EP2119832B1 - Procédé de fonctionnement d'une fraiseuse de chaussée autoporteuse - Google Patents

Procédé de fonctionnement d'une fraiseuse de chaussée autoporteuse Download PDF

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Publication number
EP2119832B1
EP2119832B1 EP09006453.6A EP09006453A EP2119832B1 EP 2119832 B1 EP2119832 B1 EP 2119832B1 EP 09006453 A EP09006453 A EP 09006453A EP 2119832 B1 EP2119832 B1 EP 2119832B1
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EP
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Prior art keywords
road
milling machine
milling
detected
measuring transducers
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German (de)
English (en)
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EP2119832A1 (fr
Inventor
Joannis Reiffen
Holger Voss
Rafael Schomaker
Susan Ruddlmann
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Dynapac GmbH
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Dynapac GmbH
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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
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path

Definitions

  • the invention relates to a method for operating a self-propelled road milling machine according to the preamble of claim 1.
  • Road milling machines are used, in particular, to scrape off the road surface of damaged roads. On such a milled road is then only apply a new road surface to complete a renewed road.
  • the milled road serves as a substructure.
  • Road milling of the type discussed here are usually self-propelled.
  • the road milling machines have a steerable crawler or wheel chassis.
  • the driver manually steers the road milling machine along the road surface to be removed from an operator station.
  • the driver orients himself visually at the roadside or at a milling edge of an already milled road surface.
  • the driver has to devote a large part of his attention to steering the road milling machine.
  • the driver has less time to monitor the milling process and to operate other facilities related to the milling process itself.
  • the accuracy with which the road milling machine is steered depends on the skill and experience of the driver. Especially inexperienced drivers cause greater inaccuracies, for example, comes to an unnecessarily large overlap with a neighboring FräserMail. Even damage, such as curbs or the like, are conceivable inexperienced drivers.
  • the invention has for its object to provide a method for operating a self-propelled road milling machine, which relieves the driver during the milling process.
  • a method for achieving this object comprises the measures of claim 1. Accordingly, it is provided that at least one reference is detected by a plurality of transducers for steering the road milling machine and a plurality of transducers are evaluated in parallel, short interruptions of a reference are compensated by detecting the parallel of the at least one reference with multiple transducers.
  • the automatic routing of the road milling machine along the road surface to be removed increases the accuracy of the milling process.
  • the driver is relieved, since the steering operations take place automatically during the milling of the road surface, and they usually require no manual intervention.
  • the road milling machine is guided along the road surface to be removed in such a way that a milling roller of the road milling machine can precisely mill off the preferably damaged road surface from the road.
  • unnecessarily large overlaps of the milling strips and damage to the boundaries of the road to be scoured are thus avoided.
  • the method it is provided to steer the road milling machine in dependence on at least one reference automatically.
  • the at least one reference serves as a reference point or reference line, after which the road milling machine is steered automatically along the road surface to be removed.
  • a single reference is sufficient for the automatic control of the road milling machine.
  • the at least one reference is detected in particular continuously. As a result, even small deviations from the optimum milling path along the road surface to be removed can be corrected immediately by means of opposing, automatic steering movements.
  • references are usable, several or all of these references are captured together. As a result, a common evaluation and / or a correction of measurement errors is made possible.
  • multiple references can also be grouped into sets of references, which are then each evaluated as a single reference, for example, by averaging or otherwise processing the automatic milling of the road milling machine.
  • one of the references is optionally detected.
  • the automatic steering can be specified.
  • another reference may preferably be selected and utilized.
  • An optional detection of a reference can also be effected alternately in rapid succession, so that, for example, the alternating selection of two or more references follows one another periodically in time. Such an alternating selection can be carried out manually or automatically by the control device.
  • the electronic navigation system aims at at least one reference, preferably a plurality of references, along the road to be cut.
  • the references may be transmitters arranged along the road to be scanned.
  • the electronic navigation system automatically controls the road milling machine in such a way that it gradually leaves the individual transmitters serving as references along the road.
  • a satellite-based navigation system for example a Global Positioning System (GPS). This works satellite-based. In this case, the course of the road to be cut off the following positions as references in the electronic GPS navigation device entered.
  • GPS Global Positioning System
  • the road milling machine is then automatically controlled according to the principle of an autopilot so that it gradually decreases the inputted into the electronic navigation device positions that correspond to the course of the road to be milled.
