EP2366830A1 - Système et procédé d'application d'un revêtement routier - Google Patents

Système et procédé d'application d'un revêtement routier Download PDF

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Publication number
EP2366830A1
EP2366830A1 EP10002894A EP10002894A EP2366830A1 EP 2366830 A1 EP2366830 A1 EP 2366830A1 EP 10002894 A EP10002894 A EP 10002894A EP 10002894 A EP10002894 A EP 10002894A EP 2366830 A1 EP2366830 A1 EP 2366830A1
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EP
European Patent Office
Prior art keywords
setting parameters
control unit
parameters
target variable
simulation
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
EP10002894A
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German (de)
English (en)
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EP2366830B1 (fr
Inventor
Ralf Weiser
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
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Joseph Voegele AG
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Filing date
Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to PL10002894.3T priority Critical patent/PL2366830T3/pl
Priority to EP10002894.3A priority patent/EP2366830B1/fr
Priority to JP2011055423A priority patent/JP5204865B2/ja
Priority to US13/050,271 priority patent/US8356957B2/en
Priority to CN201110065949.6A priority patent/CN102191739B/zh
Publication of EP2366830A1 publication Critical patent/EP2366830A1/fr
Application granted granted Critical
Publication of EP2366830B1 publication Critical patent/EP2366830B1/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
    • 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 present invention relates to a system according to the preamble of claim 1 and to a method according to the preamble of claim 7.
  • the laying and paving of roads, paths or squares is an extremely complex process.
  • the work result i. H. the quality of the pavement produced, determined not only by the setting of the machines, but also, for example, by the properties of the built-in (eg asphalt) and by environmental conditions. All of these parameters determine together what quality, for example, what smoothness, the road pavement actually has.
  • the machine operator sets the adjustment parameters of the machines. In doing so, he orientates himself to the existing or changing boundary or installation conditions - and to his experience. The more skill and experience the machine operator has in dealing with the work machine concerned, the higher the quality of the road surface produced. Conversely, this quality can also be very low if the machine operator has little experience or is faced with previously unknown boundary conditions.
  • the DE 40 40 029 C1 proposes to set the frequency of the drive of a compacting unit in a road construction machine in dependence on a predetermined Einbaufahr für technik für arithmetic processing unit (PE) and predetermined parameters of the layer to be installed.
  • a setpoint curve for the time course of Einbaufahr nie is specified.
  • the WO 00/70150 A1 and the DE 10 2008 058 481 A1 propose to measure the temperature of a pavement just made with a suitable sensor and a
  • a multi-channel control system for a road construction machine is further from the DE 195 37 691 C5 known.
  • this control only relates to measuring the temperature of a screed and keeping it constant even if one heating element fails. There is no feedback with other setting or installation parameters.
  • the object of the invention is to improve a known system and method for applying a road surface to the effect that with greater certainty, a higher quality of the pavement produced is achieved.
  • control unit comprises a controller block and a simulation block connected thereto.
  • the controller block can make a suggestion for a new set of setting parameters, which is then fed to the simulation block.
  • the simulation block simulates which work result is achieved with the adjustment parameters proposed by the controller block. This simulated work result can then be compared with the specified, targeted work result. If necessary, the proposed adjustment parameters are adjusted again.
  • a neural network for simulating the values of the at least one target variable resulting from a group of setting parameters.
  • a neural network is particularly well-suited to the complex work environment of applying a pavement in which nearly all adjustment parameters are in a complex, interdependent relationship so that changing one adjustment parameter can cause a change in several other quantities.
  • a neural network instead of a neural network, however, other comparable algorithms can be used.
  • the system itself may preferably have a mixing plant, a construction site center and / or a plurality of relatively movable work machines, such as trucks, milling, feeder, paver and / or rollers, which in turn may each have one or more working components.
  • relatively movable work machines such as trucks, milling, feeder, paver and / or rollers, which in turn may each have one or more working components.
  • sensors are provided for detecting the measured variables, and if these sensors provide the measured variables detected by them to the control unit.
  • the invention also relates to a method for controlling a device or a system for applying a road surface, in particular a road finisher.
  • a control unit of measured variables and at least one predetermined target variable a group of optimum setting parameters for reaching this at least one target variable is determined, and the group of setting parameters is transmitted in a common command data set from the control unit to the control unit.
  • the determination of the optimal setting parameter for achieving the at least one target variable is carried out repeatedly during operation of the device.
