EP4332302A1 - Compresseur - Google Patents

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Publication number
EP4332302A1
EP4332302A1 EP22192672.8A EP22192672A EP4332302A1 EP 4332302 A1 EP4332302 A1 EP 4332302A1 EP 22192672 A EP22192672 A EP 22192672A EP 4332302 A1 EP4332302 A1 EP 4332302A1
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EP
European Patent Office
Prior art keywords
internal
external
machine
compressor
machine parameter
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.)
Pending
Application number
EP22192672.8A
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German (de)
English (en)
Inventor
Holger WEIS-LANZENDÖRFER
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.)
MOBA Mobile Automation AG
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MOBA Mobile Automation 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 MOBA Mobile Automation AG filed Critical MOBA Mobile Automation AG
Priority to EP22192672.8A priority Critical patent/EP4332302A1/fr
Publication of EP4332302A1 publication Critical patent/EP4332302A1/fr
Pending legal-status Critical Current

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Classifications

    • 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
    • E01C19/22—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 consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
    • 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
    • E01C19/22—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 consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements

Definitions

  • Embodiments of the present invention relate to a compactor, in particular a road roller or roller for earthworks or self-propelled, autonomous or semi-autonomous roller, as well as a method for controlling a compactor. Further exemplary embodiments relate to a machine group comprising a compressor and another construction machine or further compressor.
  • the invention lies in the field of compression control of a compressor, taking into account internal and external process parameters, preferably using artificial intelligence.
  • the object of the present invention is to optimize the setting of the compression control.
  • An exemplary embodiment creates a compactor, in particular a road roller, for compacting a subsoil with a control.
  • the control includes a sensor/data input, a (radio) interface and a processor.
  • the sensor/data input is used to receive one or more internal process values, such as sensor, machine and/or material values.
  • the interface is designed to receive a basic machine parameter or an external machine parameter, determined on the basis of at least one external process value that is determined on another construction machine, such as another compressor.
  • the processor of the control is designed to determine an internal machine parameter based on at least one of the internal process values, taking into account the basic machine parameter/external machine parameter. Using a control output, a control signal is output based on the at least one determined internal machine parameter in order to control the compressor.
  • a basic machine parameter can also be used.
  • the basic machine parameters are a standard value that is suggested for a current construction site and is then further optimized as the machine moves by making an adjustment using the internal process values after adopting the basic machine parameter as an internal machine parameter.
  • This basic machine parameter can be determined for this construction site, for example, taking into account internal process values such as temperature, starting material, target degree of compaction, etc. The determination can be made using a database or a cloud service.
  • Embodiments of the present invention are based on the knowledge that either a basic machine parameter as already explained above can be used or information for compression control can also be exchanged through a type of machine network, in particular a network of two compressors.
  • machine parameters ie machine settings determined by a compressor moving further forward in the network, are adopted or used as a starting point for setting the subsequent compressor in order to determine the internal machine parameters, taking the internal process values into account.
  • a pattern can be recognized, for example, in order to select external process values assigned to the pattern. This makes it advantageously possible to take tried-and-tested/locally optimized machine parameters from outside, in particular externally from the immediate environment, i.e.
  • the internal machine parameter is determined as follows: the (radio) interface is designed to receive the at least one external process value, so that the processor determines the internal machine parameter value taking the external process value into account.
  • the processor can be designed to adopt and/or adapt the external machine parameter value as an internal machine parameter value.
  • a transfer makes sense, for example, if the one or more internal process values in a tolerance value correspond to the one or more external process values.
  • the processor has an artificial intelligence that is designed to train an algorithm based on internal and/or external process value(s) as input parameters and at least external machine parameter(s) as output parameters, the algorithm being designed to to determine the at least one internal machine parameter.
  • the current internal machine parameter can also be taken into account and varied.
  • An artificial intelligence algorithm is ideal due to the preferably large number of internal and external process values to be evaluated, on the basis of which a number of external or internal machine parameters are then determined.
  • Both the majority of the process values and the majority of the machine values can have a different type.
  • the multiple process values include a combination of the examples explained above.
  • the multiple machine parameters include a combination of the different examples of machine parameters (see above).
  • several different process values are evaluated in order to obtain several different machine parameters (internal or external) according to further exemplary embodiments.
