EP1118713A1 - Procédé de commande d'une machine de chantier ou finisseuse et finisseuse - Google Patents

Procédé de commande d'une machine de chantier ou finisseuse et finisseuse Download PDF

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Publication number
EP1118713A1
EP1118713A1 EP00101014A EP00101014A EP1118713A1 EP 1118713 A1 EP1118713 A1 EP 1118713A1 EP 00101014 A EP00101014 A EP 00101014A EP 00101014 A EP00101014 A EP 00101014A EP 1118713 A1 EP1118713 A1 EP 1118713A1
Authority
EP
European Patent Office
Prior art keywords
screed
working
driving unit
width
working device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP00101014A
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German (de)
English (en)
Other versions
EP1118713B1 (fr
Inventor
Henning Dr. Meyer
Erich Resch
Peter Prof.Dr.-Ing. Pickel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Joseph Voegele AG
Original Assignee
Joseph Voegele AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to AT00101014T priority Critical patent/ATE279584T1/de
Priority to EP00101014A priority patent/EP1118713B1/fr
Priority to DK00101014T priority patent/DK1118713T3/da
Priority to DE2000508220 priority patent/DE50008220D1/de
Priority to JP2001011974A priority patent/JP2001262611A/ja
Publication of EP1118713A1 publication Critical patent/EP1118713A1/fr
Application granted granted Critical
Publication of EP1118713B1 publication Critical patent/EP1118713B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams

Definitions

  • the invention relates to a method according to the preamble of patent claim 1, 11 and 12 and a paver according to claim 13.
  • Construction machines affected here include road pavers, graders, Crawlers, slipform pavers and traffic area recycling machines where the working device works the subsoil to a planned route to form, with the driving unit acting as a carrier of the working device, the necessary Applying propulsive force and taking the direction and an adjustment the longitudinal and / or transverse slope and / or working width of the working device is possible on the driving unit.
  • the screed With a paver, the screed has the material evenly over the Spread, compact and smooth the width. Using a sensor The screed is leveled with the control system The target values are adjusted in height and / or cross slope. When using a extending screed the working width can also be adjusted.
  • guide wires representing the desired height and course (EP-B-542 297) stretched along the planned route, which are scanned by sensors, to get information on leveling the screed.
  • the high effort for adjusting the guide wires is disadvantageous. So far, the others have been similar Construction machines of the above-mentioned group controlled. Some construction machines are automatically steered, with a guide wire providing directional information. At Automatic steering is not absolutely necessary for graders and caterpillars; however the working device is still along the planned route Taxes.
  • the paver is made of Hand directed.
  • the screed is leveled using two guide wires without guide wires stationary telescopes for observing height marks on the screed and via control devices on the telescopes, which the adjustment devices control the screed.
  • a Measuring point recorded on the driving unit.
  • a machine model is created with which the position of the construction machine is defined in a digital terrain model.
  • the actual data can be compared with target data from the planning.
  • Position deviations determined in the process are used to control control elements.
  • For slip shift pavers e.g. the steering cylinders and the lifting cylinders of the height adjustment of the support frame controlled.
  • Automatic guidance of the construction machine in the field and leveling of the working device still need a guidewire or similar reference element for deriving directional information and thus a considerable measurement effort.
  • precise steering is difficult and steering errors can affect the accuracy of the settings of the working device significantly impair if the driving unit is primarily guided and the working device is secondary the driving unit is tracked.
  • the invention has for its object a method of the type mentioned to create with the working device a construction machine without guide wires or Earth-based reference elements with high working accuracy automatically in one the planned route is mobile, and an automatically precisely controllable one Specify paver.
  • the task is with the features of claim 1, the sibling Claims 12 and 13, and the independent claim 14 solved.
  • the working device of the construction machine exactly in the planned route. Guide wires or earthbound Reference elements are not required. Nevertheless, the planned The route was created very precisely because the work fixture was used with the positioning system or an element of the Working device guided transversely to the direction of travel and in its height and inclined position is, and the driving unit only in the second line of the working device can be. Thereby the knowledge is taken into account that it is for high work accuracy it is important to control the work equipment primarily, and only secondarily the driving unit, since steering movements of the driving unit and made via the driving unit Adjustments of the working device would be too imprecise.
