Self-propelled ground processing machine
By recording and utilizing path information on the ground processing machine to automatically control the steering actuator, the burden and accuracy problems of operators during reverse movement are solved, enabling easier and more accurate ground processing.
Patent Information
- Application Number
- CN202423152982.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2023-12-20
- Filing Date
- 2024-12-20
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2034-12-20
AI Technical Summary
When the ground processing machine is moving in the reverse direction, the operator needs to simultaneously steer and observe the ground, which leads to physical strain and makes it difficult to accurately control the path.
The system employs a steering system and control device to record the operator's path information in one direction and automatically control the steering actuator when moving in the opposite direction, reducing the operator's workload and achieving precise steering.
It reduces the physical burden on operators, improves the accuracy and uniformity of the ground processing, and avoids the formation of sharp edges in low-pressure areas.
Smart Images
Figure CN223880145U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a self-propelled ground processing machine, for example, a ground compactor. BACKGROUND
[0002] During the execution of a ground processing process, the ground processing machine usually needs to be repeatedly moved back and forth on the ground to be processed along essentially opposite movement directions. For example, when compacting asphalt material, a predetermined, essentially uniform degree of compaction is achieved by repeatedly rolling the spread asphalt material.
[0003] The ground processing machine is usually constructed in such a way that a seat and / or a work station are provided for the operator in the operating station, so that the operator is oriented in a predetermined direction when the ground processing machine is running, usually the direction in which the ground processing machine is driving forward. When such a ground processing machine is moved in the opposite direction, for example, in the backward driving direction, the operator has to, on the one hand, manipulate the steering mechanism oriented for forward driving, for example, a steering mechanism for steering the ground processing machine and a driving mechanism for determining the driving speed of the ground processing machine, and, on the other hand, look in the actual driving direction, for example, in the backward driving direction, in order to be able to see the ground to be processed and thus, in particular, to be able to manipulate the steering mechanism in an appropriate manner. SUMMARY
[0004] It is the task of the utility model to propose a ground processing machine, in particular a ground compactor, and a method for operating a ground processing machine, by means of which the ground processing process, which requires the ground processing machine to be moved in opposite movement directions to each other, can be carried out more easily and more precisely.
[0005] According to the utility model, this task is solved by a self-propelled ground processing machine, in particular a ground compactor, comprising:
[0006] a steering system with a steering mechanism to be manipulated by an operator and at least one steering actuator,
[0007] a control device for controlling the at least one steering actuator on the basis of the manipulation of the steering mechanism,
[0008] wherein the control device is configured to:
[0009] - generate path information representing a path traveled by the ground processing machine when moving in a first movement direction,
[0010] - control the at least one steering actuator on the basis of the path information when the ground processing machine is moved in a second movement direction essentially opposite to the first movement direction.
[0011] The ground processing machine constructed according to the utility model is basically designed in the following way, i.e. its turning is realized based on the operation of the operator on the turning mechanism (for example, the steering wheel). During the ground processing process according to the operation instruction of the operator, the path walked can be recorded, and the recorded path walked is used as a reference for automatic turning by the control of the control device in the subsequent movement of the ground processing machine in the opposite direction.
[0012] This means that, for example, during the forward movement of the ground processing machine, the turning is performed by the operator, while during the backward movement of the ground processing machine after the forward movement, the turning is performed by the control device using the path walked during the forward movement as the reference. By using the reference in the automatic turning process, the ground processing machine can be accurately turned (for example, when moving backward), and thus the ground processing process to be performed can be more accurately performed. This greatly reduces the physical burden of the operator.
[0013] The ground processing machine can include a position detection system for providing position information representing the position of the ground processing machine during its movement, and the control device can be configured to generate path information based on the position information.
[0014] In order to accurately detect the position of the ground processing machine, the position detection system can be configured to generate the position information by communicating with a radio-supported position recognition system. Such a radio-supported position recognition system can work, for example, in a satellite communication-supported way or / and can use a radio system arranged and generating a corresponding position signal in the work area.