  • the processor is designed to process the external machine parameter together with an external process value or to process an external machine parameter together with an assigned external process value from a previous time window.
  • several data sets can be received via the interface, so that the processor takes into account several external data sets assigned at several times. Receiving more than one additional construction machine or more than one additional compressor would also be conceivable.
  • the interface can be a radio interface, which, for example, enables communication to another construction machine or which also enables communication to a database, e.g. B. enables a database stored in the cloud.
  • the interface can also be a hardware interface, such as a USB interface or the like, via which external data, that is, for example, external machine parameters, can be read.
  • the compressor has an interface to a database, wherein the database has one or more training data sets and / or external machine parameters assigned to one or more internal process values; and/or wherein the database is provided by a cloud service.
  • the database can be provided through a cloud service.
  • the processor is designed to determine the at least one internal machine parameter value taking into account information from the database.
  • a further exemplary embodiment creates a machine assembly comprising a compressor, as explained above, and a further construction machine or a further compressor.
  • the compactors explained above are a road roller or a roller for earthworks, in particular a self-propelled (road) roller or an autonomous or semi-autonomous (road) roller.
  • the core ideas of the present invention are applicable to autonomous/partially autonomous construction machines.
  • a further exemplary embodiment describes a computer program for carrying out a method for controlling a compressor (see above) when the computer program runs on a compressor controller.
  • Fig. 1 shows a roller 10 for compacting a subgrade or subsoil 30, with a driver's stand 70 and two drums 50 and 60 in the front and rear areas of the roller 10.
  • the roller 10 moves on the surface 20, preferably back and forth in individual paths in order to bring about the most uniform or comprehensive compaction of the subsoil 30.
  • the subsurface 30 can be an asphalt layer or something similar with another layer 40 underneath.
  • the bandage 50 can be subjected to a vibration, so that corresponding vibration oscillations 80 penetrate into the ground and compact the ground 30 correspondingly more strongly when the roller 10 passes over it. The strength of the vibration or the amplitude and frequency of the vibrations can be adjusted.
  • machine parameters can be summarized as so-called “machine parameters”.
  • control signals are output to the corresponding actuators to control the compression.
  • Further examples of machine parameters in addition to the frequency of compaction and/or the amplitude are the compaction performance and the number of passes over the subsoil to be compacted as well as the direction of travel and the speed of the roller.
  • Process values include, for example, sensor values, machine values and/or material values.
  • the material value is used to assess the raw material of the installed layer.
  • An example of a machine value is the maximum compaction performance of the road roller and/or the weight.
  • Sensor values are used to describe current parameters, such as the degree of compaction or soil stiffness, and can therefore be taken into account when determining the machine parameters.
  • An example of a sensor is a so-called “FDVK system” (comprehensive dynamic compaction control), the basic principle of which is shown below as an example.
  • an FDVK system typically includes one or more compression sensors (e.g. acceleration sensors), which are arranged, for example, on the roller in the area of the drums 50/60.
  • the dimensionless CMV value (Compaction Meter Value) is, based on the amplitude of the excitation frequency, proportional to the amplitude of the first harmonic. This means that the CMV value is always determined depending on the excitation frequency or represents a relationship between the determined amplitude and the generated amplitude. From this it is clear that as the absolute compression increases at a point, this ratio shifts, so that the absolute compression can be inferred based on this ratio. Expressed the other way around, this means that the CMV value is a measure of the absolute compaction, whereby reference is not made here to the overall possible absolute compaction of the covering, but to the compaction that can be achieved with this roller 10 used.
  • another compaction indicator (degree of compaction, soil stiffness such as E VIB value, slump or rolling dimension, relative compaction, etc.) can also be determined and used on the roller. Since these are mostly relative compression values, a target compression or a maximum possible compression is also taken into account when determining these values. This can, for example, depend on the starting material or the terrain conditions (subsoil, cf. different possible compactions in bridges, canal penetrations, weak points or inhomogeneities in the subsoil, information on soil type or layer structure, etc.).
  • position information or terrain data can also serve as the internal process value, via which an assignment to further information, for example target process values, is possible.
  • sensors can also be used additively or alternatively, such as another compression sensor, a displacement sensor or a temperature meter or similar.
  • the control which is coupled to the compaction measuring system (FDVK), can automatically and autonomously determine the compaction performance of the machine (e.g. frequency and amplitude) based on sensor, machine and material data vibrating drum, number of passes over a subsoil to be compacted, etc.) control and regulate in order to achieve optimal compaction or an optimal degree of compaction or an optimal rigidity of the subsoil.
  • AI artificial intelligence
  • the necessary infrastructure on the roller connection to cloud system, AI computer system, extended sensor system, etc.
  • the algorithm can be, for example, an AI algorithm.