  • the position of the working device or that for the planned one is determined via the measuring point
  • the route determines the essential element of the work equipment and in addition to the position information of the measuring point additional information relevant to the location of the working device, for example via sensors, procured and used for control.
  • automatic width control takes place the screed using the planned data of obstacles, for example Gullies or the like, the control elements of the screed for driving around of the obstacle. It is possible to overcome an obstacle with either Bypass working width, or the working width in the area of the obstacle to reduce or enlarge only on one side.
  • the automatic width control has no influence on the automatic control of the screed along the planned route. With the automatic width control, one-sided or double-sided parking or alternative bays or traffic route constrictions shape, the automatic width control of the guide of the Screed is superimposed along the planned route. This method for automatic width control is of independent inventive importance.
  • the paver according to claim 14 is for performing a fully automatic Control along the planned route with the help of a geodetic positioning system designed. Regardless of where the measurement point is supporting mast (on the drive unit or on the working device), is always the real or virtual reference point on the screed or at one for the planned one
  • the route determines the relevant element and this reference point controlled that the screed forms the planned route.
  • the driving unit can also be steered automatically. That for the design element is a lower outer edge, for example the screed or the rear end point of this lower outer edge, the should be routed along the planned edge line of the route. Largely the working width is independent of the driving movement of the driving unit Control elements of the screed parts in the transverse direction in the planned route adjustable, and the transverse and longitudinal inclinations of the screed are also remotely controlled adjustable.
  • the position of this element is a constant for the control. Changes this relative position, e.g. in the transverse direction, the measurement point is opened again the element for controlling the construction machine that is decisive for the planned route closed (claim 3).
  • the actual working position for control purposes via the measuring point determined, taking into account machine-specific information. For example, a calculation is made in the construction machine Sensors determined where the element of the working device that is decisive for the route is located precisely around this element and therefore the working device to run in the planned route.
  • relative or automatic steering of the driving unit measured absolute directional deviations from a planned reference direction, and, if they exceed a tolerance range, for automatic Steering used.
  • a Direction sensor or a GPS-based system measured direction information be taken into account in the automatic steering. But that's always the case precise guidance of the working device in the foreground and becomes the driving unit of the Work device tracked. This can result in inaccurate steering movements not on the positioning of the working device in the planned route impact or simply be compensated.
  • the spatial actual working position of the working device to determine a work device model in a the planned one
  • To set the digital terrain model containing the route and from a comparison Derive control or correction signals for the control elements of the working device and to control the working device.
  • sensors for longitudinal and / or Bank of the working device are used, the necessary additional information deliver.
  • the abundance of the total data obtained for the control processed with at least one system computer, the stationary or in the construction machine itself can be provided.
  • special direction vectors are determined, from which correction signals for automatic steering of the driving unit.
  • the measurement point is expediently arranged on the screed to always keep the location, for example knowing a lower outer plank edge.
  • the measuring point can also be at the Driving unit or be arranged on a spar of the screed, then using Known machine-specific information or information derived from sensors from the measuring point the position of the screed or the outer one Edge of the screed calculated (claim 10).
  • the other screed part is either adjusted in exactly the opposite direction to a screed section, in order to achieve a constant working width, or is even adjusted individually, to achieve a working width that varies according to plan.
  • the Longitudinal and / or transverse inclination of the screed in accordance with the planned specifications adjusted to keep the extending screed exactly in the planned route to drive.
  • the measuring point can either be on the screed, expediently even on a screed section, on the drive unit or on a spar of the screed be arranged (claim 11).
  • the mast carrying the measuring point arranged on the screed which can be adjusted with the working width that cannot be changed, so that control movements required for control are clearly traceable.
  • the mast carrying the measuring point is on a screed part arranged. Control movements caused to control are so directly traceable via the measuring point.
  • the mast carrying the measuring point is on a spar of the screed appropriate.
  • the actual working position is controlled with additional information determined, for example, representing strokes of the control elements Signals and / or calculated direction vectors.