  • a constant or at least repeatedly carried out verification of the setting parameters and, if necessary, an adjustment of the settings to changing environmental conditions can be carried out in order to achieve an optimal work result.
  • Optimal is the work result when it comes as close as possible to the specifications given by the target sizes.
  • the re-determination of the optimal setting parameters for achieving the at least one target variable could be carried out in the operation of the device whenever a measured variable deviates from a target value by a predetermined amount, and / or each after expiration of a predetermined time interval.
  • the latter has the advantage that the renewed execution of the optimization is independent of the determination of individual parameters and thus, for example, the failure of individual sensors.
  • a simulation can be carried out, which values of the at least one target variable result from these setting parameters.
  • This simulation of the target values or of the process result enables a statement as to how well the specified target values can be achieved. From this it can be deduced which setting parameters could possibly be improved.
  • such adjustment parameters can be defined as "optimal" if the values of the at least one target variable resulting therefrom in the simulation lie within a predefined tolerance of the at least one target variable. For example, it can be specified that the width of the road surface to be produced can deviate by +/- two centimeters from the specified target size.
  • the setting parameters already determined to be "optimal” may be recorded, or a suggestion may be made for a new set of set parameters, including those already defined as "optimal.” Setting parameters are checked and changed if necessary.
  • control unit it is possible to iteratively set a group of changed setting parameters and to use these changed setting parameters to perform a simulation of the values of the at least one target variable resulting from the changed setting parameters.
  • This iterative simulation has the advantage that the adjustment parameters can be constantly adapted and optimized during operation of the device. It is conceivable to carry out the iterative process until the values of the at least one target variable resulting from the simulation lie within a predetermined tolerance of this at least one target variable. If all of the targets in the simulation can be achieved within a given tolerance, the entire set of tuning parameters can be considered "optimal" and recorded.
  • a group of setting parameters is recognized as "optimal"
  • that group may be communicated in a common vector or command record from the control unit to the control unit, whereupon the control unit will adjust the individual working components to the predetermined setting parameters. It is conceivable to always transmit the entire command data set of all possible adjustment parameters to the control unit. However, the effort for the transmission of the command data set can be reduced if only the changing setting parameters are transmitted to the control unit.
  • the command data record then signals the control unit which setting parameters are to be changed.
  • FIG. 1 shows a schematic representation of an inventive system 1 for applying a road surface.
  • This system 1 comprises a construction site center 2 or a central site office 2, which is set up on the construction site or on a work machine or externally and coordinates the operations on the construction site.
  • Part of the system 1 are also an asphalt or mixing plant 3 and a variety of work machines, which are movable between the mixer 3 and the construction site and / or on site.
  • These machines may be a built-in transporting truck 4, a milling machine 5, a feeder 6, a paver 7 and a compacting roller 8 act.
  • Some of these working machines or even the mixing unit 3 may also be absent in the system 1 according to the invention, or there may be several mixing units 3 and / or several working machines 4 to 8 of a certain type.
  • the mixer 3 and each of the working machines 4 to 8 each have one or more working components 9 whose operation or setting is determined by one or more adjustment parameters.
  • it may be the work components 9, for example, screw conveyors, mixers or heaters for the Einbaumischgut to be produced.
  • a working component may be the drive of the respective working machine, including the control.
  • another working component may be a lifting mechanism for tilting the cargo bed.
  • road paver 7 is a working component 9 in the drive of the scraper belt, is transported with the Einbaumischgut from Gutbunker to screed.
  • Other working components 9 are, for example, the screed, pressure strips and / or so-called "tamper", in which angle of attack, vibration or oscillation can be set, and heaters.
  • a channel 10 for wireless data transmission Between the site center 2 and the mixer 3 and between the site 2 and each of the work machines 4 to 8 is a channel 10 for wireless data transmission.
  • the construction site center 2, the mixing plant 3 and the working machines 4 to 8 each have suitable interfaces for the data transmission channel 10.
  • Further wireless data transmission channels 11 can be set up between individual machines 6, 7, 8.
  • the data transmission channels 10, 11 can be configured, for example, as radio links, as infrared links, as Internet connections or via satellites.
  • system 1 also has input and output devices 12, such as a laptop or a PDA, which are mobile and can be optionally connected via a data transmission channel 13 with the site center 12.
  • input and output devices 12 such as a laptop or a PDA, which are mobile and can be optionally connected via a data transmission channel 13 with the site center 12.