[0015] Alternatively or additionally, the control device can be configured to generate the path information based on turning information (preferably, turning angle information) representing the turning state of the ground processing machine and movement information (preferably, speed information) representing the movement state of the ground processing machine. Since the processing machine (for example, the ground compactor) usually does not have the phenomenon of slipping that can affect the position determination (which is based on the turning information and the movement information) during the operation process, the current position or the path walked during the movement of the ground processing machine can also be accurately determined in this way.
[0016] It is advantageous, in particular when compacting asphalt, if the ground compactor does not move on the same track in two successive compactions, in order to avoid edges (Kanten) in the transition area to the asphalt which is less compacted. In order to take this into account also when the steering of the ground processing machine is partially performed automatically, it is proposed that the control device is configured to control the at least one steering actuator on the basis of path information of the movement of the ground processing machine, which path information is offset from the path represented by the path information when the ground processing machine is moved in the first movement direction, when the ground processing machine is moved in the second movement direction.
[0017] It can be necessary or advantageous in certain situations to take over the automatic control of the at least one steering actuator. In order to achieve this, the control device can be configured to end the control of the at least one steering actuator on the basis of the path information when there is take-over control information.
[0018] The take-over control information can comprise, for example, steering intervention information which represents a steering manipulation of the steering mechanism. If the operator manipulates the steering mechanism during the automatic steering, for example in a manner which exceeds a minimum manipulation, the automatic steering is ended and the ground processing machine is steered again in accordance with the steering manipulation by the operator. This can occur, for example, when an obstacle which did not previously exist needs to be avoided during the ground processing. Furthermore, a deactivation function which represents, for example, a deactivation of the control device for controlling the at least one steering actuator on the basis of the path information by the operator can also form such take-over control information.
[0019] A method for operating a self-propelled ground processing machine, in particular a ground compactor, having a configuration according to the application, wherein the ground processing machine comprises a steering system with a steering mechanism which is manipulated by an operator and a control device for controlling at least one steering actuator on the basis of the manipulation of the steering mechanism, can comprise the following measures:
[0020] a) generating path information which represents a path travelled by the ground processing machine when the ground processing machine is moved in a first movement direction when the ground processing machine is moved in the first movement direction,
[0021] b) controlling the at least one steering actuator on the basis of the path information by means of the control device when the ground processing machine is moved in a second movement direction which is substantially opposite to the first movement direction.
[0022] In the method, the measures a) and b) can be repeatedly performed alternately, so that the ground area to be processed can be repeatedly rolled and thereby processed. During such repeated rolling, each second rolling is performed by means of an automatic steering of the ground processing machine.
[0023] If the measures a) and b) are repeatedly performed one after the other, the first movement direction when performing the measure a) can deviate from the first movement direction when performing the measure a) previously. In this way, it is possible to process a relatively large area of ground by means of a steering which is performed at least partially automatically depending on the ground processing machine.
[0024] In the measure a), the control device can control the at least one steering actuator on the basis of steering information representing a steering of the steering mechanism, so that a steering can be performed in the phase of ground processing according to the instructions of the operator.
[0025] For example, in the measure a), the generation of the path information is started when a path information generation command (Weginformation-Erzeugungsbefehl) is generated, so that the recording of a path which is subsequently used as a reference for an automatic steering of the ground processing machine can be started. Such a path information generation command can be generated, for example, by means of a corresponding switch mechanism which is operated by the operator.
[0026] If the measures a) and b) are to be repeatedly performed, it can be further provided that, in the measure a), the generation of the path information is started when the ground processing machine is moved in the second movement direction after performing the measure b) previously, at the time of a reversal of the movement direction of the ground processing machine. The reversal of the movement direction at the end of the performance of the measure b) indicates a transition back to a steering operation performed by the operator, and thereby the reference for a subsequently automatically performed steering operation can be generated again by means of the generation of the path information. Thereby, it is not necessary to manually start the provision of the path information each time a transition to a steering operation performed by the operator takes place.