  • the entry of positions in the GPS navigation system eliminates fixed sensors at the edge of the road to be cut. It is also conceivable that the GPS navigation system works both with stored positions and with fixed references, eg transmitters, near the road. Such a navigation system operating on the principle of the differential GPS ensures that the road milling machine controlled thereby automatically moves off the individual references serving as references.
  • the road milling machine is automatically steered with an adjustable distance to the at least one reference.
  • the distance to the at least one reference can be preselected by the operator and / or adjusted during operation.
  • the distance to the at least one reference can also be calculated on the basis of measurement or reference data.
  • the road milling machine is then automatically steered so that the set distance to the reference, where appropriate, plus an adjustable tolerance during milling as possible.
  • distances can be specified for each reference, by means of which the road milling machine is then steered automatically.
  • the distances of the different references are preferably compared with one another and preferably converted into one another, for example, by mean values or correction values.
  • the at least one reference can in particular serve as a left or right boundary of the road surface to be scoured.
  • the at least one reference can be removed during milling, so that it can no longer be used as a reference in the area behind the milling drum of the road milling machine. It is then preferably replaced by another reference.
  • the reference may be arranged outside the area of the pavement to be scoured, so that it is not impaired by the milling process.
  • the at least one reference is detected in particular mechanically and / or contactlessly.
  • a mechanical connection to the reference provides for direct detection of the reference by contact with the reference.
  • a non-contact detection of the reference can take place.
  • a contactless detection of the reference eliminates any mechanical contact with this, so that the associated disadvantages, namely that the mechanical detection elements can be destroyed, worn or damaged, can be avoided.
  • the at least one reference is detected by the transducers, in particular a sensor, a mechanical feeler and / or an image capture means.
  • a mechanical feeler comes a shoe, a roller, a probe or the like in question, wherein the sensing element is in mechanical contact with the reference.
  • the mechanical sensing element may be associated with a switch or the like which generates a signal when the sensing element loses the mechanical contact with the reference.
  • the automatic control of the road milling machine can then be interrupted, or it can be done switching to a another reference detecting transducer.
  • a sensor for signals such as optical or acoustic waves and the like is used as the sensor.
  • the at least one reference reflects the signal, which may be, for example, a light wave, a sound wave, an ultrasonic wave or the like.
  • the signal may originate from the vicinity of the reference or specifically from a signal source arranged on or in the vicinity of the road milling machine, for example a lamp, a light-emitting diode, a laser, a tone generator or the like.
  • the reflected signal can then be detected by the corresponding sensor, such as an ultrasonic sensor, a photosensitive sensor or the like, on the road milling machine. The detection is preferably directed, so that the origin of the. reflected wave is assignable.
  • this can additionally be coded in order to enable unambiguous assignment to a sensor-signal source pair. It can be arranged even in the vicinity of the road tiller regardless of this same signal sources.
  • an image capture device such as a camera, for example.
  • the image taken by the camera of the reference or the environment of the reference is then converted by a suitable processing of the image data for the detection of the reference.
  • color or brightness differences as they represent a lane marking, a lane, an edge or a specially applied mark, serve as a reference.
  • the image acquisition can also evaluate structures of the reference, from which it can be determined which kind of reference is evaluated.
  • the at least one reference is detected by several transducers. This makes it possible to compensate for measurement errors of individual transducers.
  • obstacles can be detected by the transducers or the control device and appropriate countermeasures initiated.
  • At least one type of transmitter selected for detecting the at least one reference.
  • the transmitter can be selected which is best suited to detect the reference.
  • such a selection can in particular also be changed at any time during operation of the road milling machine, so that an optimum detection of the at least one reference is continuously ensured.
  • transducers Preferably, several identical and / or different types of transducers are evaluated in parallel. In particular, different types of transducers provide differently accurate or meaningful measurement results under different environmental conditions. In order to avoid measuring inaccuracies by a single transmitter, several transducers are evaluated in parallel. By subsequent selective selection of a transmitter or fewer transducers or by comparisons and / or comparisons of the measured values of different transducers, for example by averaging or the like, a high accuracy is achieved.
  • At least one of the transducers can be offset, moved or moved relative to the road milling machine, in particular laterally. Because one, several or all transducers can be used flexibly at different points of the road milling machine by the position of the transmitter or the sensor on the road milling machine can be changed almost arbitrarily, the or the transducers can be optimally positioned to detect the at least one reference , Particularly preferably, at least one of the transducers can be pivoted, tilted or rotated relative to the road milling machine in order to be able to be aligned optimally in all three spatial directions to the reference to be detected.
  • one of the references is detected by at least one transmitter, but preferably jointly by a plurality of transducers.
  • This is preferably too Control purposes of the measurement results of different sensors made.
