EP1959056B1 - Baumaschine, insbesondere Strassenbaumaschine - Google Patents

Baumaschine, insbesondere Strassenbaumaschine Download PDF

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Publication number
EP1959056B1
EP1959056B1 EP08002232A EP08002232A EP1959056B1 EP 1959056 B1 EP1959056 B1 EP 1959056B1 EP 08002232 A EP08002232 A EP 08002232A EP 08002232 A EP08002232 A EP 08002232A EP 1959056 B1 EP1959056 B1 EP 1959056B1
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EP
European Patent Office
Prior art keywords
arrangement
civil engineering
engineering machine
images
states
Prior art date
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Active
Application number
EP08002232A
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German (de)
English (en)
French (fr)
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EP1959056A3 (de
EP1959056A2 (de
Inventor
Christian Berning
Peter Busley
Günter Dr. Hähn
Thomas Kramer
Herbert Lange
Armin Montermann
Dieter Simons
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Wirtgen GmbH
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Wirtgen GmbH
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Publication of EP1959056A2 publication Critical patent/EP1959056A2/de
Publication of EP1959056A3 publication Critical patent/EP1959056A3/de
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Publication of EP1959056B1 publication Critical patent/EP1959056B1/de
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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
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • 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

Definitions

  • the invention relates to a construction machine, in particular road construction machine, with a chassis and a chassis which carries a working device having one or more working means.
  • construction machines of different training for civil engineering There are construction machines of different training for civil engineering known.
  • self-propelled road construction machines which are characterized by the fact that they have a chassis and a chassis.
  • the chassis carries a working device which has one or more working means.
  • working equipment is understood to mean the equipment with which the work required for road construction can be carried out.
  • the working device has one or more work equipment, with which the individual steps can be performed, which are required for road construction.
  • the road milling machines As road construction machines, for example, road milling machines are known that economically remove damaged road surfaces.
  • the road milling machines have a milling device, for example a milling roller with milling bits, and a conveying device for conveying the milled road surface.
  • the chassis of the road milling machine may have wheels or crawler tracks.
  • the known construction machines For the control of the working equipment of the working equipment, the known construction machines generally have a programmable logic controller (PLC), which is an electronic module that is used in automation technology for control and regulation tasks.
  • PLC programmable logic controller
  • the programmable logic controller has inputs and outputs and a memory for a program, after which the control and regulation tasks are performed.
  • the known construction machines generally have a device for detecting operating variables or operating states, which include, for example, the oil pressure or the coolant temperature of the diesel engine for driving the construction machine or in the case of a road milling machine, for example, the feed rate and the position of the milling drum, with which the milling depth is specified.
  • the device has, for example, pressure sensors, temperature sensors, limit switches or limit switches, speed sensors or the like, on whose analog or digital signals are applied as input signals to the input of the programmable logic controller.
  • At the output of the control device are as output signals to control, for example, pneumatic or hydraulic valves, mechanical or electrical switches or the like., With which in turn the working means of the working device are controlled.
  • the construction machines have a device for entering operating variables or operating states, for example, the desired feed rate of the construction machine.
  • the input device may comprise various switches and a keyboard, which are arranged in a control panel at an operating location of the construction machine.
  • the construction machines have a device for displaying operating variables or states in the form of characters or images in order to continuously inform the operator about the operating variables or states.
  • the representation of the operating variables or states in the form of characters or images takes place in the known construction machines in that the relevant for the operating parameters or states output signals of the programmable logic control device are transmitted via a data bus to the operating point at which from these signals obtained for the representation in the form of characters or images required signals, which are displayed on a monitor.
  • the devices for displaying characters or images of the known construction machines are information systems which display in graphical form, for example with bar graphs or pictograms (icons), operating variables or operating parameters.
  • the bar graphs and pictograms are displayed in the known devices in pixels, the display being monochrome.
  • the known devices have the necessary hardware and software for the representation of the bar graphs and pictograms.
  • the relatively complex programming of the pixel display is done at the factory, but can be modified by the customer.
  • a disadvantage of the known construction machines that the representation of the operating variables or states in the form of characters or images at the operating point in the known construction machinery requires a relatively complex display unit.
