EP1825064B1 - Procede et systeme pour controler un engin de travaux routiers - Google Patents

Procede et systeme pour controler un engin de travaux routiers Download PDF

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Publication number
EP1825064B1
EP1825064B1 EP05816965A EP05816965A EP1825064B1 EP 1825064 B1 EP1825064 B1 EP 1825064B1 EP 05816965 A EP05816965 A EP 05816965A EP 05816965 A EP05816965 A EP 05816965A EP 1825064 B1 EP1825064 B1 EP 1825064B1
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Prior art keywords
height
processing machine
road processing
working part
working
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EP05816965A
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German (de)
English (en)
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EP1825064A1 (fr
Inventor
Andreas Buehlmann
Peter A. Stegmaier
Volker Kuch
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Leica Geosystems AG
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Leica Geosystems AG
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Priority to EP05816965A priority Critical patent/EP1825064B1/fr
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    • 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
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • 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
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ

Definitions

  • the invention relates to a method for controlling the travel of a road surface moving machine according to the preamble of claim 1, a road processing machine according to the preamble of claim 11 and a system for carrying out a method for controlling the travel of a road surface moving machine on a base surface and the working height of a height-adjustable working part according to claim 17.
  • machines are used for various work steps that travel along a given route and perform a desired processing step.
  • asphalt pavers are used to apply asphalt pavers with a vehicle and a height-adjustable trowel or screed fastened thereto.
  • the asphalt material is distributed by the vehicle along the front edge of the screed.
  • the screed sweeps and smoothes and densifies the asphalt material to provide a continuous asphalt pavement having a desired surface course.
  • the screed bar can be positioned vertically so that a desired surface profile is achieved as accurately as possible.
  • a Reference used for vertical positioning. If, as a reference line, a rope or a wire has to be stretched along the road to be paved, this is a great expense. If the base surface on which the asphalt is applied is used as a reference, it must be formed very precisely with great effort.
  • a laser beam is used as a reference, in which case the height of the screed relative to the laser is detected with a sensor attached to the screed bar and the screed bar is kept at a desired height.
  • the DE 100 60 903 describes a prior art in which the position of a reference surface is detected with a touch ski or with three spaced apart in the movement direction laser measuring heads.
  • it is proposed to arrange at one point above the screed bar three differently aligned laser distance meters which detect the distance to three measurement points one behind the other in the direction of movement.
  • the distance values are each converted into a height and a horizontal distance.
  • a height control signal is generated for the screed or other processing tool.
  • the accuracy of the height determination with the obliquely aligned laser distance meters is reduced by the mounting accuracy and the fact that at least one measuring point is located on the already applied coating.
  • an exactly constant sensor alignment is hardly achievable due to vibrations as well as large temperature and humidity fluctuations.
  • a small unrecognized change in angle already leads to a considerable error in the height calculated from the measurement assuming the wrong orientation.
  • a road processing machine is used with a height-adjustable working part together with at least one transmitter.
  • a sensor on the machine receives at least one signal of the at least one transmitter and from the received signal, a height position information is derived, which is used for vertical positioning of the height-adjustable working part.
  • a system of transmitter and sensor is about a GPS system used.
  • the reference surface is run over without processing only for detecting the reference surface layer, which is associated with a double driving effort.
  • a solution is known in which a GPS system and a tilt-adjustable rotary laser system are used for three-dimensionally controlling a construction machine.
  • the GPS system on the construction machine determines two location coordinates of the construction machine, which are transmitted to the fixed rotation laser system.
  • the current location coordinates are assigned a desired altitude and the rotating laser is aligned to mark the desired altitude for a linear laser receiver of the construction machine.
  • the laser receiver determines the current deviation of the working tool from the desired height. According to this deviation, the altitude of the working tool is adjusted.