  • the detection of a reference by a plurality of, in particular different transducers results in an increased accuracy of the measurement results over a single measurement and leads to the further advantage that in case of failure or temporary inaccuracy of a transmitter further secure detection of the same reference is guaranteed.
  • This is particularly important in view of the fact that, for example, optical sensors may be briefly limited by environmental factors such as smoke or dust in your measurement accuracy, while ultrasonic sensors are not or less affected. Conversely, ultrasonic sensors come closer to their performance limits in other environmental conditions, such as strong vibrations, while this is again less critical for optical sensors.
  • a reference substantially along the road surface to be scoured is preferably used.
  • a reference can be selected without having to change at short intervals to another reference, which is for example partially missing or inaccurate.
  • Such a reference may also consist of transmitters or objects to be tracked along the road surface to be scoured.
  • the reference can also be formed by the storage of navigation positions along the road surface to be scoured.
  • an area of the road and / or a region of the surroundings of the road is used as a reference.
  • Various elements of the road or their surroundings, which extend along the road, are particularly suitable as a reference. This only needs to be selected and used as a basis for the automatic control of the road milling machine.
  • an edge and / or a projection of the road or the surroundings of the road is used as a reference.
  • An edge and / or a protrusion is easily detected so that it is well suited as a reference for automatic steering.
  • a milling edge of an already milled section of the road can be used. If a section of the road has already been milled off, there is at least at one edge thereof a milling edge which can be used as a reference for a next, parallel milling process along the road.
  • Such Milling edge is a projection that is easy to grasp and already extends along the road.
  • an edge stone or a curb of the road is used as a reference.
  • Such curb or curb is found as a border of a road or as a border of an associated sidewalk or bike path usually at the edge of the road. As a rule, it runs at least in sections parallel to the road and is thus particularly suitable as a reference.
  • guardrail it is also conceivable to use as a reference a guardrail.
  • a guardrail runs along the road substantially parallel to it and offers particularly good properties in terms of their detectability.
  • a guardrail reflects optical and acoustic waves and in particular signals that are radiated on them particularly well.
  • guardrails are typically above the road surface, so that due to their distance from the ground less dust and similar disturbances are expected in the detection of the reference. Also limiting piles or the like may be suitable as a reference.
  • a marking of the road and / or a marking of the surroundings of the road is used as a reference.
  • a marking may be, for example, a lane marking, such as a median strip or an edge strip.
  • the marking can also be targeted as a reference on the road or in the environment have been attached. By capturing such a mark is given an independence of edge stones, crash barriers or milling edges, which may not be available in some cases or may not be suitable as a reference.
  • the detection of a mark on the road in particular with the aid of image acquisition means, can have advantages with regard to a high operating speed and accuracy.
  • a stored and / or determined profile of the road or the surroundings of the road can be used with particular preference for detecting the reference.
  • the selection of the references to be detected can be improved or even automate. For example, in areas where one or more references provide useless readings, they may automatically switch to another reference that is determined by the profile.
  • the profile of the road or the surroundings of the road can be continuously determined in particular during the milling of the road surface or be re-saved if necessary.
  • a profile of the road or the surroundings of the road can be determined continuously in order to use this profile itself as a reference.
  • the Fig. 1 shows a plan view of a self-propelled road milling machine 10 for milling damaged and / or worn pavements.
  • the method described here is suitable for operating any self-propelled road milling machines 10, so it is not limited to the road milling machine shown.
  • the road milling machine 10 has four carriages 11, which are arranged in pairs at their opposite ends. In the exemplary embodiment shown, all four running gears 11 are individually rotatable about vertical axes 13. In the chassis 11 is in this case to crawler tracks, which are each driven individually.
  • a steering of the road milling machine 10 is possible by parallel rotation of each of two carriages 11 at one end of the road milling machine 10 formed pairs of chassis 11.
  • the chassis 11 of a pair in the same direction or alternatively, the chassis 11 of another pair can be rotated in opposite directions about their respective axes 13.
  • Other embodiments of the chassis 11 are conceivable.
  • trolleys 11 configured as wheel suspensions can also be steered as described here.
  • the road milling machine 10 can be steered by different drive speeds and / or directions of parallel arranged landing gears. Accordingly, as described above, only one or two running gears can be rotatably mounted in order to be able to control the road milling machine.
  • the trolleys 11 are also individually rotatable about their vertical axes 13. A steering angle of all chassis 11 to drive to the left is in the Fig. 1 by dashed lines 15 chassis indicated.
  • the road milling machine 10 has for milling a road surface 24 in the milling direction 14 about a horizontal Fräswalzenfitachse 16 rotatable milling drum, which is located on the underside of the frame 12 of the road milling machine 10 and therefore not shown in the drawing. Material of the road surface 24 removed by the motor-driven milling drum is transported to the front end of the frame 12 and loaded there by a conveyor belt 17 onto a ready-to-stand vehicle (not shown here) for removal. Above the milling drum with the Fräswalzenfuelachse 16 is at least one control station 19, from which a driver 20 can monitor the operation of the road milling machine 10.