  • Another disadvantage is that the display unit, whose housing has relatively large dimensions, is exposed at the operating relatively large mechanical stresses due to shocks and heat or cold and dust and dirt.
  • a further disadvantage is that multiple operating points on the construction machine makes a plurality of complex display units required, each of which must have all necessary components.
  • the low flexibility of the known display units proves to be disadvantageous, which results from the fact that the display unit is tailored to the particular application. Consequently, another application means the use of a new display unit or a new program that has to be written specifically for the respective display unit. Changes may not only result from technical innovations, but also from the special requirements of the customers, which necessitate the use of different display units and different programs.
  • the DE 93 01 031 U1 describes a construction machine having a central data processing device.
  • the central data processing device comprises a microprocessor (CPU) and an internal bus.
  • plug-in cards assigned to the different units can be inserted into the central data processing device.
  • the plug-in cards are part of the central data processing device.
  • the data is displayed on a display unit that communicates with the microprocessor.
  • user interfaces are provided, which can be assigned to the individual plug-in cards. It should therefore be noted that in addition to the central data processing device, a programmable logic controller is not provided.
  • the invention is therefore based on the object to provide a construction machine, which is a representation of operating variables or operating conditions in the form of characters or images allowed with high flexibility and low technical effort at one or more operating points of the machine.
  • the construction machine according to the invention is characterized in that in addition to the programmable logic controller, a central data processing device is provided, which is designed such that operating variables or operating conditions as characters or images on the device for representing operating variables or states can be displayed.
  • a central data processing device is provided, which is designed such that operating variables or operating conditions as characters or images on the device for representing operating variables or states can be displayed.
  • the generation of the signals required for the display of the characters or images thus does not take place in the display unit at the operating location at which the characters or images are displayed, but rather centrally in the data processing device.
  • To display the operating variables or states at the operating location only one device is required with which the characters or images that are generated in the central data processing device can be displayed. All you need is a conventional screen (display).
  • At least one first data bus is provided, which operates according to a first data transmission method, while at least one second data bus is provided for the exchange of data between the central data processing device and the device for displaying operating variables or states which operates according to a second data transfer method different from the first data transfer method after which the first data flow operates.
  • the data which relates, for example, to the control of the construction machine for example the data indicating the oil pressure and the coolant temperature or the position of the milling drum
  • the data are exchanged via the at least one second data bus, which relate to the representation of the characters or images.
  • the exchange of data about the first data bus generally requires an event-oriented transmission of the data, for example, a change in the feed rate or a change in the direction of travel of the construction machine, while the exchange of data over the second data bus requires a continuous data transmission to the operator continuously on the operating variables or - to be able to inform
  • the advantage is that the two buses can be adapted for data transmission to the respective requirements.
  • a bus can thus be used which allows signal transmission with high reliability even over long distances.
  • the construction machine according to the invention makes it possible to use standard software for displaying the characters or images, which allows a high degree of flexibility.
  • An adaptation to new technologies or to different customer requirements can be done simply by reading in a new software, without having to replace the device for displaying the operating variables or states, which may include multiple screens (displays).
  • the reliability is increased by the fact that the central data processing device can be arranged with the sensitive electronic assemblies in a safe location of the construction machine. While the device for displaying the characters or images may need to be mounted in a location where the device is exposed to mechanical stresses such as vibration and heat or cold, dust and dirt, this is less of a problem because the device is not the delicate electronic components contains. Also, the dimensions of the housing of the device for displaying the characters or images may be small. For example, a flat liquid crystal display (LCD) is sufficient.
  • LCD liquid crystal display
  • the display units have a variety of inputs and outputs, such as various interfaces such as CAN buses or also an RS 232 interface, is sufficient in the device for displaying the characters or images of the construction machine according to the invention an input for receiving the video signals. Therefore, it is possible to house the device in a compact, hermetically sealed housing, from which only one connection cable for communication with the central data processing device is led out. This results in a small and robust unit.
