US20060198700A1 - Method and system for controlling construction machine - Google Patents

Method and system for controlling construction machine Download PDF

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Publication number
US20060198700A1
US20060198700A1 US11/071,942 US7194205A US2006198700A1 US 20060198700 A1 US20060198700 A1 US 20060198700A1 US 7194205 A US7194205 A US 7194205A US 2006198700 A1 US2006198700 A1 US 2006198700A1
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United States
Prior art keywords
terrain
positions
screed
points
coordinated
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.)
Abandoned
Application number
US11/071,942
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English (en)
Inventor
Jurgen Maier
Hansjorg Petschko
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Leica Geosystems AG
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Individual
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 Individual filed Critical Individual
Priority to US11/071,942 priority Critical patent/US20060198700A1/en
Assigned to LEICA GEOSYSTEMS AG reassignment LEICA GEOSYSTEMS AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MAIER, JURGEN, PETSCHKO, HANSJORG
Priority to AU2006219886A priority patent/AU2006219886B2/en
Priority to CA2600070A priority patent/CA2600070C/fr
Priority to EP06708636.3A priority patent/EP1856329B1/fr
Priority to CN200680007028A priority patent/CN100590262C/zh
Priority to PCT/EP2006/060448 priority patent/WO2006092441A1/fr
Priority to JP2007557521A priority patent/JP5055137B2/ja
Publication of US20060198700A1 publication Critical patent/US20060198700A1/en
Abandoned legal-status Critical Current

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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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

Definitions

  • the invention relates to a method for controlling construction machines according to the preamble of claim 1 , and a system according to the preamble of claim 6 .
  • the invention relates to the control of construction machines in general, in particular of slip form pavers with variable frame and broad screeds.
  • Slip form pavers are construction machines with a characteristic screed which serves, for example, for the installation of concrete or asphalt.
  • the screed can also be formed with a characteristic profile, for example for the production of rails, channels or water grooves. Screeds are therefore produced for a wide variety of applications, i.e. with different screed profiles and in particular screed widths.
  • slip form pavers dimensioned according to the generic type and having the broadest possible screeds are required, for example, for use on airports, such as, for example, for the construction of aircraft runways.
  • the need for variable screeds for a wide variety of potential applications of slip form pavers is taken into account by machine manufacturers with the development of pavers having a variable frame which permit variation of the screed width.
  • a sensor scans the required direction/required height of a reference line, such as, for example, a tensioned wire; deviations from the required direction/required height are corrected by a regulating means.
  • DE 101 38 563 discloses a wheel-type road finisher which automatically follows a reference line.
  • scanning of a reference line is effected without contact, by means of ultrasonic sensors.
  • this method of controlling a machine requires setting out of the area to be processed before the use of the construction vehicle and is very time-consuming and labor-intensive.
  • a method developed by the Applicant Leica-Geosystems envisages mounting two masts with prisms on the crossbeams of a rigid machine frame formed from longitudinal beams and crossbeams and determining the distance and direction to the prisms by means of two tacheometers or total stations, and hence determining the position of the prisms or of the machine.
  • These tacheometers or total stations are advantageously motor-powered and capable of automatically following the reflector.
  • a two-dimensional inclination of the frame and hence the orientation of the paver are measured by means of two tilt sensors.
  • the slip form paver is controlled via in each case a point calculated at the front and rear crossbeam—in the working direction—or via the connection of the two points in the form of a straight line.
  • this solution cannot be used in the case of pavers having variable frames and screed widths of more than 10 m.
  • screed widths of the order of magnitude of 10 meters or more with control via two points the method of control no longer gives the accuracy required according to the generic type and also cannot be applied in terms of construction technology to pavers having variable frames.
  • the object of the present invention is therefore to eliminate the disadvantages of the prior art and to provide a method by means of which control of construction machines, in particular of slip form pavers is permitted, in particular independently of the screed width and frame variability.
  • the method according to the invention is described below in the application to slip form pavers or to the control of slip form pavers.
  • the method is by no means limited to slip form pavers but can be applied to all kinds of mobile machines, in particular vehicles and construction machines.
  • the slip form paver is in general a commercial construction machine having a chassis which is composed of a machine frame having longitudinal beams parallel to the working direction and crossbeams transverse to the working direction, and a plurality of undercarriages which are adjustable in height, for example having steerable crawler units.