  • transducers 23 are arranged on the road milling machine 10. These transducers 23 may detect a selected reference, such as an edge, a slope, or a color marker.
  • a selected reference such as an edge, a slope, or a color marker.
  • Various types of transducers 23 come into question, such as mechanical touch sensors or non-contact sensors, for example, for distance measurement with sound, light, especially laser light, etc.
  • image capture means for example in the form of cameras or photodetectors for visible, infrared or ultraviolet light with appropriate image evaluation units can be used.
  • electronic navigation devices or systems whereby the road milling machine is controlled so that it automatically drives references in the form of coordinates.
  • the transducers 23 can be arranged at arbitrary locations on the frame 12 of the road milling machine 10, so that the reference to be detected by the respective transducers 23 can be detected as trouble-free as possible.
  • the transducers 23 can preferably be provided in the vicinity of the milling drum rotation axis 16, for example laterally on the frame 12 on the road milling machine 10 or else below the frame 12. Also possible is an arrangement at the outer edges or corners of the frame 12 of the road milling machine 10, as well as at various other exposed locations, such as on superstructures.
  • the sensors 23 may additionally be arranged in height and / or laterally adjustable or on telescopic arms, so that their application area is increased.
  • transducers 23 may be arranged at elevated positions, such as on a roof of the road tiller 10.
  • An image capture means as a transmitter 23, such as a camera, is preferably arranged so that it can detect the reference to be detected as perpendicular as possible from above and is simultaneously protected by a large distance from the roadway from contamination.
  • the road milling machine 10 essentially moves in the milling direction 14 and is automatically guided by a control device (not shown).
  • the control device receives at least a portion of the signals from the transducers 23 in order to initiate road milling machines on the basis of their corresponding steering movements of the running gears 11.
  • the steering is operated by a corresponding drive.
  • To control the steering serve the transmitter 23 by continuously determine the distance of the road tiller 10 to the selected reference, in the case shown to the curb 22.
  • a distance change to be compensated may occur, for example, by a curve in or a change in the width of the road. Short breaks in the reference are compensated for by detecting the at least one reference with multiple transducers in parallel, while ending references, such as a missing curb 22 at a road junction, must be replaced by a suitable alternative reference.
  • the road milling machine 10 is now guided along its entire direction in the milling direction 14 the entire road surface 24 to be scoured, following the course of the road section 21. It wears the road surface 24 with the help of mounted on the Fräswalzenfitachse 16 milling drum, so that one of the road surface 24th liberated substructure 25 of the road is exposed. Thus, a first strip of the road surface 24 is milled, as this in Fig. 3 you can see.
  • the control device takes over the steering of the road milling machine 10 on the basis of measurement results of the sensors 23.
  • the distances of the road milling machine 10 to the at least one reference are preselected by the driver 20 or determined by the control device based on the measurement data of at least one transmitter 23.
  • the control device controls the steering of the road milling machine 10 so that the set distance from the reference is maintained as accurately as possible. Deviations in one direction are directed in opposite directions in the other.
  • the steering angle preferably depends on the size of the deviations. Accordingly, only little is deflected with small deviations, while strong deviations must be strongly countered.
  • the control device stops the automatic operation immediately and brakes the road milling machine 10 as quickly as possible.
  • the driver 20 is always able to intervene in the operation of the road milling machine 10 in order to take over the control and steering thereof. This serves, in particular, to avert malfunctions or imminent hazardous situations which, for example, have not yet been detected by a transmitter 23.
  • a milling edge 26 has been created by the first milling, which can also serve as a reference for a further milling operation, for example.
  • Fig. 3 shows, in which the road milling machine 10 mills another strip of road surface 24 by the road milling machine 10 again moves substantially in the direction of milling 14 and is now automatically directed along the milling edge 26, but also also follows the course of the road section 21.
  • a roadway marking can also be used as a reference, for example 28, which is detected by the transducers 23 of the road milling machine 10.
  • optical transducers 23, such as photodetectors or cameras with image evaluation are optical transducers 23, such as photodetectors or cameras with image evaluation.
  • a brightness or color pattern is preferably evaluated by an image evaluation unit and the position or course of the reference is determined.
  • the milled road surface 24 in one or more steps exposes a total of the substructure 25 of the road, which can then serve as a basis for a renewed road surface 24.
  • This electronic navigation system preferably a GPS navigator, can replace transducers 23.
  • the navigation system controls the road milling machine 10 on the basis of transmitters along the road surface 24 to be scoured and / or on the basis of coordinates entered in the navigation system which correspond or reproduce the course of the road surface 24 to be scoured.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Road Repair (AREA)