  • the at least one first data bus is a CAN bus (Controller Area Network), which is an asynchronous, serial bus system which has been developed for the networking of control devices in automobiles.
  • CAN bus Controller Area Network
  • the length and number of wiring harnesses can be reduced and weight saved.
  • the at least one second data bus is a Low Voltage Differential Signaling (LVDS) bus, which is an interface standard for high-speed data transmission specified according to ANSI / TIA / EIA.
  • LVDS Low Voltage Differential Signaling
  • the central data processing device has a main processor for performing arithmetic operations, for example a commercially available microprocessor, and a graphics unit for controlling the representation of the characters or images for the device for representing operating variables or states.
  • a main processor for performing arithmetic operations, for example a commercially available microprocessor
  • a graphics unit for controlling the representation of the characters or images for the device for representing operating variables or states.
  • the device for representing the operating quantities or states can be a conventional monitor, for example a liquid crystal display (LCD), in particular a TFT display.
  • LCD liquid crystal display
  • TFT TFT
  • the device for inputting operating parameters or states can be designed differently.
  • the input device has a plurality of switches and / or one or more keyboards, wherein one or more input devices may be provided on the construction machine.
  • Another particularly preferred embodiment of the construction machine provides a means for recording images at one or more locations of the construction machine.
  • cameras can be arranged at one or more locations of the construction machine, with which the workflow can be monitored at different locations.
  • a first alternative embodiment has the direct communication of the recording device with the device for representing the operating variables or states, in particular the monitor
  • a second alternative embodiment provides a data exchange between the recording device and the central data processing device. This has the advantage that image processing can take place in the central data processing device. For example, it is possible to assign the individual images of the individual cameras to different displays or to display a plurality of images on a display.
  • the programmable logic controller interacts with the central data processing unit in such a way that, depending on a specific operating variable or operating condition, a predetermined representation of characters or images on the means for displaying operating variables associated with the respective operating variable or operating condition or operating states can be displayed.
  • the programmable logic controller cooperates with the central data processing device such that before the change of the direction of travel, a first representation of Characters or images and after changing them a second display of characters or images is displayed. For example, images can be displayed at different locations of the construction machine depending on the direction of travel. The change of the display is then fully automatic with the change of direction.
  • the central data processing device preferably has at least one interface for communication with at least one external unit.
  • This interface can be, for example, a USB interface, an RS 232 interface or the like. With these interfaces, for example, further computing units for repair and diagnostic purposes or printers or the like. Can be connected.
  • Fig. 1 shows the essential components of a road milling machine in side view.
  • the road milling machine has a chassis 1 and a chassis 2.
  • the chassis 2 of the milling machine comprises four track drives 2A, 2B, which are arranged on the front and rear sides on both sides of the chassis 1.
  • Chassis 1 and chassis 2 are connected to each other by means of piston / cylinder assemblies 3A, 3B, so that each chain drive is height adjustable.
  • the chassis 1 of the milling machine carries a working device 4 only hinted at, which has different working means.
  • One of the tools the milling machine is a milling device 5 arranged below the chassis, and another working means is a conveying device 6 arranged at the front of the machine.
  • the milling device 5 has a milling drum 5A, which is equipped with milling bits.
  • the milling drum 5A is height-adjustable by means of the piston / cylinder arrangements 3A, 3B in order to be able to set a predetermined milling depth.
  • the conveyor 6 has a fixed to the chassis 1 first conveyor belt 8A, which is pivotable by means of a piston-cylinder assembly 9, and a second conveyor belt 8B.
  • the road milling machine also has a disposed within the chassis diesel engine 10, which is shown only hinted.
  • the milling machine has a variety of sensors, such as pressure sensors, temperature sensors, etc., and actuators, such as hydraulic or pneumatic valves or relays to control the individual working means of the working equipment can. These arranged at different locations sensors or actuators are in Fig. 1 not shown.
  • the road milling machine has a device 11 which comprises a total of four cameras 11A, 11B, 11C and 11D.
  • the individual cameras are arranged at different locations of the milling machine.
  • the road surface is removed with the milling roller 5A of the milling device 5, wherein the milled material is loaded by means of the conveyor belt 8 of the conveyor 6 on a truck.
  • the camera 11A on the conveyor 6 serves to monitor the truck loading, the camera 11B to monitor the surface to be processed immediately before the milling device 5, the work result monitoring camera 11C and the rear machine area monitoring camera 11D.