[0027] In order to be able to avoid that the ground processing machine moves on exactly the same line during two rollings which are directly consecutive to each other and are performed in opposite directions, it is proposed that, in the measure b), the control device controls the at least one steering actuator on the basis of the path information, so that the movement of the ground processing machine is offset with respect to a path represented by the path information by means of a movement of the ground processing machine in the first movement direction when performing the measure a).
[0028] The offset can be determined before performing the measure b), preferably before performing the measure a), for example before starting the ground processing process. Furthermore, it is advantageous to obtain a uniform processing result if the offset is maintained constant when performing the measure b).
[0029] In order to initiate the automatic steering operation without the need for manual intervention, it is proposed that measure b) is started when the movement direction of the ground processing machine is reversed after the ground processing machine has moved in the first movement direction upon the previous execution of measure a).
[0030] Since a reference for determining the movement direction is required for the execution of the automatic steering operation, it is further proposed that measure b) is terminated when the ground processing machine reaches an end position of the ground processing machine associated with the start position of the ground processing machine upon the previous execution of measure a) while the ground processing machine is moved in the second movement direction during the execution of measure b).
[0031] In order to be able to ensure that the ground processing machine continues to operate in an appropriate manner upon reaching the end position, upon reaching the end position and / or after reaching the end position:
[0032] - a signal, preferably a visual signal and / or an acoustic signal and / or a vibration signal, is generated which indicates that the end position has been reached,
[0033] or / and
[0034] - the control device controls the at least one steering actuator on the basis of steering information which represents the manipulated position of the steering mechanism.
[0035] Thereby, on the one hand, it is made possible for the operator to reliably recognize that such an end position has been reached. On the other hand, it is possible to pass over to the operator again being responsible for the steering of the ground processing machine.
[0036] Furthermore, measure b) can be ended upon the generation of the take-over control information, for example in order to avoid the occurrence of critical situations or to substantially end the ground processing operation.
[0037] For example, the take-over control information can be generated:
[0038] - by manipulating the steering mechanism during the execution of measure b),
[0039] or / and
[0040] - by deactivating the control device which controls the at least one steering actuator on the basis of the path information.
[0041] It can be proposed for an efficient utilization of the automatic steering of the ground processing machine that, in measure a), the path information which is used upon the execution of measure b) is only generated when a predetermined minimum path length has been covered by the ground processing machine since the start of measure a). If the ground processing machine has only covered a relatively short distance, for example a distance of a few meters, this generally means that there is no reference available for a subsequent automatic steering of the ground processing machine.
[0042] It is particularly advantageous for the method that the drive system controls the ground processing machine on the basis of the travel information representing the steering of the travel mechanism when the control device is executing measures a) and b) and after the end of measure b). This means that, during the execution of measure b), as when executing measure a), the control device receives the steering of the ground processing machine only in consideration of the reference generated by means of the path information, but not the setting of the travel speed. For this purpose, irrespective of the direction of movement of the ground processing machine and irrespective of whether it is automatically steered, this is mainly the responsibility of the operator for safety reasons. BRIEF DESCRIPTION OF DRAWINGS
[0043] In the following, the utility model is described in detail with reference to the drawings. Shown are:
[0044] Figure 1 is a ground processing machine which is configured as a ground compactor;
[0045] Figure 2 is a top view of the ground processing machine when moving in two opposite directions of movement;
[0046] Figure 3 is an operating / display unit for the ground processing machine which is configured as a touch screen. DETAILED DESCRIPTION
[0047] In Figure 1 , a self-propelled ground processing machine which is configured as a ground compactor is designated as a whole by 10. In the embodiment shown, the ground processing machine 10 or ground compactor comprises a rear vehicle 12 on which a drive system 13 is arranged with a drive device, for example a diesel internal combustion engine, in order to drive drive wheels 14 located on both sides of the rear vehicle 12 in rotation. In another design variant, the ground processing machine 10 can also be driven by an electric motor and, for example, comprises an electrically hydraulic drive system 13.