Claims (14)

  1. Procédé pour faire fonctionner une fraiseuse routière (10) automotrice, un revêtement de chaussée (24) particulièrement endommagé étant enlevé par fraisage d'une chaussée par un tambour de fraisage de la fraiseuse routière (10) en ce que la fraiseuse routière (10) est guidée le long du revêtement de chaussée (24) à enlever, la fraiseuse routière (10) étant guidée automatiquement le long du revêtement de chaussée (24) à enlever lors de l'enlèvement par fraisage du revêtement de chaussée (24), caractérisé en ce que pour guider la fraiseuse routière, au moins une référence est acquise par plusieurs codeurs de valeur mesurée (23) et plusieurs codeurs de valeur mesurée (23) sont interprétés en parallèle, de courtes interruptions d'une référence étant compensées par l'acquisition en parallèle de l'au moins une référence avec plusieurs codeurs de valeur mesurée (23).
  2. Procédé selon la revendication 1, caractérisé en ce que la fraiseuse routière (10) est guidée en fonction de l'au moins une référence, de préférence avec un système de navigation électronique.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que l'au moins une référence est acquise continuellement au moins pendant l'enlèvement par fraisage du revêtement de chaussée (24), de préférence plusieurs références sont acquises au choix ou en commun.
  4. Procédé selon l'une des revendications 2 ou 3, caractérisé en ce que la fraiseuse routière (10) est guidée automatiquement avec un écart réglable par rapport à l'au moins une référence, l'au moins une référence étant de préférence acquise mécaniquement et/ou sans contact.
  5. Procédé selon l'une des revendications 2 à 4, caractérisé en ce que l'acquisition s'effectue par le biais des codeurs de valeur mesurée (23), notamment un capteur, au moins un émetteur, au moins un organe de palpage mécanique et/ou un moyen d'acquisition d'image, une référence étant de préférence acquise par plusieurs codeurs de valeur mesurée (23), notamment différents.
  6. Procédé selon la revendication 5, caractérisé en ce que plusieurs codeurs de valeur mesurée (23) identiques et/ou dïfférents sont interprétés en parallèle.
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce qu'au moins l'un des codeurs de valeur mesurée (23) peut être décalé, coulissé et/ou déplacé par rapport à la fraiseuse routière (10), notamment latéralement.
  8. Procédé selon l'une des revendications 2 à 7, caractérisé en ce que l'une des références est acquise par au moins un codeur de valeur mesurée (23), de préférence en commun par plusieurs codeurs de valeur mesurée (23), notamment à des fins de contrôle.
  9. Procédé selon l'une des revendications 2 à 8, caractérisé en ce qu'une référence qui s'étend sensiblement le long du revêtement de chaussée (24) à enlever par fraisage est utilisée.
  10. Procédé selon l'une des revendications 2 à 9, caractérisé en ce qu'une zone de la chaussée et/ou de l'environnement de la chaussée est utilisée comme référence.
  11. Procédé selon l'une des revendications 2 à 10, caractérisé en ce qu'un bord et/ou une partie en saillie de la chaussée ou de l'environnement de la chaussée est/sont utilisé(e)(s) comme référence, notamment une pierre de bordure, une glissière de sécurité et/ou une bordure de trottoir (22, 29) est/sont utilisée(s) comme référence.
  12. Procédé selon l'une des revendications 2 à 11, caractérisé en ce qu'un bord de fraisage (26, 27) d'une partie de la chaussée déjà enlevée par fraisage est utilisé comme référence.
  13. Procédé selon l'une des revendications 2 à 12, caractérisé en ce qu'un marquage de la chaussée ou de l'environnement de la chaussée est utilisé comme référence.
  14. Procédé selon l'une des revendications 2 à 13, caractérisé en ce qu'un profil mémorisé et/ou déterminé de la chaussée ou de l'environnement de la chaussée, notamment des positions le long de la chaussée ou de l'environnement de la chaussée, est ou sont utilisé(e) (s) lors de l'acquisition de la référence, de préférence en association avec un système de navigation électronique et/ou un ordinateur de navigation.
EP09006453.6A 2008-05-15 2009-05-13 Procédé de fonctionnement d'une fraiseuse de chaussée autoporteuse Active EP2119832B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200810023743 DE102008023743A1 (de) 2008-05-15 2008-05-15 Verfahren zum Betrieb einer selbstfahrenden Straßenfräse