  • the construction site center 2 can be connected via a similar data transmission channel 13 to an external device, for example in an architectural or planning office 14.
  • An input device 15 for example a keyboard, a CD or DVD drive, or a memory card interface, is provided at the construction site center 2. Via this input device 15, target values for the road surface to be produced can be entered at the site center 2, for example the course and the width of the road surface, the degree of compaction, the installation thickness, the flatness and / or the surface texture of the desired road surface. Further, a display device 16 is provided at the site center 2, for example, a monitor on which the entered Target variables and measured variables obtained within the system 1 and can be given an operator of the system 1 in critical situations warnings.
  • FIG. 1 shows the structural components of the system 1 according to the invention
  • FIG. 2 shows the functional components of the system 1 and the data transmitted within this system 1 the latter symbolized by parallelograms).
  • the system 1 has a plurality of sensors (not shown) with which measured quantities 22 are obtained.
  • These measured variables can be, for example, the angle of attack of the screed, the paving thickness or the asphalt temperature of an already produced part of the road surface, the ground stiffness or variables derived therefrom (acceleration) or the determined density of the installed asphalt.
  • the group y of measured quantities 22 is fed to a control unit 25 whose function consists in optimizing the installation process 19 by optimizing the setting parameters.
  • the control unit 25 further receives the target quantities 26 which determine the work result to be achieved, i. H. define the characteristics of the road surface to be produced.
  • These target values 26 may be, for example, the installation thickness of the road surface, the angle of attack of the screed or the desired density of the installed asphalt.
  • the target variables 26 can be input, for example, from the mobile terminal 12, from the planning office 14 or via the input device 15 into the system 1.
  • the control unit 25 receives external data 27, which was obtained externally and via a data transmission channel 10, 11, 13 have been transmitted to a receiver 28.
  • These external data 27 are, for example, values of the asphalt density determined externally, for example by means of a Droxl probe, or an asphalt density determined by the roller 8. These density values or other data 27 are provided by the receiver 28 directly to the control unit 25.
  • a second group of external data 27 ' which has also been received at the receiver 28, is first played to a modeling unit 29.
  • This group of external data 27 ' is, for example, the position of a delivering truck 4, the asphalt temperature, or information about the recipe and the amount of mix, ie, position and material data.
  • these position and material data 27 ' are associated with environmental data 30 representing, for example, the ambient temperature, the floor temperature, the wind direction, the wind speed, and the magnitude and direction of solar radiation.
  • the modeling unit 29 calculates a value T_Kern for the core temperature of the installed mixed material. This temperature can only be determined by calculation, since the core of the road surface of a direct temperature measurement is not accessible.
  • the modeling unit 29 uses a calculated temperature model. Such a temperature model is explained, for example, in the dissertation " Use of the core temperature forecast for the compaction of bituminous mixtures in road construction ", J. Wendebaum, University of Düsseldorf, July 2004 ,
  • constants 31 are indicated in the control unit 25 as further data. These constants 31 are values which remain constant during the installation process, for example the width of the screed, the mass of the screed of the road paver 7, or the geometric boundary conditions of a working machine 4 to 8.
  • the control unit 25 includes a simulation block 33 and a controller block 34.
  • the controller block 34 may be configured as an adaptive controller. Based on the measured quantities y, 22, the target variables z, 26 and the process variables y * simulated by the simulation block 33, the adaptive controller is able to produce a proposal for a set of new setting values u *. This proposal for new adjustment parameters u * is transmitted to the simulation block 33.
  • the simulation block 33 is configured to simulate process quantities y based on the adjustment parameters u * proposed by the controller block 34, the measurands y, 22, the constants 31, the external data 27, and the values modeled by the modeling unit 29. This simulation indicates the work result that would be achieved under the prevailing boundary conditions with the adjustment parameters u * proposed by the controller block 34.
  • the simulation block 33 may be implemented in the form of a neural network. Alternatively, in the simulation block 33, linear or non-linear models or algorithms could be implemented from variance analyzes.
  • This in FIG. 2 System 1 also has a transmission interface 36.
  • This transmission interface 36 can be provided by the control unit 25 with output data 37 in order to be transmitted from the transmission interface 36 to other components of the system 1.
  • the output data 37 is, for example, the calculated or simulated asphalt density or asphalt core temperature, the position of individual work machines 4 to 8 of the system, predictions about the need for auxiliary and operating materials for the work machines 4 to 8, one of Mixer 3 requested quantity or composition of built-in mix etc.
  • Each machine 4 to 8 and also the mixer 3 may be assigned a machine identification in the system 1. This machine identification is used in the wireless communication between the individual components of the system 1 for identification of the transmitting or receiving machine.