  • This solution is very expensive because it is a GPS system, a complex rotation laser system, a radio link between these systems, a linear laser receiver and at least one controller.
  • there are problems in areas such as under bridges where the satellite signals required by the GPS system can not be received.
  • the DE 199 51 297 C1 refers to an automatic longitudinal control of a paver during the installation of a road layer. Solutions are based on tracking a prism mounted on the paver using a laser total station. This station tracks the prism by means of an alignable in all directions optics. The position of the construction machine or screed is calculated from the solid angle of the optics, the distance between the prism and the optics and the position of the total station. For precise height adjustment of the screed, the prism must be arranged as directly above the screed trailing edge as possible. However, there are then steering inaccuracies that negatively affect the course of pavement. To compensate for the effects of steering inaccuracies are slidable parts of the screed proposed transversely to the direction of travel, so that even with an inaccurate route through an optimal lateral displacement of these parts a precise application of the coating is guaranteed.
  • a road processing machine with laterally movable screed parts is mechanically complex. In construction machines without lateral adjustment, the problems resulting from the steering inaccuracy remain.
  • a positioning system such as a GPS
  • a display device which is visible to a driver of the bulldozer, indicates a difference between an existing surface contour and a sol surface contour of the construction site.
  • the display device may display a three-dimensional rotating image or a two-dimensional rotating image with a cursor to display the bulldozer.
  • a shield sensor tracks the position of the bulldozer blade and the indicator shows changes in the real surface contour as the bulldozer is moved across the job site, with the height of the shield moving between the desired and actual elevations of the surface.
  • An orientation sensor on board the bulldozer supplies a microprocessor with the orientation of the bulldozer, and a storage unit is provided for supplying surface data to the microprocessor.
  • the system integrates bulldozer and surface modification activities along with a utility pipe protection function and hydrological analysis.
  • the invention is based on the object to find a simple solution with which a height-adjustable working part of a road processing machine can be precisely positioned in the vertical direction and the steering function of the road processing machine can be improved.
  • the prism arranged on the roadworking machine horizontally away from the working part in front of the center of gravity of the roadworking machine and thus the steering function can be improved without causing the height adjustment of the working part is deteriorated.
  • the height determination at the prism must be converted into a height at the working part (screed) using at least one value of at least one reference determination.
  • an active positioning element for example a GPS device
  • An active position element should be able to determine its position with the help of other elements whose positions are known.
  • the other elements may be active or passive Act elements. If a GPS device is used as the position element, then this should also be able to determine the position in the vertical direction as accurately as possible.
  • a position element in the form of a modified GPS device yet another signal from a Vertikalpositioniersender, for example, as a rotating laser supplied, so that from the satellite signals and the further signal, the spatial position of the position element are determined very accurately in the vertical direction can.
  • an effective height difference between the position element and a point at the working part can be determined for each possible alignment position of this connection. For the determination of the effective height difference, it is most accurate if the inclination of the direct connecting line between the position element and the point at the working part, ie an angle to the vertical or to the horizontal, is determined.
  • connection consists of at least one substantially vertical and one substantially horizontal portion, so the respective inclinations of both sections can be detected. However, if the fixed connection is rotated substantially only about a single horizontal axis, then a single tilt determination is sufficient.
  • the horizontal pivot axis of the working part leading linkage is changed by a height adjustment in height. This allows the working part to float on the warm asphalt material.
  • a height difference between the position element and the working tool must be determined with at least one value derived from a reference determination.