Publications (2)

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EP2119832A1 EP2119832A1 (fr) 2009-11-18
EP2119832B1 true EP2119832B1 (fr) 2016-11-23

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DE102009059106A1 (de) 2009-12-18 2011-06-22 Wirtgen GmbH, 53578 Selbstfahrende Baumaschine und Verfahren zur Steuerung einer selbstfahrenden Baumaschine
EP2415934B1 (fr) 2010-08-06 2015-10-07 Joseph Vögele AG Dispositif capteur pour une machine de construction
DE102011106139B4 (de) 2011-06-10 2015-04-02 Wirtgen Gmbh Verfahren und Vorrichtung zum Bestimmen einer von mindestens einer Baumaschine oder Abbaumaschine mit einer Fräswalze gefrästen Fläche
DE102011113752B4 (de) * 2011-09-19 2021-05-06 Bomag Gmbh Fräsvorrichtung mit einer Sensoreinrichtung zur Fräskantenerkennung, Verfahren zur Fräskantenerkennung und Sensoreneinrichtung zur Fräskantenerkennung.
DE102012001289A1 (de) 2012-01-25 2013-07-25 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
FR2986203B1 (fr) * 2012-01-31 2014-03-21 Peugeot Citroen Automobiles Sa Dispositif d'aide au stationnement comportant un capteur permettant de mesurer la distance separant ledit capteur d'un obstacle tel qu'un trottoir
US9121146B2 (en) 2012-10-08 2015-09-01 Wirtgen Gmbh Determining milled volume or milled area of a milled surface
US8989968B2 (en) 2012-10-12 2015-03-24 Wirtgen Gmbh Self-propelled civil engineering machine system with field rover
DE102014018082C5 (de) 2014-12-08 2024-08-29 Bomag Gmbh Verfahren zur Steuerung einer Baumaschine, Steuersystem für eine Baumaschine, und Baumaschine
DE102016015499A1 (de) 2016-12-23 2018-06-28 Bomag Gmbh Bodenfräsmaschine, insbesondere Straßenfräsmaschine, und Verfahren zum Betrieb einer Bodenfräsmaschine
DE102019104850A1 (de) 2019-02-26 2020-08-27 Wirtgen Gmbh Fertiger
DE102019118059A1 (de) 2019-07-04 2021-01-07 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine
DE102019005156B3 (de) 2019-07-24 2020-09-03 Otto Alte-Teigeler Gmbh Steuerungsverfahren zur Maschinenführung in Parallelrichtung zu vorhandener längsgerichteter Oberflächenstruktur und Vorrichtung zur Anwendung dieses Verfahrens
CN113944085B (zh) * 2021-10-19 2022-09-02 广东宏茂建设管理有限公司 一种全自动打夯机及其控制方法

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EP2037042A1 (fr) 2007-09-14 2009-03-18 Wirtgen GmbH Machine de fraisage ou machine destinée à exploiter des gisements

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