  • the undercarriages can be adjusted in height and position, in particular independently of one another, for example by means of cylinders and they keep the plane of the machine frame at a predetermined height and in a predetermined position.
  • the undercarriages could also be adjustable transversely to the working direction, for example by means of movable sliding girders.
  • the vehicle could be designed as a wheel-type paver having wheels as running gear, or as a rail vehicle.
  • the frame of the paver is preferably variable, for example capable of being extended laterally, in order to permit the use of screeds of different widths.
  • the method is not limited to variable frames but can of course also be applied in the case of construction machines having a rigid frame.
  • variable frame is composed, for example, of two strong, rigid longitudinal beams and two variable crossbeams.
  • the crossbeams are, for example, telescopically extendable.
  • a platform a type of “virtual” inner frame, for example for a control platform—can be provided on the frame which so to speak is extendable.
  • a screed is fixed, advantageously rigidly, to the bottom of the machine frame.
  • the screed is preferably fixed to the longitudinal beams and is connected in the middle to the so-called inner frame via a cylinder which is adjustable in height.
  • the screed may be in the form of a smoothing screed, i.e. without a profile, but may equally have a characteristic profile, such as, for example, for track construction. It may also be in the form of two or more parts and, when it does not consist of one part, may have, for example, screed parts connected to one another in an articulated manner in the middle of the working width.
  • the screed or machine is preferably formed in such a way that it is adjustable in its width (working width). Thus, extendable screed means could be present, or the screed could be formed in such a way that further screed parts can be joined on or attached.
  • slip form paver screeds and characteristic screed profiles associated therewith are, for example, the construction of roads and curbs, aircraft runways, tracks, etc.
  • the various applications also set different requirements with regard to the desired screed width.
  • a broader screed is of course desired for the construction of an aircraft runway than for the construction of a sidewalk.
  • Screeds having widths of up to about 16 m are commercially available.
  • slip form pavers having the possibility for changing the screed width are now offered. This also requires in particular the above-mentioned variable machine frame.
  • the screed is generally fixed to the longitudinal beams of the frame.
  • the screed is also connected in its middle and in the middle of the slip form paver frame to the frame, generally via a cylinder, by means of which an initial adjustment or adjustment of the screed with regard to the sag thereof can be chosen or set.
  • the screed may be very broad—e.g. 16 m—sagging of the screed is to be expected.
  • This sagging of the screed can be adapted to the working circumstances and conditions before the beginning of work by means of the adjustable cylinder.
  • the screed can also be adjusted to have a certain sag or rise in the middle. This step is preferably effected before the active use of the vehicle, but automatic adaptation or correction of the screed sag while the construction work is being carried out would also be conceivable. In the case of manual (or automatic) adjustment before the beginning of work, a further adjustment in the course of the work may be required.
  • the paver frame is adjustable in its position and height, and hence also the installation height and position of the screed fixed to the paver.
  • the method according to the invention envisages, in the first variant, measurement in each case of the distance, the height and the directions relative to reflectors coordinated with the slip form paver frame, preferably the longitudinal beams, and in general fixed thereon.
  • the longitudinal tilt and transverse tilt of the frame, and hence also of the screed are determined by means of tilt sensors coordinated with the frame, in particular the longitudinal beams, in particular mounted thereon or integrated in the beams (or in certain circumstances only one tilt sensor).
  • the tilt of the frame could also be established by another means for tilt determination, for example by polarization filters coordinated with the reflectors, in particular located upstream thereof.
  • Measuring instruments by means of which reflective elements on the construction machine are surveyed from a suitable position on the ground are used for determining the position of the machine frame or of the screed.
  • the position of two reflectors mounted on the machine is measured by means of theodolites and laser telemeters or tacheometers.
  • two tacheometers are used, each of which measures the distance, the height and the directions relative to a reflective region. The measurement is effected from a defined position on the ground.
  • the position of the reflectors or of the paver can be determined by means of the direction, height and distance measurement with the tacheometers to the reflective regions having a defined geometrical relationship with the slip form paver and by means of the known position of the tacheometers.
  • a quasi-continuous position determination can be achieved.
  • a line of sight between tacheometers and reflectors is required for the measurement.