  • the arrangement of the measuring point on a mast offers the advantage, the measuring point even with uneven terrain or obstacles with the geodetic positioning system to "see”. For this, the mast should appear or tower over obstacles caused by the construction site.
  • the method according to the invention can be used with a grader in order to the rotatability of the graders in the planned route drive.
  • the line of motion of the other end of the group of degrees is by calculation known at any time.
  • a caterpillar with a pushed or pulled Dozer blade can be guided exactly in the planned route.
  • the slipform and / or the screed guided in the planned route It can be changed or unchangeable Working width.
  • a geodetic position determination system is used for a route section Total station installed in the vicinity of the planned route, i.e. a kind of theodolite with appropriate equipment and actuators, if necessary combined with the process computer or one with the process computer linked calculator.
  • a stationary or moving GPS system can be used are used, using a DGPS system to increase accuracy recommends that you work with a stationary reference station to get the procured Precise or calibrate position data.
  • the data transfer or the transmission of measurements and correction signals can be wireless, e.g. through radio or laser transmission, or via one or more cable harnesses.
  • Construction machine A is, for example, a paver with a driving unit M and a working device B, namely one on bars 1 towed screed with constant working width.
  • the construction machine A is self-driving.
  • the transverse and longitudinal slopes of the screed are included Adjustable elements, as well as the height of the screed above the Flat surface.
  • the screed is in a linear guide 2 on the spars 1 transverse to Direction of travel back and forth adjustable, by means of at least one control element 3, for example a hydraulic cylinder which is controlled via a control C1 becomes.
  • a controller C for functions of the driving unit M is provided, e.g. for the driving speed, the steering angle etc. From the Control C2 off may also have functions in and on the screed controllable.
  • a system computer CPU is on the driving unit M provided (Fig. 2).
  • the screed has sensors 4 for the longitudinal and / or transverse inclination the control C2 and / or the system computer CPU are connected.
  • a measuring point P for example at one at one End 5 of the screed stationed mast 6, which carries a prism 18, the measuring point P defined.
  • the driving unit M can be steered in the direction of a double arrow 15. On The driving unit M is provided with a real or virtual reference point 9.
  • the procedure below for automatically controlling the paver is also for other self-propelled construction machines with at least one each Appropriate working device.
  • construction machines are without the scope want to restrict the invention, for example with pavers Extending screeds (high compaction screed or normal screed), graders with graders, Slipform paver with supporting frame, slipforms and at least one Screed, traffic area recycling equipment and caterpillars with drawn or pushed Dozer blade.
  • a geodetic Positioning system G used which via a signal and information transmitting Route 17 is connected to the system computer CPU.
  • the system computer could be arranged externally of the construction machine A and with the controller communicate with the construction machine.
  • GPS differential GPS
  • the actual position of the actual point P is turned on in a step S1 the screed B in the x, y, z directions. If necessary, a second measuring point provided on the screed or on the construction machine and be scanned.
  • the route that the screed is to follow in the field is specified with regard to the target position of the measuring point P is generated, i.e. it becomes a digital one in a step S2 Prepared terrain model.
  • the course of the planned route is, for example determined by the course of the edges, the thickness, the inclination and the width of a ceiling layer to be installed on a subgrade, the driving unit drives on the formation and the screed above the specifications of the formation is managed.
  • Step S4 takes place with the planning data from step S2 and the spatial machine model a target-actual comparison from step S3, for example by calculation in the CPU system computer.
  • step S5 Become such Adjustments made, then the respective change in position in step S6 of the screed relative to the driving unit M.
  • step S7 is off the result of step S6 determines a directional deviation, expediently in the form of a direction vector 8 between the measuring point P and the virtual one or real measuring point 9 on the driving unit M.
  • step S8 the steering of the driving unit M is controlled by a longitudinal movement in the direction of the double arrow 15, the driving unit M, e.g. according to the Target values from the planning data, automatically steer and the working device track.
  • the automatic control of a construction machine A is based of a paver with a so-called extending screed.