  • an AI algorithm According to the invention, however, not only the internal process values, but above all external information are also taken into account.
  • This can be, for example, external process values, determined with another road construction machine, such as another compressor, or, above all, external machine parameters, by means of which, for example, another compressor is controlled.
  • the idea behind this is that several units located on the construction site, such as compactors or rollers, carry out the adaptation as a kind of swarm intelligence, so that one roller benefits from the adjustments or adaptation attempts of the other roller.
  • the several rollers exchange data information, such as recognized patterns and their solutions, with each other.
  • the data is represented by external process values, while the solutions are represented by external machine parameters.
  • the several compressors are networked, for example, via a radio interface on the control system.
  • the controls are in Fig. 3 shown.
  • Fig. 3 shows a machine control 120, which in this exemplary embodiment consists of a processor 121 and a controller 120.
  • the processor 121 is connected to a radio receiver 110.
  • the controller 130 also has two interfaces 131 and 132.
  • the interface 131 is used to connect a sensor system, that is, to to obtain the one or more internal process values.
  • sensor data from the temperature sensor 140 or compression or stiffness information from the FDVK system (CMV value or E VIB value
  • CMS compression or stiffness information from the FDVK system
  • information regarding a machine value e.g. B. the driving speed or information about a material value, e.g. B. the ability of the installed layer(s) to be compacted can be maintained.
  • the output 132 is a control output and is designed to control the compaction machine based on internal machine parameters, such as the frequency during compaction or the amplitude during compaction.
  • the vibration generator of a bandage is illustrated here as an example.
  • the two interfaces 131 and 132 are connected to the controller 120, which has the processor 121, via an optional connection block 130.
  • the processor 121 determines the internal machine parameters based on the internal process values, taking into account external machine parameters, that is, machine parameters that, for example, use the control of another compressor in the network. These external machine parameters are taken into account, for example, in such a way that the artificial intelligence, which is implemented in the processor 121, takes into account the external machine parameters, e.g. B. to be determined as further training data sets in conjunction with external process values. For example, a comparison of the external process values and internal process values can also take place in such a way that a suitable external machine parameter is then adopted as an internal machine parameter or the external machine parameter is adopted and adapted to the current situation.
  • the advantage here is that a kind of swarm intelligence is formed using AI, in that the compactors/rollers/construction machines located on the construction site are networked with one another in order to exchange data and information. For example, if a first construction machine has recognized a pattern and found a solution for it through optimization, the information that describes the pattern and the corresponding solution can be passed on to the next compressor in the form of machine parameters.
  • the environmental conditions on a construction machine are the same or comparable if, for example, two compressors compress the same total area or adjacent partial areas. In this case, comparable environmental conditions can be assumed.
  • a connection to a cloud system or a database, a database in a cloud can also take place via the interface 110.
  • sensor values or other information can also be obtained externally.
  • An example would be a temperature value received from the road roller.
  • the interface 110 it should be noted that it preferably has an antenna 111 and is based, for example, on the WLAN standard or a mobile communications standard (LTE or 5G).
  • LTE or 5G mobile communications standard
  • another interface such as a USB interface or the like, may be used.
  • an external machine parameter was always assumed, which was determined on another roller.
  • a so-called basic machine parameter i.e. an initial value for the internal machine parameter
  • this is also determined on a further road roller or a further compactor or is simulated for a corresponding road roller or a corresponding compressor.
  • the basic machine parameter can be stored in a database or determined using a cloud service.
  • a wide variety of internal process values can be taken into account directly.
  • the current asphalt material or the current temperature can be used in determining the base machine parameter.
  • this basic machine parameter is determined by means of artificial intelligence, taking into account a large number of training data or taking into account a large number of external machine parameters from different, preferably different but nevertheless comparable construction sites.
  • a further exemplary embodiment relates to an autonomous/semi-autonomous driving/self-propelled roller with integrated autonomous compaction control/regulation.
  • the autonomously moving roller includes a measuring system, such as a compaction measuring system.
  • an optional battery 180 is also shown, which supplies all components for the control, i.e. the control 120, the radio interface 110, the interface 131, 132 and optionally also the measuring systems with electrical energy.
  • a display for displaying the process values (degree of compaction, soil stiffness, temperature, etc.) or for receiving control commands.
  • Fig. 2 shows a roller 10 in combination with a compaction measuring system 15 or 15 ', which is arranged in the area of the front drum and the chassis of the roller.
  • a vibration sensor 150 for example an acceleration sensor
  • the CMV value Compaction Meter Value
  • further information can also be provided, e.g. B. used by a GPS or GNSS sensor (2D, 3D position).
  • the GNSS receiver 100 supplies the necessary position information to the calculation unit 120.
