Development of a control system for a multipurpose road repairing machine

Pekka Kilpeläinen, Jaakkola Mika, Pauli Alanaatu

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    Abstract

    In this paper an automatic control system for a multipurpose road pavement repairing machine (ROADMOTO) is introduced. ROADMOTO machine is equipped with asphalt milling drum and two asphalt spreaders. The old wearing course of the road is heated and milled. Asphalt spreader in the middle of the machine is used for spreading the crushed old pavement. Asphalt spreader in the back of the machine is used for spreading the new asphalt mass on top of the old layer. Until now most functions of the machine have been manually controlled. The goal is to achieve cost saving and better work quality by using automation. Before the actual repairing work a GPR (Ground penetrating radar), a profilometer or laser scanning techniques are used for collecting information about the road. Designing of repairing tasks is based on the collected data. During a design phase a repair design file is created. ROADMOTO machine is equipped with a GPS positioning unit and the repair design file can be used for automatic control of road repairing operations. The control system also offers a manual control mode as well as automatic height and slope control modes. This ensures flexibility, because the user can choose control mode that best suits for the situation. The control system uses CAN bus as sensor and valve interface and hydraulic actuators are closed loop controlled to achieve high control accuracy. The concept from the data collection and design to the automatic machine control is presented as well as the developed prototype system and results from the first tests
    Original languageEnglish
    Title of host publicationProceedings of the 26th Annual International Symposium on Automation and Robotics in Construction
    PublisherUniversity of Texas press
    Pages317-324
    ISBN (Print)978-0-578-02312-0
    Publication statusPublished - 2009
    MoE publication typeA4 Article in a conference publication
    Event26th Annual International Symposium on Automation and Robotics in Construction - Austin, United States
    Duration: 24 Jun 200927 Jun 2009
    Conference number: 26

    Conference

    Conference26th Annual International Symposium on Automation and Robotics in Construction
    CountryUnited States
    CityAustin
    Period24/06/0927/06/09

    Fingerprint

    Asphalt
    Control systems
    Spreaders
    Pavements
    Repair
    Manual control
    Hydraulic actuators
    Global positioning system
    Radar
    Automation
    Scanning
    Lasers
    Sensors
    Costs

    Keywords

    • Automation, pavement repairing machines
    • hydraulic control systems

    Cite this

    Kilpeläinen, P., Mika, J., & Alanaatu, P. (2009). Development of a control system for a multipurpose road repairing machine. In Proceedings of the 26th Annual International Symposium on Automation and Robotics in Construction (pp. 317-324). University of Texas press.
    Kilpeläinen, Pekka ; Mika, Jaakkola ; Alanaatu, Pauli. / Development of a control system for a multipurpose road repairing machine. Proceedings of the 26th Annual International Symposium on Automation and Robotics in Construction. University of Texas press, 2009. pp. 317-324
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    abstract = "In this paper an automatic control system for a multipurpose road pavement repairing machine (ROADMOTO) is introduced. ROADMOTO machine is equipped with asphalt milling drum and two asphalt spreaders. The old wearing course of the road is heated and milled. Asphalt spreader in the middle of the machine is used for spreading the crushed old pavement. Asphalt spreader in the back of the machine is used for spreading the new asphalt mass on top of the old layer. Until now most functions of the machine have been manually controlled. The goal is to achieve cost saving and better work quality by using automation. Before the actual repairing work a GPR (Ground penetrating radar), a profilometer or laser scanning techniques are used for collecting information about the road. Designing of repairing tasks is based on the collected data. During a design phase a repair design file is created. ROADMOTO machine is equipped with a GPS positioning unit and the repair design file can be used for automatic control of road repairing operations. The control system also offers a manual control mode as well as automatic height and slope control modes. This ensures flexibility, because the user can choose control mode that best suits for the situation. The control system uses CAN bus as sensor and valve interface and hydraulic actuators are closed loop controlled to achieve high control accuracy. The concept from the data collection and design to the automatic machine control is presented as well as the developed prototype system and results from the first tests",
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    Kilpeläinen, P, Mika, J & Alanaatu, P 2009, Development of a control system for a multipurpose road repairing machine. in Proceedings of the 26th Annual International Symposium on Automation and Robotics in Construction. University of Texas press, pp. 317-324, 26th Annual International Symposium on Automation and Robotics in Construction, Austin, United States, 24/06/09.

    Development of a control system for a multipurpose road repairing machine. / Kilpeläinen, Pekka; Mika, Jaakkola; Alanaatu, Pauli.

    Proceedings of the 26th Annual International Symposium on Automation and Robotics in Construction. University of Texas press, 2009. p. 317-324.

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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    AB - In this paper an automatic control system for a multipurpose road pavement repairing machine (ROADMOTO) is introduced. ROADMOTO machine is equipped with asphalt milling drum and two asphalt spreaders. The old wearing course of the road is heated and milled. Asphalt spreader in the middle of the machine is used for spreading the crushed old pavement. Asphalt spreader in the back of the machine is used for spreading the new asphalt mass on top of the old layer. Until now most functions of the machine have been manually controlled. The goal is to achieve cost saving and better work quality by using automation. Before the actual repairing work a GPR (Ground penetrating radar), a profilometer or laser scanning techniques are used for collecting information about the road. Designing of repairing tasks is based on the collected data. During a design phase a repair design file is created. ROADMOTO machine is equipped with a GPS positioning unit and the repair design file can be used for automatic control of road repairing operations. The control system also offers a manual control mode as well as automatic height and slope control modes. This ensures flexibility, because the user can choose control mode that best suits for the situation. The control system uses CAN bus as sensor and valve interface and hydraulic actuators are closed loop controlled to achieve high control accuracy. The concept from the data collection and design to the automatic machine control is presented as well as the developed prototype system and results from the first tests

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    Kilpeläinen P, Mika J, Alanaatu P. Development of a control system for a multipurpose road repairing machine. In Proceedings of the 26th Annual International Symposium on Automation and Robotics in Construction. University of Texas press. 2009. p. 317-324