[0048] A front vehicle 16 is hinged to the rear vehicle 12. A ground processing roller 18 is rotatably supported on the front vehicle 16 in such a way that, when the ground processing machine 10 configured as a ground compactor is moved over a ground B to be processed, for example over asphalt material to be compacted, the ground processing roller 18 rolls over the ground B and thereby compacts the ground B.
[0049] A cab 20 for an operator 22 is also arranged on the rear vehicle 12. The operator 22 can sit on a seat 24 located in the cab 20 when carrying out a ground processing process. When the operator 22 sits on the seat 24, he is oriented to look forward, i.e. in a first direction R1 which corresponds to the forward driving direction.
[0050] In the driver's cab 20 various different control mechanisms are installed for the control of the ground processing machine 10 by the operator 22. For example, a steering mechanism 26 of a steering system 27, which is designed as a steering wheel, is manipulated by the operator 22 in order to steer the ground processing machine 10. A steering sensor, which detects the steering position of the steering mechanism 26, can feed steering information representing the steering position to a control device, which is generally designated by 28. Depending on the steering manipulation or the signal of the steering sensor representing the corresponding steering information, the control device 28 can actuate a piston / cylinder unit, which acts as a steering actuator 30 between the front vehicle 16 and the rear vehicle 12. By the extension or retraction of the piston / cylinder unit, the angle between the front vehicle 16 and the rear vehicle 12 can be changed and the ground processing machine 10 can thereby be steered.
[0051] In the driver's cab 20 of the ground processing machine 10 there are also control mechanisms, which are for example positioned in the area of the dashboard 32 or in a lateral position next to the seat 24. For example, a travel mechanism 33, which is also generally referred to as a drive lever, is provided, the manipulation of which by the operator 22 can control the speed and the direction of movement of the ground processing machine 10. The signal representing the manipulation of the travel mechanism 33 can also be fed to the control device 28 and the drive system 13 of the ground processing machine 10 can be controlled depending on the direction and extent of the manipulation of the travel mechanism 33. For example, if the travel control mechanism 10 is moved in the forward direction, i.e. in the direction of the first movement direction Rl, the ground processing machine 10 is driven to move depending on the extent of the displacement or pivoting of the travel mechanism 33 in the forward travel direction, i.e. in the first movement direction Rl. If the travel control mechanism is moved or pivoted in the backward direction, the drive system 13 of the ground processing machine 10 is controlled by the control device 28 depending on the extent of the movement or pivoting in order to move the ground processing machine 10 in the second movement direction R2, which corresponds to the backward travel direction.
[0052] In order to be able to provide information about the position of the ground processing machine 10 when performing a ground processing process, for example a position detection system 34 is provided on the driver's cab 20. This position detection system 34 can for example be designed to be in radio communication with a satellite-supported position recognition system 36, for example a GPS, in order to be able to provide high-resolution position information at any time, which represents the current position of the ground processing machine 10 on the ground B to be processed.
[0053] Alternatively or additionally, the position detection system 34 can also be configured to communicate with a locally arranged radio system, so that information about the position of the ground processing machine 10 can be obtained by local wireless communication. In another alternatively or additionally used variant, the position detection system 34 can be configured to determine the position of the ground processing machine 10 only on the basis of information provided in the area of the ground processing machine 10 and representative of its driving state. For example, steering information representative of the steering state of the ground processing machine 10 can be used for this purpose. The steering information can be provided, for example, by signals output by steering sensors associated with the steering mechanism 26. Furthermore, information representative of the movement state of the ground processing machine 10, in particular the movement speed of the ground processing machine 10, can also be obtained for this purpose, for example, from the rotation of the drive wheels 14. By linking the steering information and the movement information, it is possible to determine the position of the ground processing machine 10 at any time, for example, if the exact spatial position of the ground processing machine 10 at the start of the ground processing operation is known. On the basis of the steering information and the movement information, it is also possible to determine or record the path traveled by the ground processing machine 10 when carrying out the ground processing process without having to know the exact position of the ground processing machine at the start of the ground processing process.
