (2006.01); E01C 19/48 (2006.01); E01C 23/088 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0088 (2013.01) [B62D 11/003 (2013.01); B62D 11/20 (2013.01); E01C 19/4873 (2013.01); E01C 19/4893 (2013.01); E01C 23/088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0202 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A construction machine comprising:
a machine frame supported by running gears, one or more of which are drivable and/or steerable running gears;
steering angle sensors that are associated with one or more steerable running gears for determining the respective steering angles thereof, and speed sensors associated with one or more drivable running gears for determining the respective speeds thereof;
a position-determining device comprising
a navigation satellite system receiver for receiving satellite signals of a global navigation satellite system, and
a computing unit configured to determine the position of a reference point relative to the construction machine and the orientation of the construction machine in a first machine coordinate system not dependent on the construction machine, based on the satellite signals of the global navigation satellite system; and
a controller cooperating with the position-determining device configured to adjust steering angles of the steerable running gears so that the reference point of the construction machine moves along a set trajectory,
wherein control of the construction machine in a first control mode is based at least in part on the satellite signals, and
wherein the computing unit is configured so that, in a second control mode in which control of the construction machine is not based on the satellite signals of the navigation satellite system, during movement of the construction machine the position of the reference point relating to the construction machine and the orientation of the construction machine are determined in the first coordinate system based on a kinematic model implemented in the computing unit, which describes the position of the reference point and the orientation of the construction machine in the first coordinate system depending on the steering angles and the speeds of the running gears as respective inputs to the kinematic model, and further taking into account one or more empirically determined correction values for the one or more steering angles and/or for the one or more speeds,
wherein the one or more correction values are determined to compensate for slip factors that are external to the steering angle sensors and/or speed sensors.