  • the reflectors indirectly or directly mounted on the paver frame or on the screed are preferably in the form of all-round reflectors and are connected to a reflector support—generally a mast. It is possible to use cylindrical or spherical 360° reflectors, as well as triple prisms, polished steel elements, reflecting glass elements, elements surrounded by reflector foil, or elements, in particular spheres, formed from reflective material. All-round reflectors are preferably used for the measurement, in order to permit a measurement in any position of the slip form paver.
  • the masts with the reflectors can be coordinated with the machine frame or with the screed and are generally mounted on the frame. Depending on the application, the height of the mast and type of reflectors may be varied.
  • the mounting is preferably effected at the rear end—in the direction of travel of the machine—of the strong longitudinal beam of the frame, as close as possible to the undercarriages and the screed, in order to provide a system which is as sensitive as possible. This arrangement of the prisms or of the masts results in the greatest possible sensitivity of the measurement with respect to changes in the position of the machine.
  • a second variant for determining the position of a construction machine and hence for the control thereof is a position determination by means of global positioning systems, such as, for example, GPS together with the orientation determination of the first variant.
  • global positioning systems do not always provide the required accuracy of the position determination and generally require a considerable effort, for example through use of a reference station, or with the acceptance of longer measuring times.
  • coordinates determined from GPS signals do not have sufficient accuracy—especially with regard to the height of the construction machine—for most construction projects.
  • GPS global positioning system
  • a signal processing unit may be positioned independently of the GPS receiver antennas.
  • a GPS reference station may advantageously be provided in the second variant.
  • the system according to the invention can, if required, be extended with components for increasing the vertical accuracy, for example with one or more laser plane generators and corresponding receivers.
  • the determination of the longitudinal and transverse tilt of the slip form paver or of the frame or of the screed is effected in the first and second variant preferably by means of tilt sensors on the longitudinal beams of the machine frame—in general, a tilt sensor is mounted on each of the two longitudinal beams. Depending on the application and required accuracy of measurement, one tilt sensor may also be sufficient for tilt determination.
  • the respective tilt sensor is preferably positioned in the middle of the respective longitudinal beam, and the tilt is determined both in the longitudinal direction and in the transverse direction, i.e. a two-axis tilt sensor is used.
  • the first and second variants can also be modified in such a way that only one position is determined with the aid of reflectors, GPS or other positioning systems and at least the vehicle axis parallel or transverse to the travel direction is determined by means of a compass or another direction indicator, and the points A 1 to A 4 are derived therefrom.
  • the method according to the invention envisages feeding of a reference terrain model to a control unit communicating with the slip form paver.
  • the control unit is composed, for example, of a data processing and control module (e.g. computer and controller).
  • a reference terrain model is to be understood as meaning a model in which a planned project—e.g. a road—is embedded in the existing terrain.
  • the reference terrain model describes the planned required terrain. From the reference terrain model, it is possible to derive in a known manner required positions for terrain processing equipment, such as, for example, a screed.
  • a reference terrain model can equally provide required values for, for example, a travel path and therefrom required values for vehicle positions.
  • measuring instruments preferably total stations or tacheometers, are set up, with which measuring instruments defined points—coordinates in the reference terrain or in the reference terrain model—are coordinated—for example by positioning the instruments at defined coordinates (already measured points) of the reference terrain or by incorporating the instruments in the reference terrain by measurement.
  • two reflective elements are coordinated with the slip form paver, and preferably masts having reflector prisms are mounted on the frame.
  • the reflector prisms have coordinates defined by a previously performed measurement in a local machine coordinate system. If a measurement is carried out from the measuring device or the measuring devices in the reference terrain to the prism or prisms, coordinates in the reference terrain or in the reference terrain model are assigned to the respective prisms by means of this measurement.
  • the measurement information of the measuring devices in the reference terrain and of the tilt sensors is communicated to the control unit—for example by radio.
  • the control unit for example by radio.
  • the actual position of these four points A 1 -A 4 in the reference terrain model are compared with the required positions specified in the reference terrain model for the points, and the deviation of the position of the machine or of the screed is correspondingly corrected—for example by means of the running gears which are adjustable in height.
  • the calculation is generally performed by means of a data processing module, such as a computer, of the control unit, and the control is performed by means of a control module, such as a controller, of the control unit.