  • the reference determination preferably comprises an inclination determination with which the current orientation of the fixed connection is detected. If necessary, the alignment of the fixed connection can also be determined by means of two distance measurements to the base surface or to a reference height. For this purpose, the distances from two different points of the fixed connection to a reference position are determined.
  • the roadworking machine travels forward on the base surface, two points offset in the direction of travel are skewed over the same area of the base surface. If now the horizontal distance between the two points of the fixed connection is divided by the driving speed, one obtains the time interval which should elapse between a distance measurement at the first and a distance measurement at the second point. This time interval can be used to ensure that the two distance measurements are made on the same reference surface. Alternatively, the position determination with the help of total station and prism can be used.
  • the height difference between position element and working part can be determined. With a known height of the position element can be determined exactly the height of the working part or a working edge with the determined height difference. This height determination for the working part can also be carried out if there is no firm connection between the position element and the working part.
  • a position element and a first distance sensor for determining a distance to the base surface are arranged in front of the road processing machine in the direction of travel.
  • a second distance sensor is arranged offset to the first sensor in the direction of travel to the rear. This arrangement can also be used without firm connection between the working part and the position element for determining the height of the working part in straight running of the machine. In curves, the position determination can be used.
  • the height adjustment device performs only a parallel displacement of the fixed connection during adjustment, the height difference does not depend on the adjustment height.
  • the height correction is constant and it only needs to be checked that no further correction is needed. Accordingly, the reference determination is to monitor the parallel alignment.
  • the orientation of the roadworking machine or of the underlying machine can be determined with at least one inclination determination Base surface to be determined.
  • the measured slope can be used as a reference for correcting altitude. From the position of the position element and this height correction results in the current height of the working part.
  • the position element can be arranged so that the track of the road processing machine can be optimally monitored .
  • the positioning element is fastened to a location of the roadworking machine which is as far away as possible from the turning axis.
  • the positioning of the position element is selected with regard to an optimized signal utilization with respect to the determination of the travel path of the roadworking machine.
  • the position element is arranged in the direction of travel in front of the machine center of gravity laterally on the left or right edge of the machine.
  • the positioning of the position element is thus as far as possible in the direction of travel front end of the road processing machine left or right - and thus as far forward and close to the chassis.
  • the position element should be as far away from the working part as possible.
  • the working part is arranged in the rear end region of the machine, therefore the positioning element is arranged in the front end region. In an undesirable lateral swinging of the vehicle, the position element is noticeably moved away from the driving line.
  • a correction control can immediately bring the road processing machine back on the desired track. The working part essentially always stays on the desired path.
  • the position element is the generic precise control of the travel of the road processing machine at a position at least - in the direction of travel of the machine - in front of the machine center of gravity, in particular as far as possible in front of the machine center of gravity attached.
  • the attachment of the position element or the prism as far forward as possible also simplifies the design of the control algorithm, which is simpler in so far as the control of the direction of travel can be adjusted directly to the horizontal error and the longitudinal axis of the road processing machine need not be known. Their additional knowledge naturally improves the regulation.
  • the Fig. 1 and 2 1 shows a roadworking machine 2 traveling on a base surface 1.
  • the illustrated machine is a road finisher with a vehicle 3 and a working part 4 fastened thereto in a height-adjustable manner in the form of a screed.
  • the asphalt material 5 is distributed by a distributor 6 along the front edge of the working part 4.
  • the working part 4 disposed at the rear end of the road working machine 2 sweeps and smoothes the asphalt material 5 and compacts it to provide a continuous asphalt pavement 7 having a desired surface course.
