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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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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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