  • additional parameters such as the temperature of the subgrade, determined using the temperature sensor 140, can also be taken into account.
  • reference numbers 161 to 165 refer to the electrical connections, e.g. B. RS232 or CAN bus connections.
  • the calculation unit 120 can be provided on the roller in the driver's cab, wherein, according to exemplary embodiments, the calculation unit 120 can also have a display for illustrating information or generally as a human/machine interface, that is, also for receiving control data. Both the element 120 with the display and the position sensor 110 or the communication interface 110 can be designed as shared units, that is to say not only made available to or used by the compression control but also the vehicle control.
  • FIG. 4 A column comprising two compaction machines 10a and 10b is explained.
  • the two compaction machines 10a and 10b move here, for example in the same direction, which is illustrated by the arrows, namely on the common area 5 to be compacted.
  • An area 5s, which is currently being compacted by the compaction machine 10b, is illustrated in the area 5 to be compacted.
  • This has a special characteristic, e.g. B. a certain segregation, so that machine parameters adapted to this area are optimal to ensure optimal compaction.
  • the compression control of the compaction machine 10b based on the existing pattern of compaction values or environmental conditions, the external process parameters are adjusted so that the compaction is optimal.
  • This information can be made available via radio to the compaction machine 10a or to the compaction control of the compaction machine 10a. As soon as the compaction machine 10a then passes over the area 5s, it can recognize the pattern and adjust the machine parameters accordingly. If, for example, e.g. B. if the location 5s varies beyond its area as a result of the offset, the machine parameters can be further optimized with regard to the area traveled over by the machine 10a, taking into account the internal process values, external process values and external machine parameters in order to take optimal internal machine parameters into account .
  • Fig. 4 can also be expanded to include another machine according to further exemplary embodiments, e.g. B. like it in Fig. 5 is shown.
  • Fig. 5 shows an extension to Fig. 4 , namely another road construction machine, namely a road paver 11 in the network.
  • the paver 11 is equipped with the compressors 10a and 10b, e.g. B. networked by radio or via a cloud service and can thus provide the necessary information. Examples of such information are asphalt temperature or asphalt type.
  • aspects have been described in connection with a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.
  • Some or all of the method steps may be performed by a hardware apparatus (or using a hardware device). Apparatus), such as a microprocessor, a programmable computer or an electronic circuit. In some embodiments, some or more of the key process steps may be performed by such apparatus.
  • embodiments of the invention may be implemented in hardware or in software.
  • the implementation may be using a digital storage medium such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or a FLASH memory, a hard drive or other magnetic or optical memory are carried out on which electronically readable control signals are stored, which can interact or interact with a programmable computer system in such a way that the respective method is carried out. Therefore, the digital storage medium can be computer readable.
  • Some embodiments according to the invention thus include a data carrier that has electronically readable control signals that are capable of interacting with a programmable computer system such that one of the methods described herein is carried out.
  • embodiments of the present invention may be implemented as a computer program product with a program code, the program code being effective to perform one of the methods when the computer program product runs on a computer.
  • the program code can, for example, also be stored on a machine-readable medium.
  • an exemplary embodiment of the method according to the invention is therefore a computer program that has a program code for carrying out one of the methods described herein when the computer program runs on a computer.
  • a further exemplary embodiment of the method according to the invention is therefore a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for carrying out one of the methods described herein is recorded.
  • a further exemplary embodiment of the method according to the invention is therefore a data stream or a sequence of signals which represents the computer program for carrying out one of the methods described herein.
  • the data stream or the sequence of signals can, for example, be configured to be transferred via a data communication connection, for example via the Internet.
  • Another embodiment includes a processing device, such as a computer or a programmable logic device, configured or adapted to perform one of the methods described herein.
  • a processing device such as a computer or a programmable logic device, configured or adapted to perform one of the methods described herein.
  • Another embodiment includes a computer on which the computer program for performing one of the methods described herein is installed.
  • a further embodiment according to the invention includes a device or system designed to transmit a computer program to a receiver for carrying out at least one of the methods described herein.
  • the transmission can take place electronically or optically, for example.
  • the recipient may be, for example, a computer, a mobile device, a storage device or a similar device.
  • the device or system can, for example, comprise a file server for transmitting the computer program to the recipient.
  • a programmable logic device e.g., a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein.
  • the methods are performed by any hardware device. This can be universally applicable hardware such as a computer processor (CPU) or hardware specific to the method, such as an ASIC.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
EP22192672.8A 2022-08-29 2022-08-29 Compresseur Pending EP4332302A1 (fr)