  • the data processing module calculates the deviation of the actual position from the required position and provides corresponding correction values for the cylinders to the control module.
  • the control unit is preferably present on the construction machine and can be operated by a driver or can control the machine automatically.
  • control of the machine and hence of the installation height and position of the screed is thus effected via four points on the machine frame or on the screed, the actual positions of which are determined in the first variant on the basis of the determination of the positions of the reflectors and the measurements by the tilt sensors on the frame.
  • the actual positions of the four points A 1 -A 4 in the reference terrain are determined substantially analogously to the first variant, except that, instead of the determination of the position of the reflectors of the first variant, a determination of the position of two GPS receiver antennas is effected.
  • the actual positions of the points A 1 -A 4 in the reference terrain model are then calculated by means of the control unit, in particular the data processing module, and compared with the required positions of the points A 1 -A 4 in the reference terrain model. The machine is then controlled via the control unit, in particular the control module.
  • FIG. 1 shows a system according to the invention
  • FIG. 2 shows a slip form paver having reflectors and tilt sensors
  • FIG. 3 shows, in two partial FIGS. 3a and 3b , a tacheometer and a mast with a reflector as components of the system according to the invention
  • FIG. 4 shows, in two partial FIGS. 4 a and 4 b , diagrams for explaining the method according to the invention for controlling the slip form paver, and
  • FIG. 5 shows a slip form paver with GPS.
  • FIGS. 1 to 4 relate to a first variant of the invention, which uses tacheometers and reflectors for the position determination. It is understood that further variants are also described thereby, global or local positioning systems with their antennas being provided instead of the tacheometers and reflectors. In the following description, the conditions for the first embodiment are also applicable in context to the further embodiments.
  • FIG. 1 schematically shows a system according to the invention for controlling a slip form paver.
  • a slip form paver having a screed 5 which travels over a surface 11 is shown. It is possible to imagine that, for example, fresh concrete has been poured onto the surface 11 .
  • the slip form paver draws the screed 5 over the surface 11 for producing a level surface, for example for an aircraft runway. Since irregularities as small as the order of magnitude of mm are noticeable in level smooth surfaces, high accuracy in the installation height and position of the screed 5 is required.
  • two reflectors 6 , 6 ′ are mounted on the paver.
  • the reflectors 6 , 6 ′ are formed here as all-round prisms and mounted on masts 7 , 7 ′.
  • Such a reflector mast 8 , 8 ′ is fixed in each case on a longitudinal beam 1 , 1 ′ of the paver frame.
  • the reflector mast 8 , 8 ′ is arranged at the rear end—in the working direction AR of the paver—of the longitudinal beam of the frame and as far as possible at the outer edge of the beam, i.e. as close as possible to the undercarriages 4 , 4 ′.
  • two tacheometers 10 , 10 ′ are set up at defined points, by means of which tacheometers of reflectors 6 , 6 ′ on the slip form paver are surveyed.
  • the position of one reflector 6 , 6 ′ each on the paver is determined.
  • two tacheometers 10 , 10 ′ are used for the simultaneous surveying of the two reflective regions.
  • FIG. 2 shows a slip form paver having a variable frame and variable screed width.
  • the paver frame is composed of two strong longitudinal beams 1 , 1 ′ (beams parallel to the travel direction and working direction AR) and two crossbeams 2 , 2 ′ running transversely to the working direction AR.
  • a sort of platform or inner frame 3 is placed above the crossbeams 2 , 2 ′.
  • the slip form paver is equipped here with a superstructure 12 , which may comprise, for example, a motor, a control platform and a control unit.
  • the vehicle can also be controlled by means of an external control unit.
  • the crossbeams 2 , 2 ′ are adjustable in width, for example telescopically extendable. This permits in particular the use of a screed 5 whose width is variable. Since different screed widths are generally required for different applications, it is expedient and economical to be able to use a single slip form paver for different tasks by virtue of the fact that the screed 5 thereof can be adjusted to different widths. Also shown are the two reflector masts 8 , 8 ′ with reflectors 6 , 6 ′ fixed to the masts 7 , 7 ′, in that region of the two longitudinal beams 1 , 1 ′ which is at the rear in the travel direction, as close as possible to the undercarriages 4 , 4 ′. The tilt sensors 9 , 9 ′ are mounted in the middle of the longitudinal beams 1 , 1 ′.