  • the machine operator sits on a driver's seat 12 on the driver's cab 13.
  • FIG Fig. 2 described in detail, the description of the control and display device to that with reference to Fig. 1 described road milling machine to make clear the function of the individual modules by means of examples.
  • the in Fig. 2 shown device can be provided in all types of construction machinery and goes beyond the principle of what is happening with the road milling machine of Fig. 1 at work processes is possible.
  • the control and input and display device comprises a device 14 for controlling the road milling machine and a device 15 for displaying operating variables or states in the form of characters or images.
  • the controller 14 is located at a sheltered location within the chassis 1 of the machine.
  • the device 15 for displaying characters or images has a plurality of display units 15A, 15B, which are arranged at different locations of the construction machine.
  • the control device 14 has a programmable logic controller 16 and a central data processing device 17.
  • the programmable logic controller 16 takes over the actual control of the road milling machine. Structure and operation of a programmable logic controller are known in the art.
  • the control device receives data from the sensors of the construction machine, processes this data and sends data to the actuators of the construction machine.
  • the data can be divided into different groups, which can be found in Fig. 1 are designated. These data include the data concerning the machine 16a, the operator 16b, the diagnosis 16c and the programming 16d.
  • the programmable logic controller receives the output signals of the temperature sensor of the road milling machine for measuring the coolant temperature of the diesel engine 10 or the pressure sensor for measuring the oil pressure or a position sensor for detecting the position of the milling drum 5A or the position of the conveyor belt 8 and a direction indicator for detecting the direction of travel.
  • the central data processing device 17 comprises a main processor 17A and a graphics unit 17B.
  • the central data processing device 17 is connected to the programmable logic controller 16 via a plurality of CAN buses 18A to 18D, each of which transmits a data associated with a particular group of data.
  • CAN buses 18A to 18D each of which transmits a data associated with a particular group of data.
  • the data bus 18A the data related to the diesel engine, such as the coolant temperature or the oil pressure, are transmitted while data relating to the operation of the engine is transmitted via the data bus 18B.
  • the CAN bus operates according to the CSMA / CA procedure, which allows secure data transmission even with relatively long cable lengths.
  • the road milling machine For entering operating variables or states, for example the feed speed, direction of travel or milling depth, the road milling machine has a device 19, which is also arranged in the field of vision of the machine operator on the driver's cab 13 laterally next to the driver's seat 12.
  • the device 19 has a plurality of switches and / or a keyboard.
  • the data related to the machine and the operation, but also to the diagnosis or the programming data can be displayed clearly on the display units 15A, 15B in the form of characters or images.
  • the main processor 17A also has further interfaces, for example a USB interface USB, for the connection of a data memory, a Bluetooth connection or a printer. Furthermore, an RS232 interface is provided to which, for example, a printer or a PC can be connected for programming.
  • the main processor allows a wired data network technology for local Data networks (Ethernet).
  • the main processor 17A communicates with the graphics unit 17B via an internal bus.
  • the graphics unit 17B controls the screen display of the display units 15A, 15B.
  • the graphics unit generates the necessary video signals, which allows a representation of characters and images. Structure and function of such a graphics unit, which is also referred to as a graphics card in a personal computer PC, are known in the art.
  • the display units 15A and 15B each have a monitor 15A '15B', preferably a liquid crystal (LC) display, in particular a TFT display. Structure and operation of such a display unit are known in the art.
  • the display units are basically conventional screens (monitors).
  • each display unit has an operating unit 15A ", 15B" with which the construction machine can be operated.
  • the operating units 15A ", 15B" for inputting certain machine commands communicate with the central programmable logic controller 16 or the central data processing device.
  • the operation unit 15A is housed in the housing of the monitor 15A 'of the display unit 15A, while the operation unit 15B" is a separate unit accommodated in another housing.
  • the display units may also have controllers or buttons with which the display units themselves can be operated, for example brightness or contrast can be set.
  • the display units 15A, 15B are connected to the graphics unit 17B via an LVDS bus 20A and 20B, respectively, for transmitting the video signals.
  • LVDS bus With the LVDS bus, the video signals over long cable lengths to the different operating locations arranged display units are transmitted, in which instead of the usual high voltages for digital systems, a lower voltage is used.
  • the video signals are transmitted continuously via the LVDS bus, so that different screen views are possible on the display units in which different operating quantities or states can be displayed.
  • the operating unit 15A "communicates with the central programmable logic controller 16 or the central data processing device 17 via the return channel of the already existing LVDS bus 20A, while the operating unit 15B" transmits the data via a CAN bus 25.