  • target variables 26 are entered into the system which define the desired work result, for example the thickness and the course of a road surface to be applied and the desired compaction.
  • desired work result for example the thickness and the course of a road surface to be applied and the desired compaction.
  • tolerance ranges for the individual target variables 26 are specified. Within these tolerance ranges, the work result is rated as "satisfactory” or "optimal”.
  • the target variables z, 26 and the respective tolerance ranges are supplied to the controller block 34.
  • the adaptive controller 34 proposes a set u * of setting parameters for the working components 9 of the system 1. This proposal for setting parameters u * is provided to the simulation block 33.
  • the simulation block 33 simulates which process result y * results with the proposed adjustment parameters u *.
  • This simulated process result y * is in turn supplied to the adaptive controller 34 and compared there with the target quantities z, 26. If the simulated process result y * is within the tolerance ranges for the individual target quantities 26, the proposed set u * of setting parameters is defined as "optimal".
  • the controller block 34 assembles a command data set u, which is transmitted as a vector from the adaptive controller 34 to the control unit 17.
  • the manipulated variables or setting parameters 18 within the vector or command data set u may comprise, for example, the following settings: the tamper speed, the tamper stroke, the frequency of the vibration of the tamper, the eccentric mass of the vibration, the eccentricity of the vibration, the frequency of the press line (s), the squeeze pressure, the speed of the scraper belt, the speed of the screw conveyor and / or the paving speed (if the driven machine is a paver 7).
  • the controller block 34 adapts the adjustment parameters with a view to better achieving the predetermined target variables 26.
  • the resulting proposal for new adjustment parameters u * is in turn fed to the simulation block 33 in order to simulate the resulting process variables y * there.
  • This process is repeated until the entire set of adjustment parameters is considered "optimal" or until a predetermined termination criterion is reached.
  • a termination criterion for example after ten alternative passes of the control loop within the control unit 25, the operator can be given a message via the transmission interface 36 about the cancellation of the simulation process.
  • the vector u of "optimal" manipulated variables or setting parameters 18 is transmitted to the control unit 17.
  • the control unit 17 converts the predetermined control variables into machine commands and transmits these to the working components 9 in order to set them according to the predetermined parameters.
  • measured quantities 22 are obtained and fed via the output feedback 23, 24 to the controller block 34 or the simulation block 33.
  • the simulation block 33 obtains the prediction of the modeling unit 29, which results from the environmental data 30 and the position and material data 27 '.
  • an iterative simulation of the process variables y * is carried out continuously or after respectively predetermined time intervals in order to propose new setting values, if necessary.
  • the proposed adjustment values u * are fed to the simulation block 33 in order to predict the resulting process result y *.
  • certain output data 37 may be provided via the transmit interface 36 to the remaining components of the system 1.
  • 28 external data can be supplied via the receiver.
  • FIG. 2 shown components on a work machine, for example on a paver 7. Via the interfaces 28, 36 communicates this paver 7 with the other components 2, 3 to 6, 8, 12, 14 of the system. 1
  • the command data set u ie the vector of manipulated variables or setting parameters 18, would be transmitted via the channel 10 from the control unit 25 (on the building site control center 2) to the control unit 17 (FIG. on the respective work machine 3 to 8) transmitted.
  • the system 1 according to the invention and the method according to the invention for applying a road surface can be changed in many ways.
  • the chosen target values can be used and the setting parameters 18 to be set depend on the configuration of the respective working components 9.
  • the system according to the invention has the advantage that an operator only has to specify the target variables 26 for the installation process, but not the individual adjustment parameters 18. These adjustment parameters 18 are automatically determined by the system 1 and constantly optimized.
  • FIG. 2 shows that the control of the system 1 according to the invention runs with a closed loop. By means of the simulation, the effect of newly proposed manipulated variables u * can be predicted in order to optimize the actual setting parameters.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)
  • Road Paving Structures (AREA)
  • Feedback Control In General (AREA)
EP10002894.3A 2010-03-18 2010-03-18 Système et procédé d'application d'un revêtement routier Active EP2366830B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PL10002894.3T PL2366830T3 (pl) 2010-03-18 2010-03-18 System i sposób dla nanoszenia nawierzchni drogowej
EP10002894.3A EP2366830B1 (fr) 2010-03-18 2010-03-18 Système et procédé d'application d'un revêtement routier
JP2011055423A JP5204865B2 (ja) 2010-03-18 2011-03-14 路面を塗布するシステム及び方法
US13/050,271 US8356957B2 (en) 2010-03-18 2011-03-17 System and method of applying a road surface
CN201110065949.6A CN102191739B (zh) 2010-03-18 2011-03-18 铺设路面的系统和方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP10002894.3A EP2366830B1 (fr) 2010-03-18 2010-03-18 Système et procédé d'application d'un revêtement routier