[0054] In the following, the execution of a ground processing operation is also described Figure 2 and 3 In the following, the execution of a ground processing operation is also described
[0055] In Figure 2 In the example shown, a ground processing process is carried out by means of the ground processing machine 10, which is configured here with two ground processing rollers, starting from a start position S by movement of the ground processing machine in a first movement direction Rl. At the start of the ground processing process, i.e. for example at the start from the start position S or before the start or when the ground processing machine 10 moving essentially in the first movement direction Rl has reached the start position S, the operator 22 generates a path information generation command by pressing the start switch 38 on the operating / display unit 40, which is implemented, for example, as a touch screen. This operating / display unit 40 can be arranged, for example, in the area of the dashboard 32.
[0056] By steering the steering mechanism 26 and the drive mechanism 33 by the operator 22, the ground processing machine 10 is moved from the start position S in the first movement direction Rl, for example in the forward driving direction, to a reversal position U, for example selected or predefined by the operator. During the movement from the start position S to the reversal position U, the path W traveled by the ground processing machine 10 is recorded. This can be achieved, for example, on the basis of positions detected or determined, for example periodically, during the movement of the ground processing machine 10 or by linking the steering information with the movement information. The path information generated by the control device 28 can be stored, for example, in a rewritable memory located in the control device 28.
[0057] Upon reaching the reversal position U, the operator 22 ends the movement of the ground processing machine 10 in the first movement direction Rl by correspondingly manipulating the travel mechanism 33.
[0058] From the reversal position U, the ground processing machine 10 is subsequently moved back substantially along the same path W (as was traveled along in the preceding movement in the first movement direction Rl). For the movement in the second movement direction R2, which is substantially opposite to the first movement direction Rl, the operator 22 correspondingly manipulates the travel mechanism 33 such that the ground processing machine 10 is driven in the backward travel direction. Upon starting the movement in the second movement direction R2, the control device 28 uses the path W recorded during the preceding rolling or path information representative of the path W to control the steering actuator 30 such that the ground processing machine 10 is moved back, for example, exactly along the same path W (as was traveled along in the preceding movement in the first movement direction Rl). In this phase of the ground processing process, no steering intervention by the operator 22 is required. The operator 22 only predefines the travel speed by correspondingly pushing or turning the travel mechanism 33. It is also conceivable, for example, that the operator 22 predefines whether and to what extent the oscillation generation mechanism on one ground processing roller or on both ground processing rollers is activated.
[0059] Upon movement along the path W traveled along before, the ground processing machine 10 reaches an end position E corresponding to the preceding start position S. The movement of the ground processing machine 10 along the path W in the direction toward the end position E can be displayed on the corresponding display device in the operating / display unit 40 on the basis of the path information representative of the path W. Thereby, for example, the path Wl already traveled along and the path W2 to be traveled along in the direction toward the end position E can be displayed as path bars (Wegbalken) representative of the path length, respectively.