  • the slip form paver also has a beam 13 for a smoothing device.
  • FIG. 3 shows two components of the system according to the invention.
  • FIG. 3 a shows a tacheometer 10 , by means of which the position of the reflector 6 is determined in the coordinate system of the tacheometer 10 .
  • the tacheometer 10 is set up at a position of defined coordinates—in the coordinate system of a reference terrain model. By surveying a reflector 6 by means of a tacheometer 10 , the coordinates of the reflector 6 in the reference terrain model or in the reference terrain described by the model are therefore determined.
  • FIG. 3 b shows a reflector mast 8 which is used on the slip form paver or mounted thereon and can be connected indirectly or directly to the paver.
  • the reflector mast 8 is composed of a mast 7 , for example a metal rod, and a reflective element.
  • the reflector 6 is in the form of an all-round prism. It is just as possible to use spherical or cylindrical all-round reflectors or elements surrounded by reflector foil or simply reflective forms, for example spheres, or more than only one individual reflective region.
  • FIG. 4 the method according to the invention is explained by means of a diagram.
  • FIG. 4 a schematically shows a slip form paver frame in plan view.
  • the frame is composed of two strong, rigid longitudinal beams 1 , 1 ′ and two crossbeams 2 , 2 ′.
  • the crossbeams 2 , 2 ′ are telescopically extendable and permit a variation in the width of the paver.
  • the positions of the reflector masts 8 , 8 ′ and tilt sensors 9 , 9 ′ are shown on the longitudinal beams 1 , 1 ′. It is evident that the reflector masts 8 , 8 ′ are positioned in each case at the rear end—in the working direction AR—of the two longitudinal beams 1 , 1 ′ and as close as possible to the undercarriages 4 , 4 ′.
  • a tilt sensor 9 , 9 ′ is arranged on each longitudinal beam 1 , 1 ′—preferably in the middle.
  • a sort of “virtual” inner frame 3 is indicated by dot-dash lines.
  • this is a frame superstructure which is fixed to the frame crossbeams.
  • the dashed lines indicate the position of the screed 5 , which is mounted under the frame.
  • the screed 5 is fixed to the longitudinal beams 1 , 1 ′ of the machine frame and also fixed to the frame in the middle of the inner frame 3 by means of a cylinder which is not shown.
  • the cylinder permits a height adjustment of the screed 5 ; in particular, it is possible thereby to counteract the sag of screed 5 , which in particular plays a role in the case of wide screeds 5 .
  • the height adjustment of the screed 5 in the middle thereof—is generally carried out before the beginning of operation of the slip form paver. For some applications, it may be necessary to set up the screed 5 not as flat screed 5 but with a sag or rise in the middle of the screed. The settings are generally readjusted during the work.
  • FIG. 4 b shows a diagram of the screed 5 with projections of the reflector positions and tilt sensor positions 8 , 8 ′, 9 , 9 ′, and the four points A 1 , A 2 , A 3 , A 4 calculated from the tacheometer and tilt sensor measurements.
  • the tacheometers 10 , 10 ′ arranged in a reference terrain to the reflectors 6 , 6 ′, the positions thereof in the reference terrain are determined. From this information, the additional measured values of the tilt sensors 9 , 9 ′ and the known geometrical relationship of the reflectors 6 , 6 ′ with the machine frame or with the screed 5 , the points A 1 , A 2 , A 3 and A 4 can be calculated.
  • FIG. 5 shows an embodiment for a second variant of a system for carrying out the method according to the invention.
  • a slip form paver is shown, on the longitudinal beams ( 1 , 1 ′) of which, however, GPS receiver antennas ( 8 a , 8 a ′) are arranged instead of the reflector masts ( 8 , 8 ′).
  • the (global) position of the slip form paver is determined via satellite signals of GPS satellites ( 14 , 14 ′ 14 ′′)—which are shown here in their number and arrangement purely by way of clearer explanation.