  • the positioning of the working part 4 at a desired height via a slight pivotal movement of two sides of the machine pivotally mounted supports 8, the pivot bearing 9 are movable as pivot points of hydraulic cylinders as actuators 10 and adjustable in height.
  • the current position and / or direction is determined at points along the track, determines the working height of the working part and the determined position or direction of travel with a desired position or desired direction and the working height with a Nominal height to be compared.
  • a control signal should be provided with which the deviation can be compensated by a corresponding control of the roadworking machine 2. If the working height deviates from the desired height, the working part 4 should be raised or lowered by the supports 8 until the desired height is achieved.
  • a position element arranged on the roadworking machine 2 can be tracked with a laser total station 12 when it is equipped with a prism 11.
  • This station 12 tracks the prism 11 by means of an alignable in all directions optics. From the solid angle of the optics, the distance between prism 11 and optics and the position of the total station 12, the position of the prism 11 is calculated. For comparison with a desired route, the positions and / or directions along the desired route must be present as set points for the road-building machine 2 at the location where the prism 11 is located. In order to ensure a desired processing path in the working part, the curve behavior of the road-working machine 2 should be taken into account in the determination of the desired path for the prism 11, so that the working part 4 along the desired path emotional. The direction of travel can be determined from successive positions.
  • the prism 11 is as far as possible placed in front - in the embodiment, for example
  • the permissible tolerances for the working height are smaller than for the lateral alignment of the working part.
  • the current height of the working part 4 must be recorded extremely accurately.
  • the working part 4 is lower relative to the height of the prism 11 than in the case of a flat base surface 1. Lifting and lowering movements of the carrier 8 and also variable inclinations of the base surface 1 change the height difference between the prism and the working part 4 ,
  • At least one value of at least one reference determination should be used for the calculation of the working height in the working part.
  • the laser total station 12 is connected to an evaluation and control device, not shown, for evaluating the position information of the position element - here of the prism 11 - and for providing control signals for controlling the roadworking machine 2 and for controlling the height adjustment of the working part 4.
  • the at least one reference sensor for performing at least one reference determination is connected to the control device. At least a part of the connections are designed as radio links.
  • the control device is preferably arranged on the roadworking machine 2, but could possibly also be arranged at the laser total station 12. If the control device is arranged on the machine 2, the connections to sensors and actuators can be formed as line connections.
  • This connection 13 comprises, for example, a substantially horizontally extending connecting part 13a and a vertically connected connecting part 13b connected thereto. If the prism 11 is connected via a fixed connection with the working part 4, then for each possible alignment position of this connection 13 can be an effective Height difference between the prism 11 and a point at the working part 4 can be determined. For the determination of the effective height difference, it is most accurate if the inclination of the direct connecting line between the prism and the point at the working part 4, ie an angle to the vertical or to the horizontal, is determined. For this purpose, a tilt sensor 14 aligned in the direction of the direct connection line to a part of the fixed connection 13 are attached.
  • the tilt sensor 14 is attached to the horizontally extending connecting part 13a.
  • a second tilt sensor aligned perpendicular to the first tilt sensor, is also arranged on the fixed connection, so that the inclination of the fixed connection can be detected in two different directions.
  • a transversely mounted to the direction of inclination sensor can thus provide additional information.
  • Fig. 2 in a second embodiment for reference determination in the prism 11 with a first distance measuring device 15 at least a first distance measurement to the base surface 1 and temporally offset at the working part 4 with a second distance measuring device 16 at least a second distance measurement to the base surface 1 is performed.
  • the time offset between measurements belonging together should be chosen based on the driving speed so that the two measurements are made essentially at the same reference point.
  • the prism is connected to the roadworking machine 2 via a support bar 13c.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Road Paving Machines (AREA)
  • Road Repair (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Claims (18)