  • the operating units 15A "and 15B" can cooperate with the monitors 15A 'and 15B' of the display units 15A and 15B insofar as certain functions, for example in the form of graphic symbols, are displayed on the monitors, depending on the individual buttons, switches or controllers be assigned by the operating state of the construction machine. Thus, the buttons, switches or controllers can be assigned different functions and displayed visually.
  • a decisive advantage of the interaction of display unit and data processing device is that with a corresponding programming of the main processor 17A can be changed at any time, on which display unit the display is made and what is displayed on the respective display unit and how it is displayed.
  • the construction machine also has a device 21 for recording images, which comprises a plurality of cameras 22.
  • These cameras can be, for example, the already described cameras 11A, 11B, 11C and 11D of the road milling machine of Fig. 1 act.
  • three cameras 22 are assigned directly to the display unit 15A and three further cameras 22 are assigned to the display units 15A and 15B via the central data processing device 17.
  • the cameras 22 associated with the display unit 15A are connected to the display unit 15A via an LVDS bus 23A, 23B, 23C, so that on the TFT display of the display unit 15A the operator can observe the respective areas of the construction machine.
  • the operator can choose between the images of one or the other camera, the selection of the cameras is possible with an input selector, not shown, which allows switching between the different video signals of the cameras.
  • the cameras 22 assigned to the display unit 15B are connected to the central data processing device 17 via an LVDS bus 24A, 24B, 24C.
  • This has the advantage that a signal processing is possible, which allows, for example, the display of multiple images on a screen. Switching between the individual cameras does not take place here with input selector switches, but with the operating unit 15B "of the display unit 15B, which is connected to the central data processing device via the CAN bus 25. This allows the operator to control the screen display
  • the selection of the cameras from the programmable logic controller 16 or the central data processing device 17 depending on the operating state of the construction machine can be done automatically without an input is required.
  • the invention makes the interaction between the programmable logic controller 16 and the display units in connection with the recording device 21 possible.
  • the operator obtains information on the display unit 15A about the data concerning the machine or the operation of the machine. For example, it can determine the feed rate and the milling depth as well as the coolant temperature and the oil pressure on the monitor 15A '. (Display) of the display unit 15A read.
  • the operator can observe the result of the work by turning on the camera 11C on the operation unit 15A "of the display unit 15A, and the milling track can be displayed immediately behind the cutter 5 in a screen section of the monitor 15A 'of the display unit 15A.
  • the main processor 17A receives a corresponding signal from the programmable logic controller 16 via the CAN bus 18A.
  • the main processor is programmed so that just prior to the change of direction from forward to reverse, the images of the camera 11D are presented to the operator automatically be displayed to observe the area behind the machine.
  • the camera 11B is automatically switched to observe the roadway in the area of the milling drum 5A.
  • the camera 11C is turned on again.
  • the embodiment shows that the representation of characters and / or images with the display units 15A and 15B can be varied depending on the operation quantities or states. It can be determined by a program, what, when and how is displayed. It is thus possible to change the specifications at any time with little effort, without having to modify the device 15 for displaying the characters and / or images as such.
  • the central data processing device 17 can take over other functions in addition to the generation of the data required for the representation of the characters and images.
  • the central data processing device 17 also serves as a server for the programmable logic controller 16.
  • 17 programs and / or parameter sets can be read via an interface of the data processing device to program the control device of the construction machine.
  • new programs and / or parameter sets can be read in to replace the old programs and / or parameter sets.
  • the central data processing device 17 can also serve as a web server, so that it is possible to download machine documentation from the Internet and display it on the display unit. For example, spare parts lists, hydraulic plans or operating instructions can be displayed.
  • the data processing device can establish a remote data transmission (DFÜ) to communicate with a central office or another machine.
  • DFÜ remote data transmission
  • the work results can be documented and transmitted to the central office.
  • the performance of the data processing device 16 as compared to the prior art control device would also allow image processing of the information captured by the camera 22 to realize access control to detect obstacles, monitor the work process, the end result control and take on more related tasks.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Road Repair (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
EP08002232A 2007-02-17 2008-02-07 Baumaschine, insbesondere Strassenbaumaschine Active EP1959056B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007007970A DE102007007970B4 (de) 2007-02-17 2007-02-17 Baumaschine, insbesondere Straßenbaumaschine