  • the the Extending screed representing working device B is on the spars 1 of the driving unit M towed and is above the level in its height, and in its transverse and / or longitudinal inclinations adjustable. It has one connected to the spars 1 Screed base body 10 of predetermined working width and two extending screed parts 11, 12, which can be extended and retracted relative to the basic screed body 10 via adjusting elements 3 ', 3 " are.
  • the measuring point P is attached to a mast 13 in an elevated position, the one on a screed part 11, preferably in the outer End, is firmly mounted.
  • the height of the measuring point P is selected so that the Total station T of the geodetic positioning system G also via terrain-related Elevations or construction site-related obstacles "see” the measuring point.
  • Each screed part 11, 12 can be transverse to the direction of a double arrow 7 Move the direction of travel back and forth.
  • the height settings are made in the direction of a Double arrow 14.
  • Steering movements of the driving unit M are in the direction of a Double arrow 15 controlled.
  • the virtual or real measuring point 9 on the driving unit M is used to generate a direction vector 8 between the measuring points P, 9.
  • Die Total station T scans the actual position of measuring point P, for example using laser beams and communicates with the system computer, not shown. In the total station For example, a high-performance theodolite 16 is provided.
  • the total station T can work independently from a GPS system. But it can be useful be using position information from a GPS or DGPS system.
  • step S2 target values for the position of the Measuring point P or the target working position generated. Is the measuring point at the end of the Extending screed part 11, then its position represents the actual working position the decisive element of the extending screed for the route, e.g. the outer, lower edge of the screed part 11. Is the Measuring point P further inside, then in this case its transverse distance from the outside lower edge of the screed part 11 as a constant value for determining the Actual work position taken into account.
  • step S3 a spatial machine model created, for example, the working device B, with information from the sensor 4 and a height sensor for the height of the screed. This spatial machine model is converted into digital with its actual working position Terrain model set, which is generated from target values of the planning data. in the Step S4 becomes a position deviation between the actual position of the measuring point P or the actual working position and the target position.
  • step S5 an adjustment is made on the basis of the calculated position deviation the screed.
  • the screed part 11 is in the direction of Double arrow 7 adjusted transversely and relative to the driving unit M by a certain amount.
  • the other, opposite screed part 12 is adjusted in opposite directions, i.e. when one screed part 11 is extended, the other screed part becomes 12 retracted accordingly, and vice versa.
  • the other screed part 12 is controlled individually, where its respective location based on the machine-specific data or Sensor signals is determined and set.
  • step S6 the one that occurs due to the adjustment of the one screed part 11 Change in position of measuring point P compared to measuring point 9 of the driving unit M captured.
  • step S7 the change in position or the directional deviation or the direction vector 8 is determined, specifically in comparison to the previous relative position of the two measuring points P, 9.
  • step S8 the steering of the driving unit M is controlled by the Tracking unit M of the extending screed.
  • the automatic steering of the Driving unit can also relative or absolute directional deviations measured and taken into account in relation to a planned reference direction by a compass, a direction sensor or a GPS system measured direction information.
  • the scanning of measuring point P becomes the actual working position the working device, e.g. the screed, or one for the planned one Line of relevant elements of the working device, e.g. one Extending screed part outer edge, captured to the working device exactly in the planned Route to drive.
  • the measuring point directly on the relevant element arranged the working device so that it exactly its movements follows, then the measuring point largely represents the actual working position.
  • the Measuring point on the driving unit or, for example, the screed spar fixedly arranged, then machine-specific to determine the actual work position
  • Data also taken into account to determine the respective position from the actual position Obtain actual work position. In the latter case, this can be done using direction vectors done so that, for example, the outer lower edge of the screed or even the rear end of the edge exactly along a line of the planned one Route is maintained.
  • the opposite can also be used as a starting point Edge.
  • Fig. 5 In the machine configuration in Fig. 5 is based on a paver with a Spars 1 towed extending screed B the measuring point P on a mast 13 arranged in an elevated position on a spar 1. It becomes real or virtual Measuring point 19 at the outer lower edge of one screed part 11 or even the position of the rear end 20 of that edge, e.g. about one Direction vector 25 and with corresponding measurements of the sensor 4 or one Screed height sensor (not shown). This real or virtual measuring point 19 and the end point 20 are routed in the planned route e.g. by movements in the direction of the double arrows 7, 14. The other screed part 12 becomes exactly the opposite direction depending on whether a constant working width is to be traveled adjusted, or individually if the working width varies according to plan.