  1. Procédé pour contrôler le chemin de déplacement d'un engin de travaux routier (2) se déplaçant sur une surface de base (1) et la hauteur de travail d'une partie de travail (4) disposée sur elle, de façon réglable en hauteur, dans la zone d'extrémité arrière, procédé dans lequel la position spatiale d'un élément de position (11), disposé sur l'engin de travaux routier (2), est détectée, le cas échéant une direction de déplacement étant déterminée à partir d'au moins deux positions spatiales, en particulier à deux moments, ou à partir de deux coordonnées de position, et la hauteur de travail de la partie de travail (4) est déterminée, où une comparaison est effectuée entre
    - la hauteur de travail et une hauteur de consigne, et/ou
    - la position détectée et une position de consigne et/ou
    - la direction de déplacement déterminée et une direction de consigne,
    caractérisé en ce que
    - l'élément de position (11) est disposé en une position espacée horizontalement de la partie de travail (4), en avant du centre de gravité de l'engin de travaux routier (2) en observant dans la direction de déplacement,
    o dans la direction longitudinale de l'engin de travaux routier (2), à l'extrémité avant, en observant dans la direction de déplacement, et
    o latéralement, sur l'engin de travaux routier (2), dans la zone de bordure de celui-ci,
    et
    - la hauteur de position de la position spatiale de l'élément de position (11) étant convertie par calcul en la hauteur de travail pour la partie de travail (4), en utilisant au moins une valeur d'au moins une détermination de référence.
  2. Procédé selon la revendication 1, caractérisé en ce que l'élément de position (11) est disposé en une position espacée horizontalement de la partie de travail (4), l'espacement étant de la valeur de l'étendue longitudinale totale de l'engin de travaux routier (2), dans la direction longitudinale de l'engin de travaux routier (2).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que
    - l'élément de position (11) est disposé à l'extrémité avant gauche extrême ou droite extrême.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce qu'une liaison rigide est constituée entre l'élément de position (11) et la partie de travail (4).
  5. Procédé selon la revendication 4, caractérisé en ce qu'au moins une détermination d'inclinaison est effectuée avec un capteur d'inclinaison (14), disposé sur la liaison rigide, pour effectuer la détermination de référence.
  6. Procédé selon la revendication 5, caractérisé en ce qu'au moins deux déterminations d'inclinaison sont effectuées, au moyen de deux capteurs d'inclinaison (14) orientés différemment, disposés sur la liaison rigide, pour effectuer la détermination de référence.
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce qu'une différence de hauteur, entre la hauteur de position de l'élément de position (11) et la hauteur de travail à la partie de travail (4), est déduite de la au moins une détermination d'inclinaison.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce qu'au moins une première mesure de distance par rapport à la surface de base (1) et, de façon temporellement décalée, une deuxième mesure de distance par rapport à la surface de base (1), sont effectuées pour la détermination de référence pour l'élément de position (11), où, à l'aide de la vitesse de déplacement ou d'une détermination de position, le décalage temporel est choisi de manière que les deux mesures s'effectuent sensiblement au même point de référence.
  9. Procédé selon la revendication 8, caractérisé en ce que la position du point de référence est déduite de la hauteur de position de l'élément de position (11) et de la au moins une première mesure de distance et, lors du déplacement de l'engin de travaux routier (2), de préférence une hauteur de base de la surface de base (1) est détectée, au moins le long d'une ligne.
  10. Procédé selon la revendication 8, caractérisé en ce qu'au moins une hauteur de travail est déduite de la hauteur de position de l'élément de position (11), de la au moins une première mesure de distance et de la au moins une deuxième mesure de distance et, lors du déplacement de l'engin de travaux routier (2), de préférence la hauteur de travail de la partie de travail (4) est détectée, au moins le long d'une ligne.
  11. Engin de travaux routier (2), pour la mise en oeuvre d'un procédé selon la revendication 1, avec
    - une partie de travail (4), disposée de façon réglable en hauteur, dans la zone d'extrémité arrière, sur l'engin de travaux routier (2), et
    - un d'un élément de position (11), disposé sur l'engin de travaux routier (2),
    l'engin de travaux routier (2) étant déplaçable sur une surface de base (1), et la position spatiale de l'élément de position (11) étant susceptible d'être détectée depuis au moins une station,
    et l'information de position de l'élément de position (11) étant susceptible d'être évaluée par un dispositif d'évaluation et de commande, et des informations de commande, pour la commande de l'engin de travaux routier (2) et le réglage en hauteur de la partie de travail (4), étant susceptible d'être fournies,