Publications (3)

Publication Number Publication Date
EP1959056A2 EP1959056A2 (de) 2008-08-20
EP1959056A3 EP1959056A3 (de) 2010-10-13
EP1959056B1 true EP1959056B1 (de) 2012-10-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP08002232A Active EP1959056B1 (de) 2007-02-17 2008-02-07 Baumaschine, insbesondere Strassenbaumaschine

Country Status (5)

Country Link
US (1) US9121145B2 (ja)
EP (1) EP1959056B1 (ja)
JP (1) JP5414185B2 (ja)
CN (2) CN201222182Y (ja)
DE (1) DE102007007970B4 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2844804B1 (de) 2012-05-04 2016-12-21 BOMAG GmbH Baumaschinensteuerung
EP3715969B1 (de) 2019-03-26 2022-08-24 Wirtgen GmbH Baumaschine mit einer vorrichtung zur steuerung der baumaschine und verfahren zur steuerung einer baumaschine

Families Citing this family (32)

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DE102007007970B4 (de) * 2007-02-17 2009-11-26 Wirtgen Gmbh Baumaschine, insbesondere Straßenbaumaschine
DE202007005756U1 (de) * 2007-04-19 2008-08-28 Wirtgen Gmbh Selbstfahrende Baumaschine
DE102009041842A1 (de) * 2009-09-18 2011-09-01 Wirtgen Gmbh Selbstfahrende Straßenfräsmaschine
CN102213955B (zh) * 2010-04-01 2012-10-10 常州机械电子工程研究所 通用型建筑机器控制系统
DE102010014903A1 (de) 2010-04-14 2011-10-20 Bomag Gmbh Überwachungsvorrichtung für eine Bodenfräsmaschine
DE102010022467B4 (de) * 2010-06-02 2014-12-04 Wirtgen Gmbh Straßenbaumaschine, sowie Verfahren zum Steuern des Abstandes einer auf einer Bodenoberfläche bewegten Straßenbaumaschine
EP3216920B1 (de) * 2010-09-07 2019-10-09 BOMAG GmbH & Co. OHG Strassenbelagsfräse mit einem förderer
DE102010048185B4 (de) * 2010-10-13 2021-10-28 Wirtgen Gmbh Selbstfahrende Baumaschine
CN102322015A (zh) * 2011-07-13 2012-01-18 三一重工股份有限公司 一种铣刨机及铣刨机控制方法
DE102013006464B4 (de) * 2012-04-16 2020-03-19 Bomag Gmbh Baumaschine mit einer Manövriereinrichtung, Verfahren zur Erleichterung des Manövrierens einer Baumaschine und Manövriereinrichtung für eine Baumaschine
JP6371707B2 (ja) * 2013-01-29 2018-08-08 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 情報管理方法、制御システム及び表示機器の制御方法
DE102013002079A1 (de) * 2013-02-06 2014-08-07 Volvo Construction Equipment Germany GmbH Baumaschine
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US20080216021A1 (en) 2008-09-04
DE102007007970A1 (de) 2008-08-28
EP1959056A3 (de) 2010-10-13
CN101246357A (zh) 2008-08-20
JP5414185B2 (ja) 2014-02-12
DE102007007970B4 (de) 2009-11-26
CN201222182Y (zh) 2009-04-15
CN101246357B (zh) 2015-04-08
US9121145B2 (en) 2015-09-01
EP1959056A2 (de) 2008-08-20

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