  • the real or virtual further measuring point is on the driving unit M of the construction machine A. 9 is provided, so that a direction vector between the measurement points 9 and P. 8 can be calculated, for automatic steering (steering movements in the direction of the double arrow 15) of the driving unit M is used to move the driving unit M of the working device B to track.
  • FIG. 6 is an automatic width control of the working device B, here an extendable screed of a paver to be explained.
  • This automatic Width control can be completely independent of an automatic guidance control the construction machine A are used or this is superimposed to Obstacles H in the planned route must be taken into account.
  • FIG. 7 shows how an automatic width control of the working device B, here the extendable screed of a paver, with the help of the geodetic Position determination system, here a total station T, made becomes.
  • the exact coordinates for the location and size of an obstacle H are in the contain planned data that are processed by the controller. Further is the course of, for example, the planned edge line 22 with an alternative bay 22 'known.
  • the measuring point P is arranged on a spar 1 as in FIG. 5.
  • Direction vectors 25 and 8 are used to determine the actual working position of the Measuring point 19, 20 and the actual position of measuring point 9 on the driving unit M.
  • the planned data of the obstacle H and over the process computer CPU corresponding to the measuring point 19, 20 of the one screed part 11 the dotted line 21 around the left-hand obstacle H.
  • the evasive bay 22 ' becomes the actuating element based on the planned data 3 "of the other screed part 12 is adjusted to the evasive bay 22 ' to form.
  • the driving unit M can continue to be steered automatically so that the obstacle H and the avoidance bay 22 'only by adjusting the screed parts 11, 12 are deliberately steered to the right, in combination with appropriate Adjustment movements of the two screed parts 11, 12.
  • automatic width control of the extending screed B is strict controlled according to planned information on obstacles H or the like, with continuous determination of the actual working position of the measuring point 19, 20 via the measuring point P.
  • each with a geodetic positioning system worked. In practice, this means that at least two such geodetic positioning systems exist have to be because one is used to control each section of the route will be adjusted while that for the subsequent route section got to.
  • the automatic control could be in a route section the construction machine with two geodetic positioning systems working simultaneously be made, the one for example the working device and the other controls the driving unit. Then would be for the continuous A total of four geodetic positioning systems are required.

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  • Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Acoustics & Sound (AREA)
  • Road Paving Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Road Repair (AREA)
  • Operation Control Of Excavators (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
EP00101014A 2000-01-19 2000-01-19 Procédé de commande d'une machine de chantier ou finisseuse et finisseuse Expired - Lifetime EP1118713B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AT00101014T ATE279584T1 (de) 2000-01-19 2000-01-19 Verfahren zum steuern einer baumaschine bzw. eines strassenfertigers und strassenfertiger
EP00101014A EP1118713B1 (fr) 2000-01-19 2000-01-19 Procédé de commande d'une machine de chantier ou finisseuse et finisseuse
DK00101014T DK1118713T3 (da) 2000-01-19 2000-01-19 Fremgangsmåde til styring af en entreprenörmaskine og en vejlægningsmaskine samt vejlægningsmaskine
DE2000508220 DE50008220D1 (de) 2000-01-19 2000-01-19 Verfahren zum Steuern einer Baumaschine bzw. eines Strassenfertigers und Strassenfertiger