[0060] When the ground processing machine 10 shown in the display device reaches the end position E, this can be signaled to the operator 22 by a corresponding information. This information can be represented by a visually perceptible warning symbol 42 (as shown in Fig. 4). Alternatively or additionally, an acoustic message or / and a vibration message can also be generated. Such a message can also be generated shortly before reaching the end position E in order to ensure that the operator 22 is prepared to take over the full control of the ground processing machine 10 upon reaching the end position E. Figure 3
[0061] To this end, the control device 28 is configured to keep the steering angle set at the moment of arrival at the end position E constant, i.e. no control leading to an adjustment of the steering actuator 30 takes place. At the same time, the steering function is transferred back to the steering mechanism 26, so that the operator 22 is again responsible for steering as the end position E is reached. It is also conceivable, for example, that the control of the steering actuator 30 is effected on the basis of the steering position of the steering mechanism 26 at the moment of arrival at the end position E and the end of the automatic steering process. Since the control device 28 can only automatically operate or control the drive system 13, but not the steering system 27, even when moving in the second movement direction R2, no automatic intervention in the control of the drive system 13 takes place even after the end position E has been reached. This still takes place entirely in accordance with the specifications of the operator 22 for the handling of the travel mechanism 33, so that, for example, if the handling of the travel mechanism 33 has not changed from the beginning, the ground processing machine 10 can be moved beyond the end position E or the starting position S before it.
[0062] As shown in Figure 2 , when moving in the second movement direction R2, the ground processing machine 10 is able to move with a lateral offset V relative to the path traveled on the previous movement in the first movement direction R1. By using such an offset V, which can be in the range of a few centimeters (for example 5 to 10 cm) to 1 meter or more, it is possible to ensure that the ground processing machine 10 does not exactly process or compact the same area of the ground B on successive passes. This prevents, in particular when compacting asphalt material, the occurrence of edges in the transition area to areas of the ground B that have not yet been compacted or have a lower degree of compaction.
[0063] The offset V can be predefined or input by the operator 22, for example, before the ground processing process is started (i.e. before the handling start switch 38 is actuated), but can alternatively also be represented by a fixedly set value. However, the offset V can also be directly input just before the reversal position U is reached. If no offset V is input or defined at the reversal position U, the ground processing machine 10 is moved back in the second movement direction R2 exactly on the same path W (which was rolled over on the previous movement in the first movement direction R1) by the control device 28. Advantageously, once the offset V has been predefined, it remains constant during the movement from the reversal position U to the end position E in the second movement direction R2.
[0064] Upon reaching the end position E or after reaching the end position E, the ground processing machine 10 is brought back into the standstill state by corresponding manipulation of the travel mechanism 33. By manipulating the travel mechanism 33 such that the ground processing machine 10 is moved again in the forward travel direction, i.e. in the first movement direction Rl, upon further manipulation of the start switch 38 a reversal of the movement direction or a start of the movement again in the first movement direction Rl takes place, so that the path covered in the course of this movement is recorded again. Since the ground processing machine 10 is steered again by the operator 22 in the course of this movement, it is possible that the path W covered upon the second pass or upon each subsequent pass in the first movement direction Rl, i.e. in the forward travel direction, does not exactly correspond to the path covered upon the previous pass in this movement direction. It is thereby possible that upon a plurality of successive passes a larger area of the ground to be processed or to be compacted is reached.
[0065] After reaching the reversal position U again and manipulating the travel mechanism 33 such that the ground processing machine 10 is moved in the second movement direction R2 backwards, the ground processing machine 10 can be moved along the path W covered upon the previous movement in the first movement direction Rl under the condition of automatic steering by means of the control device 28 until the end position E corresponding to the start position S of the previous pass is reached.
[0066] This process can be repeated until the ground B to be processed is processed to a sufficient extent, i.e. for example it is rolled over a predetermined number of times, including with a shift between the passes. If this state is reached, the recording of the path W or the control of the steering actuator 30 by means of the control device 28 can be ended by manipulating the stop switch 44. For example, the ground processing machine 10 can be moved to another position in order to carry out a ground processing process there or it can be switched off until the next ground processing process is carried out.
[0067] The automatic control of the steering actuator 30 can also be deactivated, for example, if an unforeseen event occurs during the movement in the first movement direction Rl or during the movement in the second movement direction R2 and thus an intervention by the operator 22 is required. This can be ended, for example, by manipulating the stop switch 44 for the automatic steering or the recording of the path. If this occurs during the movement of the ground processing machine 10 in the second movement direction R2, the control device 28 deactivates the control of the steering actuator 30 and the operator 22 is again responsible for the appropriate steering of the ground processing machine 10 by corresponding manipulation of the steering mechanism 26.