Publications (2)

Publication Number Publication Date
EP2366830A1 true EP2366830A1 (fr) 2011-09-21
EP2366830B1 EP2366830B1 (fr) 2016-05-11

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EP10002894.3A Active EP2366830B1 (fr) 2010-03-18 2010-03-18 Système et procédé d'application d'un revêtement routier

Country Status (5)

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US (1) US8356957B2 (fr)
EP (1) EP2366830B1 (fr)
JP (1) JP5204865B2 (fr)
CN (1) CN102191739B (fr)
PL (1) PL2366830T3 (fr)

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EP2620549A1 (fr) * 2012-01-26 2013-07-31 Joseph Vögele AG Finisseuse de route dotée de dispositifs de transport pouvant être commandés
EP2789740A1 (fr) * 2013-04-12 2014-10-15 Joseph Vögele AG Mesure de la température du sous-sol au moyen d'une finisseuse de route
EP3128077A1 (fr) * 2015-08-04 2017-02-08 Joseph Vögele AG Finisseuse de route et méthode de determination de configuration des poutres lisseuses
US10538886B2 (en) 2017-03-29 2020-01-21 Joseph Voegele Ag Road paver with heating element for a screed
US12091826B2 (en) 2020-04-08 2024-09-17 Joseph Voegele Ag Road finishing machine with transverse profile control