    caractérisé en ce que
    - l'élément de position (11) est disposé de façon espacée horizontalement de la partie de travail (4), en avant du centre de gravité de l'engin de travaux routier (2) en observant dans la direction de déplacement,
    o dans la direction longitudinale de l'engin de travaux routier (2), à l'extrémité avant, en observant dans la direction de déplacement, et
    o latéralement, sur l'engin de travaux routier (2), dans la zone de bordure de celui-ci,
    et
    - à l'engin de travaux routier (2) est associé au moins un capteur de référence (14, 15, 16), pour la mise en oeuvre d'au moins une détermination de référence, la hauteur de position de la position spatiale de l'élément de position (11) étant convertie par calcul en une hauteur de travail pour la partie de travail (4), en utilisant au moins une valeur de référence dérivée du capteur de référence (14, 15, 16).
  12. Engin de travaux routier (2) selon la revendication 11, caractérisé en ce que l'élément de position (11) est disposé en une position espacée horizontalement de la partie de travail, l'espacement étant de la valeur de l'étendue longitudinale totale de l'engin de travaux routier (2), dans la direction longitudinale de l'engin de travaux routier (2).
  13. Engin de travaux routier (2) selon la revendication 11, caractérisé en ce que
    - l'élément de position (11) est disposé à l'extrémité avant gauche extrême ou droite extrême.
  14. Engin de travaux routier (2) selon l'une des revendications 11 à 13, caractérisé en ce que la partie de travail est réalisée sous forme de poutre lisseuse.
  15. Engin de travaux routier (2) selon l'une des revendications 11 à 14, caractérisé en ce qu'au moins un capteur de référence est réalisé sous forme de capteur d'inclinaison (14), à disposer sur une liaison (13) rigide entre l'élément de position (11) et la partie de travail (4), et permettant de déduire une différence de hauteur, entre la hauteur de position de l'élément de position (11) et la hauteur de travail de la partie de travail (4).
  16. Engin de travaux routier (2) selon l'une des revendications 11 à 15, caractérisé en ce qu'au moins deux capteurs de référence sont réalisés, en tant que premier et deuxième capteur de distance (15, 16), le premier capteur (15), concernant l'élément de position (11), et le deuxième (16), concernant la partie de travail (4), étant à disposer de manière que des mesures de distances par rapport à la surface de base (1) soient détectées, à l'aide de la vitesse de déplacement, de façon temporellement décalée, de manière que les deux mesures s'effectuent sensiblement au même point de référence.
  17. Système pour la mise en oeuvre d'un procédé pour contrôler le chemin de déplacement d'un engin de travaux routier (2) se déplaçant sur une surface de base (1) et la hauteur de travail d'une partie de travail (4) disposée sur elle, de façon réglable en hauteur, avec :
    - un engin de travaux routier (2), selon l'une des revendications 11 à 16,
    - une station (12), pour détecter la position spatiale de l'élément de position (11), et
    - un dispositif d'évaluation et de commande, pour évaluer l'information de position de l'élément de position (11) et pour fournir des informations de commande, pour la commande de l'engin de travaux routier (2) et le réglage en hauteur de la partie de travail (4).
  18. Système selon la revendication 17, caractérisé en ce que le dispositif d'évaluation et de commande est disposé sur l'engin de travaux routier (2).
EP05816965A 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers Active EP1825064B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05816965A EP1825064B1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP04029963A EP1672122A1 (fr) 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée
PCT/EP2005/056932 WO2006064062A1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers
EP05816965A EP1825064B1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers

Publications (2)

Publication Number Publication Date
EP1825064A1 EP1825064A1 (fr) 2007-08-29
EP1825064B1 true EP1825064B1 (fr) 2009-06-17

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EP04029963A Withdrawn EP1672122A1 (fr) 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée
EP05816965A Active EP1825064B1 (fr) 2004-12-17 2005-12-19 Procede et systeme pour controler un engin de travaux routiers

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EP04029963A Withdrawn EP1672122A1 (fr) 2004-12-17 2004-12-17 Procédé et appareil pour contrôler une machine de construction de chaussée

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AU2005315566A1 (en) 2006-06-22
US7643923B2 (en) 2010-01-05
CA2591563A1 (fr) 2006-06-22
EP1825064A1 (fr) 2007-08-29
CN101072916A (zh) 2007-11-14
CN101072916B (zh) 2012-05-09
CA2591563C (fr) 2013-08-13
US20080208417A1 (en) 2008-08-28
EP1672122A1 (fr) 2006-06-21
AU2005315566B2 (en) 2010-07-01
ATE434086T1 (de) 2009-07-15
DE502005007537D1 (de) 2009-07-30
JP5390100B2 (ja) 2014-01-15
WO2006064062A1 (fr) 2006-06-22

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