JP2001011974A JP2001262611A (ja) 2000-01-19 2001-01-19 自走式建設機械を計画されたルートにおいて制御する方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP00101014A EP1118713B1 (fr) 2000-01-19 2000-01-19 Procédé de commande d'une machine de chantier ou finisseuse et finisseuse

Publications (2)

Publication Number Publication Date
EP1118713A1 true EP1118713A1 (fr) 2001-07-25
EP1118713B1 EP1118713B1 (fr) 2004-10-13

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EP00101014A Expired - Lifetime EP1118713B1 (fr) 2000-01-19 2000-01-19 Procédé de commande d'une machine de chantier ou finisseuse et finisseuse

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EP (1) EP1118713B1 (fr)
JP (1) JP2001262611A (fr)
AT (1) ATE279584T1 (fr)
DE (1) DE50008220D1 (fr)
DK (1) DK1118713T3 (fr)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10358645A1 (de) * 2003-12-15 2005-07-14 Joseph Voegele Ag Verfahren zum Steuern eines Straßenfertigers
DE102005007153A1 (de) * 2005-02-16 2006-08-24 Bjj Kleinmaschinen Gmbh Vorrichtung zur Bearbeitung einer Reitbahn
DE102009059106A1 (de) * 2009-12-18 2011-06-22 Wirtgen GmbH, 53578 Selbstfahrende Baumaschine und Verfahren zur Steuerung einer selbstfahrenden Baumaschine
US8762010B2 (en) 2009-08-18 2014-06-24 Caterpillar Inc. Implement control system for a machine
US8989968B2 (en) 2012-10-12 2015-03-24 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
US9096977B2 (en) 2013-05-23 2015-08-04 Wirtgen Gmbh Milling machine with location indicator system
US9181660B2 (en) 2012-01-25 2015-11-10 Wirtgen Gmbh Self-propelled civil engineering machine and method of controlling a civil engineering machine
DE102014010837A1 (de) * 2014-07-24 2016-01-28 Dynapac Gmbh Verfahren zur Herstellung eines Straßenbelags und Straßenfertiger
US9551115B2 (en) 2014-12-19 2017-01-24 Wirtgen Gmbh Transition on the fly
US9719217B2 (en) 2014-08-28 2017-08-01 Wirtgen Gmbh Self-propelled construction machine and method for visualizing the working environment of a construction machine moving on a terrain
US9896810B2 (en) 2014-08-28 2018-02-20 Wirtgen Gmbh Method for controlling a self-propelled construction machine to account for identified objects in a working direction
US9915041B2 (en) 2014-08-28 2018-03-13 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
EP3333318A1 (fr) * 2016-12-07 2018-06-13 Wirtgen GmbH Une transition à largeur variable
EP3434825A1 (fr) * 2017-07-27 2019-01-30 Joseph Vögele AG Assistance de direction pour une finisseuse de route
DE102017012010A1 (de) * 2017-12-22 2019-06-27 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
CN113581175A (zh) * 2021-08-19 2021-11-02 日照公路建设有限公司 一种道路施工中多机型工程机械联动作业方法及系统
US11459712B2 (en) 2019-12-19 2022-10-04 Wirtgen Gmbh Method for milling off traffic areas with a milling drum, as well as milling machine for carrying out the method for milling off traffic areas
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JP6827473B2 (ja) * 2016-09-16 2021-02-10 株式会社小松製作所 作業車両の制御システム、作業車両の制御システムの制御方法および作業車両

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EP1544354A3 (fr) * 2003-12-15 2007-11-14 Joseph Voegele AG Procédé de commande d'un finisseur
DE10358645A1 (de) * 2003-12-15 2005-07-14 Joseph Voegele Ag Verfahren zum Steuern eines Straßenfertigers
DE102005007153A1 (de) * 2005-02-16 2006-08-24 Bjj Kleinmaschinen Gmbh Vorrichtung zur Bearbeitung einer Reitbahn
US8762010B2 (en) 2009-08-18 2014-06-24 Caterpillar Inc. Implement control system for a machine
US8888402B2 (en) 2009-12-18 2014-11-18 Wirtgen Gmbh Self-propelled civil engineering machine and method of controlling a self-propelled civil engineering machine
EP2336424A3 (fr) * 2009-12-18 2013-07-31 Wirtgen GmbH Engin automobile et procédé de commande d'un engin automobile
US8613566B2 (en) 2009-12-18 2013-12-24 Wirtgen Gmbh Self-propelled civil engineering machine and method of controlling a self-propelled civil engineering machine