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EP2514872B1 (fr) * 2011-04-18 2015-07-22 Joseph Vögele AG Finisseuse de route pour le pavage des routes
DE102012001289A1 (de) 2012-01-25 2013-07-25 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
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US8770887B1 (en) * 2013-01-18 2014-07-08 Waacker Neuson Production Americas LLC Vibratory compacting roller machine and operator control therefor
US9096977B2 (en) 2013-05-23 2015-08-04 Wirtgen Gmbh Milling machine with location indicator system
US9200415B2 (en) * 2013-11-19 2015-12-01 Caterpillar Paving Products Inc. Paving machine with automatically adjustable screed assembly
DE102014012831B4 (de) 2014-08-28 2018-10-04 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
DE102014012836B4 (de) 2014-08-28 2018-09-13 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zur Visualisierung des Bearbeitungsumfeldes einer sich im Gelände bewegenden Baumaschine
DE102014012825A1 (de) 2014-08-28 2016-03-03 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zur Steuerung einer selbstfahrenden Baumaschine
CN105004375A (zh) * 2015-07-21 2015-10-28 中山市拓维电子科技有限公司 沥青路面质量监测仪
US10613524B2 (en) 2016-01-15 2020-04-07 Caterpillar Paving Products Inc. Truck process management tool for transport operations
US10990245B2 (en) 2016-01-15 2021-04-27 Caterpillar Paving Products Inc. Mobile process management tool for paving operations
US10474338B2 (en) 2016-01-15 2019-11-12 Caterpillar Paving Products Inc. Control system for coordinating paving operations
US9845580B2 (en) * 2016-04-25 2017-12-19 Caterpillar Paving Products Inc. Compaction system including articulated joint force measurement
CN106292601B (zh) * 2016-08-31 2019-01-15 江苏中路信息科技有限公司 基于rtk的摊铺作业状态监管系统及方法
US10669678B2 (en) * 2017-12-14 2020-06-02 Caterpillar Paving Products Inc. System and method for generating a paving material map
US10640943B2 (en) * 2017-12-14 2020-05-05 Caterpillar Paving Products Inc. System and method for compacting a worksite surface
WO2019171498A1 (fr) * 2018-03-07 2019-09-12 日立化成株式会社 Dispositif de commande de revêtement, procédé et programme de commande de revêtement
DE102018119962A1 (de) 2018-08-16 2020-02-20 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
US11232712B2 (en) 2019-01-03 2022-01-25 Caterpillar Paving Products Inc. Paver haul truck grouping
US11560676B2 (en) 2019-02-13 2023-01-24 Caterpillar Paving Products Inc. Determine optimal frequency to load haul truck
AT522652A1 (de) 2019-05-23 2020-12-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Verfahren und Vorrichtung zum Steuern/Regeln eines rotatorischen Antriebs eines Arbeitsaggregates einer Gleisbaumaschine
DE102019118059A1 (de) 2019-07-04 2021-01-07 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
US11255057B2 (en) * 2020-03-07 2022-02-22 Brian Gallagher Screed assembly for road paving machines, and a method for repaving road surfaces
CN111663411A (zh) * 2020-05-13 2020-09-15 杭州沃镭智能科技股份有限公司 多信息融合的路面摊铺装置及方法

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US10538886B2 (en) 2017-03-29 2020-01-21 Joseph Voegele Ag Road paver with heating element for a screed
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PL2366830T3 (pl) 2016-11-30
JP2011204236A (ja) 2011-10-13
CN102191739A (zh) 2011-09-21
US8356957B2 (en) 2013-01-22
US20110229264A1 (en) 2011-09-22
JP5204865B2 (ja) 2013-06-05
CN102191739B (zh) 2014-11-05
EP2366830B1 (fr) 2016-05-11

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