[0068] For example, if a steering intervention is made by the operator 22, the automatic steering along the previously recorded path during movement in the second movement direction R2 can also be stopped. Such a steering intervention can be recognized, for example, when the operator 22 manipulates the steering mechanism with a predefined minimum degree of manipulation. This can occur, for example, if an obstacle is present and if further movement of the ground processing machine 10 along the previously traveled path W could result in a collision. By means of such a steering intervention, the control device 28 ends the automatic control of the steering actuator 30, and the operator 22 takes over control of the ground processing machine 10 by manipulating the steering mechanism 26.
[0069] In order to be able to perform a predetermined movement of the ground processing machine 10 in the second movement direction R2 on the basis of the path W traveled by the ground processing machine 10 previously in the first movement direction Rl, it is further conceivable that such path information is stored or made available as a reference only when a predetermined minimum path distance, for example 5 meters, is traveled in the first movement direction Rl. If the minimum path distance is not reached, the operator 22 can be prompted, for example by a corresponding display in the operating / display unit 40, so that he is aware that no automatic steering will take place when moving back in the second movement direction R2.
[0070] In another design variant or procedure, the start of recording of the path information can also require a corresponding path information-generating command, which is achieved, for example, by manipulating the start switch 38 each time the movement in the second movement direction R2 is transitioned to movement in the first movement direction Rl during a plurality of successive passes.
Claims
1. A self-propelled ground working machine, characterized in that The self-propelled ground processing machine comprises: - a steering system (27) with a steering mechanism (26) to be manipulated by an operator and at least one steering actuator (30), - a control device (28) for controlling the at least one steering actuator (30) on the basis of the manipulation of the steering mechanism (26), wherein the control device (28) is configured to: - generate path information representative of a path (W) traveled by the ground processing machine (10) when moving in a first movement direction (R1) when the ground processing machine (10) moves in the first movement direction (R1), - control the at least one steering actuator (30) on the basis of the path information when the ground processing machine (10) moves in a second movement direction (R2) opposite the first movement direction (R1).
2. The self-propelled ground processing machine according to claim 1, characterized in that comprising a position detection system (34) for providing position information representative of a position of the ground processing machine (10) during movement of the ground processing machine (10), wherein the control device (28) is configured to generate the path information on the basis of the position information.
3. The self-propelled ground processing machine according to claim 2, characterized in that the position detection system (34) is configured to generate the position information by communicating with a position recognition system (36) supporting radio.
4. The self-propelled ground processing machine according to any one of claims 1 to 3, characterized in that the control device (28) is configured to generate the path information on the basis of steering information representative of a steering state of the ground processing machine (10) and movement information representative of a movement state of the ground processing machine (10).
5. The self-propelled ground processing machine according to claim 4, characterized in that the control device (28) is configured to generate the path information on the basis of steering angle information and speed information.
6. The self-propelled ground processing machine according to any one of claims 1 to 3, characterized in that the control device (28) is configured to control the at least one steering actuator (30) on the basis of path information of the movement of the ground processing machine (10) when moving in the second movement direction (R2), the path information being offset (V) from the path (W) represented by the path information when moving in the first movement direction (R1).
7. The self-propelled ground processing machine according to any one of claims 1 to 3, characterized in that the control device (28) is configured to end the control of the at least one steering actuator (30) on the basis of the path information when there is a take-over control information.
8. The self-propelled ground processing machine according to claim 7, characterized in that the take-over control information comprises steering intervention information representative of a steering manipulation of the steering mechanism (26); or / and comprises a deactivation function representative of deactivating the control device (28) for controlling the at least one steering actuator (30) on the basis of the path information.
9. The self-propelled ground processing machine according to any one of claims 1 to 3, characterized in that the ground processing machine is a ground compactor.