US8388263B2 (en) 2009-12-18 2013-03-05 Wirtgen Gmbh Self-propelled civil engineering machine and method of controlling a self-propelled civil engineering machine
DE102009059106A1 (de) * 2009-12-18 2011-06-22 Wirtgen GmbH, 53578 Selbstfahrende Baumaschine und Verfahren zur Steuerung einer selbstfahrenden Baumaschine
US9181660B2 (en) 2012-01-25 2015-11-10 Wirtgen Gmbh Self-propelled civil engineering machine and method of controlling a civil engineering machine
US9598080B2 (en) 2012-01-25 2017-03-21 Wirtgen Gmbh Self-propelled civil engineering machine and method of controlling a civil engineering machine
US8989968B2 (en) 2012-10-12 2015-03-24 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
US11761763B2 (en) 2012-10-12 2023-09-19 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
US11313679B2 (en) 2012-10-12 2022-04-26 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
US10746546B2 (en) 2012-10-12 2020-08-18 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
US10180322B2 (en) 2012-10-12 2019-01-15 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
US9970164B2 (en) 2013-05-23 2018-05-15 Wirtgen Gmbh Milling machine with location indicator system
US9096977B2 (en) 2013-05-23 2015-08-04 Wirtgen Gmbh Milling machine with location indicator system
US9359729B2 (en) 2013-05-23 2016-06-07 Wirtgen Gmbh Milling machine with location indicator system
DE102014010837A1 (de) * 2014-07-24 2016-01-28 Dynapac Gmbh Verfahren zur Herstellung eines Straßenbelags und Straßenfertiger
US10273642B2 (en) 2014-08-28 2019-04-30 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
US9896810B2 (en) 2014-08-28 2018-02-20 Wirtgen Gmbh Method for controlling a self-propelled construction machine to account for identified objects in a working direction
US9915041B2 (en) 2014-08-28 2018-03-13 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
US9719217B2 (en) 2014-08-28 2017-08-01 Wirtgen Gmbh Self-propelled construction machine and method for visualizing the working environment of a construction machine moving on a terrain
US11619011B2 (en) 2014-08-28 2023-04-04 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
US11072893B2 (en) 2014-08-28 2021-07-27 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
US10161088B2 (en) 2014-12-19 2018-12-25 Wirtgen Gmbh Transition on the fly
US9551115B2 (en) 2014-12-19 2017-01-24 Wirtgen Gmbh Transition on the fly
US9797099B2 (en) 2014-12-19 2017-10-24 Wirtgen Gmbh Transition on the fly
CN108166356A (zh) * 2016-12-07 2018-06-15 维特根有限公司 可变宽度的自动转变
US10253461B2 (en) 2016-12-07 2019-04-09 Wirtgen Gmbh Variable width automatic transition
EP3333318A1 (fr) * 2016-12-07 2018-06-13 Wirtgen GmbH Une transition à largeur variable
EP3434825A1 (fr) * 2017-07-27 2019-01-30 Joseph Vögele AG Assistance de direction pour une finisseuse de route
US11029704B2 (en) 2017-12-22 2021-06-08 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
DE102017012010A1 (de) * 2017-12-22 2019-06-27 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
US11774965B2 (en) 2018-08-16 2023-10-03 Wirtgen Gmbh Slipform paver and method for operating a slipform paver
US11885881B2 (en) 2018-11-02 2024-01-30 Moba Mobile Automation Ag Sensor system for a road finishing machine
US11572661B2 (en) 2019-07-04 2023-02-07 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
US11459712B2 (en) 2019-12-19 2022-10-04 Wirtgen Gmbh Method for milling off traffic areas with a milling drum, as well as milling machine for carrying out the method for milling off traffic areas
US11795633B2 (en) 2019-12-19 2023-10-24 Wirtgen Gmbh Method for milling off traffic areas with a milling drum, as well as milling machine for carrying out the method for milling off traffic areas
CN113581175A (zh) * 2021-08-19 2021-11-02 日照公路建设有限公司 一种道路施工中多机型工程机械联动作业方法及系统

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DE50008220D1 (de) 2004-11-18
EP1118713B1 (fr) 2004-10-13
ATE279584T1 (de) 2004-10-15

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