EP2415934B1 - Sensor assembly for a construction machine - Google Patents

Sensor assembly for a construction machine Download PDF

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Publication number
EP2415934B1
EP2415934B1 EP20100008250 EP10008250A EP2415934B1 EP 2415934 B1 EP2415934 B1 EP 2415934B1 EP 20100008250 EP20100008250 EP 20100008250 EP 10008250 A EP10008250 A EP 10008250A EP 2415934 B1 EP2415934 B1 EP 2415934B1
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EP
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Prior art keywords
sensor
sensor arrangement
characterised
construction machine
illumination device
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Revoked
Application number
EP20100008250
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German (de)
French (fr)
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EP2415934A1 (en )
Inventor
Achim Eul
Horst Ramb
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Joseph Voegele AG
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Joseph Voegele AG
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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004Devices for guiding or controlling the machines along a predetermined path
    • E01C19/006Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound

Description

  • Die Erfindung bezieht sich auf eine Sensoranordnung für eine Baumaschine gemäß dem Oberbegriff des Anspruchs 1. The invention relates to a sensor arrangement for a construction machine according to the preamble of claim 1.
  • Solche Sensoranordnungen für Baumaschinen sind aus der Praxis bekannt. Such sensor assemblies for construction are known from practice. Die von ihnen gewonnenen Messdaten werden dazu eingesetzt, das Arbeitsergebnis der Baumaschine zu überprüfen, insbesondere die Qualität dieses Arbeitsergebnisses, und um die Betriebsparameter der Baumaschine entsprechend der Messdaten einzustellen, um ein möglichst gutes Arbeitsergebnis zu erzielen. The measurement data obtained from them are used to check the work result of the construction machine, in particular the quality of this work results and to the operating parameters of the construction machine according to the measurement data set in order to achieve the best possible working result.
  • Nachteilig an den herkömmlichen Sensoranordnungen ist, dass sie durch die Arbeitsumgebung der Baumaschine einer sehr hohen Belastung und Verschmutzung ausgesetzt sind. A disadvantage of the conventional sensor arrangements is that they are exposed to the working environment of the construction machine a very high load and pollution. Dies kann dazu führen, dass die von einem Sensor der Sensoranordnung gelieferten Messdaten unzuverlässig sind. This can cause the measured data provided by a sensor of the sensor system are unreliable. Durch die unzuverlässigen, fehlerhaften Messdaten kann der Betrieb der Baumaschine behindert und das erzielte Arbeitsergebnis möglicherweise noch weiter verschlechtert werden, wenn die Betriebsparameter der Baumaschine auf Grund der unzuverlässigen Messdaten falsch eingestellt werden. By the unreliable, erroneous measurement data of the operation of the construction machine can disabled and the working result achieved may be further deteriorated when the operating parameters of the construction machine are set incorrectly due to unreliable data.
  • Beispielsweise offenbart die For example, discloses the US 2003/0226290 A1 US 2003/0226290 A1 einen Bagger, bei dem ein Laser eine Laserlinie auf den Arbeitsbereich des Baggers projiziert. an excavator, wherein a laser projects a laser line on the work area of ​​the excavator. Eine unter einem Winkel zum Laser angeordnete Kamera detektiert die Lage dieser Laserlinie und kann darauf auf ein Höhenprofil des Untergrunds schließen. A arranged at an angle to the laser camera detects the position of this laser line thereon and can close to a height profile of the substrate. Eine ebenfalls rein optische Sensoranordnung mit den Merkmalen des Oberbegriffs des Anspruchs 1 ist für eine Gleitschalungsmaschine in der A likewise purely optical sensor arrangement having the features of the preamble of claim 1 is for a slip forming in the EP 1 990 472 A1 EP 1990472 A1 beschrieben. described. Auch hier wird der Schattenwurf einer Beleuchtungskomponente auf dem Untergrund durch eine Kamera erfasst. Again, the shadow of a lighting component to the substrate is detected by a camera. Schließlich offenbart die Finally, discloses the US 5,352,036 US 5,352,036 einen Straßenfertiger, der zu Führungszwecken mechanisch einen gespannten Draht abtastet. a road finisher, which mechanically scans a tensioned wire for guiding purposes. Über Lichtmasten kann dieser Straßenfertiger einen Baustellenbereich beleuchten. About light poles this road paver can illuminate a construction zone.
  • Aufgabe der vorliegenden Erfindung ist es, eine Sensoranordnung zur Verfügung zu stellen, die mit konstruktiv möglichst einfachen Mitteln einen zuverlässigeren Betrieb der Baumaschine ermöglicht. Object of the present invention is to provide a sensor system available that allows with structurally simple means more reliable operation of the construction machine.