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EP22192672.8A EP4332302A1 (fr) 2022-08-29 2022-08-29 Compresseur

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EP22192672.8A EP4332302A1 (fr) 2022-08-29 2022-08-29 Compresseur

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EP4332302A1 true EP4332302A1 (fr) 2024-03-06

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Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69434631T2 (de) 1993-04-29 2006-08-03 Geodynamik Ht Ab Verfahren und Vorrichtung zum Messen des Verdichtungsgrads einer Bodenfläche
US9267245B1 (en) 2014-10-17 2016-02-23 Wacker Neuson Production Americas Llc Vibratory compacting roller machine with drum steering
WO2016033096A1 (fr) * 2014-08-29 2016-03-03 Caterpillar Paving Products Inc. Système d'alerte de température d'asphalteuse pour un opérateur compacteur d'asphalte
EP3147406A1 (fr) 2015-09-25 2017-03-29 MOBA Mobile Automation AG Système de mesure et procédé destinés au contrôle de compression d'un revêtement et programme d'ordinateur avec un code de programme pour exécuter la procédure
DE102015122149A1 (de) 2015-12-17 2017-06-22 Ammann Schweiz Ag Verfahren zum autonomen Betrieb einer Verdichtungsvorrichtung
EP3447191A1 (fr) 2017-08-24 2019-02-27 MOBA - Mobile Automation AG Dispositif et procédé pour contrôler le compactage
DE102018104568A1 (de) 2018-02-28 2019-08-29 Wacker Neuson Produktion GmbH & Co. KG System und Verfahren zur automatisierten Bodenverdichtung
CN110258259A (zh) * 2019-06-19 2019-09-20 四川川交路桥有限责任公司 无人驾驶压路机碾压系统
WO2020006698A1 (fr) * 2018-07-03 2020-01-09 清华大学 Système de cylindrage intelligent destiné à des travaux de terrassement
DE102019002442A1 (de) 2019-04-03 2020-10-08 Bomag Gmbh Verfahren zur teilautonomen Steuerung einer Baumaschine, insbesondere einer Bodenverdichtungsmaschine und Baumaschine, insbesondere Bodenverdichtungsmaschine
CN111794052A (zh) * 2020-07-31 2020-10-20 柳工无锡路面机械有限公司 一种可实现机群化施工的无人驾驶压路机
EP3896223A1 (fr) * 2020-04-16 2021-10-20 Joseph Vögele AG Procédé de finition d'un revêtement routier et système d'asphaltage

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69434631T2 (de) 1993-04-29 2006-08-03 Geodynamik Ht Ab Verfahren und Vorrichtung zum Messen des Verdichtungsgrads einer Bodenfläche
WO2016033096A1 (fr) * 2014-08-29 2016-03-03 Caterpillar Paving Products Inc. Système d'alerte de température d'asphalteuse pour un opérateur compacteur d'asphalte
US9267245B1 (en) 2014-10-17 2016-02-23 Wacker Neuson Production Americas Llc Vibratory compacting roller machine with drum steering
EP3147406A1 (fr) 2015-09-25 2017-03-29 MOBA Mobile Automation AG Système de mesure et procédé destinés au contrôle de compression d'un revêtement et programme d'ordinateur avec un code de programme pour exécuter la procédure
DE102015122149A1 (de) 2015-12-17 2017-06-22 Ammann Schweiz Ag Verfahren zum autonomen Betrieb einer Verdichtungsvorrichtung
EP3447191A1 (fr) 2017-08-24 2019-02-27 MOBA - Mobile Automation AG Dispositif et procédé pour contrôler le compactage
DE102018104568A1 (de) 2018-02-28 2019-08-29 Wacker Neuson Produktion GmbH & Co. KG System und Verfahren zur automatisierten Bodenverdichtung
WO2020006698A1 (fr) * 2018-07-03 2020-01-09 清华大学 Système de cylindrage intelligent destiné à des travaux de terrassement
DE102019002442A1 (de) 2019-04-03 2020-10-08 Bomag Gmbh Verfahren zur teilautonomen Steuerung einer Baumaschine, insbesondere einer Bodenverdichtungsmaschine und Baumaschine, insbesondere Bodenverdichtungsmaschine
CN110258259A (zh) * 2019-06-19 2019-09-20 四川川交路桥有限责任公司 无人驾驶压路机碾压系统
EP3896223A1 (fr) * 2020-04-16 2021-10-20 Joseph Vögele AG Procédé de finition d'un revêtement routier et système d'asphaltage
CN111794052A (zh) * 2020-07-31 2020-10-20 柳工无锡路面机械有限公司 一种可实现机群化施工的无人驾驶压路机

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