  • Signal processing units can be positioned in a known manner—for example on the machine or externally.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Optics & Photonics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Road Paving Machines (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
US11/071,942 2005-03-04 2005-03-04 Method and system for controlling construction machine Abandoned US20060198700A1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
US11/071,942 US20060198700A1 (en) 2005-03-04 2005-03-04 Method and system for controlling construction machine
AU2006219886A AU2006219886B2 (en) 2005-03-04 2006-03-03 Method and system for controlling a construction machine
CA2600070A CA2600070C (fr) 2005-03-04 2006-03-03 Procede et systeme pour commander une machine de genie civil
EP06708636.3A EP1856329B1 (fr) 2005-03-04 2006-03-03 Procédé pour commander une machine de génie civil et machine de génie civil avec un système de commande
CN200680007028A CN100590262C (zh) 2005-03-04 2006-03-03 工程机械的控制方法和系统
PCT/EP2006/060448 WO2006092441A1 (fr) 2005-03-04 2006-03-03 Procede et systeme pour commander une machine de genie civil
JP2007557521A JP5055137B2 (ja) 2005-03-04 2006-03-03 建設機械の制御方法と制御システム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US11/071,942 US20060198700A1 (en) 2005-03-04 2005-03-04 Method and system for controlling construction machine

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US20060198700A1 true US20060198700A1 (en) 2006-09-07

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US11/071,942 Abandoned US20060198700A1 (en) 2005-03-04 2005-03-04 Method and system for controlling construction machine

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US (1) US20060198700A1 (fr)
EP (1) EP1856329B1 (fr)
JP (1) JP5055137B2 (fr)
CN (1) CN100590262C (fr)
AU (1) AU2006219886B2 (fr)
CA (1) CA2600070C (fr)
WO (1) WO2006092441A1 (fr)

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US20090226257A1 (en) * 2008-03-10 2009-09-10 Lindley Joseph W Screed system
US20100183369A1 (en) * 2009-01-22 2010-07-22 Lindley Joseph W Automatically adjustable rolling screed
WO2012125134A1 (fr) * 2011-03-16 2012-09-20 Topcon Positioning Systems, Inc. Système de commande automatique de pente de lame pour une machine de terrassement
EP2708968A2 (fr) 2012-09-12 2014-03-19 Kabushiki Kaisha Topcon Procédé de commande de machine de construction et système de commande de machine de construction
JP2014080861A (ja) * 2012-10-12 2014-05-08 Wirtgen Gmbh 現場探査機を伴っている自動推進土木機械システム
CN103866673A (zh) * 2014-02-20 2014-06-18 天津大学 高等级公路路面摊铺厚度的实时监控方法及监控系统
US20140363230A1 (en) * 2013-06-11 2014-12-11 Joseph Voegele Ag Paving screed for a road finisher
CN104975602A (zh) * 2015-07-14 2015-10-14 葛洲坝集团第一工程有限公司 高陡坡混凝土滑模牵引控制装置
US9279679B2 (en) 2012-09-12 2016-03-08 Kabushiki Kaisha Topcon Construction machine control method and construction machine control system
US20160069671A1 (en) * 2013-04-10 2016-03-10 Leica Geosystems Ag Automatic track alignment control kit and method for automated track alignment
US20160130767A1 (en) * 2014-11-10 2016-05-12 Alstom Transport Technologies Method for guiding a device for inserting elements into the ground for the building of a structure; insertion device and associated vehicle
US20160177519A1 (en) * 2014-12-19 2016-06-23 Wirtgen Gmbh Frame Distortion Control
US20160370805A1 (en) * 2015-06-16 2016-12-22 Leica Geosystems Ag Referenced vehicle control system
US9551115B2 (en) 2014-12-19 2017-01-24 Wirtgen Gmbh Transition on the fly
US9739019B1 (en) * 2014-06-13 2017-08-22 Gomaco Corporation Bridge paving device
JP2017223492A (ja) * 2016-06-14 2017-12-21 株式会社トプコン 建設機械の制御システム
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EP1856329A1 (fr) 2007-11-21
AU2006219886A1 (en) 2006-09-08
JP5055137B2 (ja) 2012-10-24
EP1856329B1 (fr) 2013-05-29
WO2006092441A1 (fr) 2006-09-08
CA2600070A1 (fr) 2006-09-08
AU2006219886B2 (en) 2011-01-20
JP2008531888A (ja) 2008-08-14
CN101133217A (zh) 2008-02-27
CN100590262C (zh) 2010-02-17

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