  • Diese Aufgabe wird gelöst durch eine Sensoranordnung mit den Merkmalen des Anspruchs 1. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben. This object is achieved by a sensor arrangement having the features of claim 1. Advantageous further developments of the invention are specified in the subclaims.
  • Die erfindungsgemäße Sensoranordnung zeichnet sich dadurch aus, dass in die Sensoranordnung eine Beleuchtungsvorrichtung zum Ausleuchten des Abtastbereichs oder des Abtastpunktes des Sensors integriert ist. The sensor arrangement according to the invention is characterized in that in the sensor array, an illumination device is integrated for illuminating the scanning or sampling of the sensor. Dies bietet eine ganze Reihe von Vorteilen. This offers a number of advantages. Durch die Ausleuchtung des Abtastbereichs oder des Abtastpunkts, aus dem bzw. von dem der Sensor Messdaten gewinnt, steigt dort der Kontrast, so dass die Messdaten genauer werden. By the illumination of the scanning range of the scanning point or from which and from the gains of the sensor measurement data, there increases the contrast so that the measurement data are more accurate. Selbst wenn die Baumaschine nachts oder in einem Bauwerk oder Tunnel betrieben wird, dh in Dunkelheit, kann ein Bediener der Baumaschine durch die Ausleuchtung die Qualität und die Oberflächenbeschaffenheit des Abtastbereichs bzw. des Abtastpunkts kontrollieren. Even if the construction machine is operated at night or in a building or a tunnel, that is in darkness, an operator of the construction machine can be checked by the illumination of the quality and the surface finish of the scanning and the scanning. Auf diese Weise kann er visuell überprüfen, welche Qualität das Arbeitsergebnis hat, und ob der Abtastbereich oder der Abtastpunkt (im Folgenden zusammenfassend: das Abtastfeld) hinreichend sauber ist, so dass zuverlässige Messdaten vom Sensor erwartet werden können. In this way, he can visually check which quality is the work result, and whether the scanning area or the scanning (collectively hereinafter the scan) is sufficiently clean so that reliable data can be expected from the sensor. Vorteilhaft ist auch, dass durch die Integration der Beleuchtungsvorrichtung in die Sensoranordnung eine Verkabelung zu einer externen Beleuchtungsvorrichtung vermieden werden kann, und dass die Qualität der Beleuchtung unabhängig davon wird, ob und gegebenenfalls in welcher Form externe Beleuchtungskörper auf der Baustelle vorhanden sind (beispielsweise auf Masten). It is also advantageous that a wiring to an external lighting device can be avoided by integrating the lighting device in the sensor arrangement, and that the quality of the lighting is independent of whether, and if so in what form external lighting fixtures on the site are available (for example on masts ). Ferner wird es nicht mehr notwendig, ein vorhandenes Arbeitslicht der Baumaschine auf das Abtastfeld zu richten, um die Qualität dieses Abtastfeldes zu überprüfen, so dass das Arbeitslicht nun bestimmungsgemäß zum Ausleuchten des Arbeitsbereichs der Baumaschine verwendet werden kann. Furthermore, it is no longer necessary to align an existing working light of the construction machine on the scan to verify the quality of the scan field, so that the work light can now be used as intended to illuminate the work area of ​​the construction machine.
  • Erfindungsgemäß handelt es sich bei dem Sensor um einen induktiven Sensor, um einen kapazitiven Sensor oder um einen Ultraschallsensor. According to the invention, the sensor is an inductive sensor, a capacitive sensor or an ultrasonic sensor. Selbst bei solchen nicht-optischen Sensoren ist die erfindungsgemäß vorgesehene Beleuchtungsvorrichtung vorteilhaft, um beispielsweise die Oberflächenqualität und den Verschmutzungsgrad des Abtastfeldes visuell überprüfen zu können. Even with such non-optical sensors according to the invention provided lighting device is advantageous, in order to check, for example, the surface quality and the degree of contamination of the scan visually.
  • Bei dem in der Sensoranordnung vorhandenen Sensor kann es sich beispielsweise um einen berührungslosen Sensor handeln. In the present in the sensor array sensor may be a non-contact sensor, for example. Denkbar ist es auch, dass mehrere Sensoren in der Sensoranordnung vorhanden sind, und dass diese Sensoren ein gemeinsames Abtastfeld oder unterschiedliche Abtastfelder auswerten. It is also conceivable that several sensors are present in the sensor array, and that these sensors evaluate a common scanning or different scanning fields.
  • Die Beleuchtungsvorrichtung könnte zum Aussenden von sichtbarem und/oder infrarotem Licht ausgebildet sein. The lighting device may be configured to emit visible and / or infrared light. Sichtbares Licht hat dabei den Vorteil, dass es eine visuelle Kontrolle des Abtastfeldes durch den Bediener der Baumaschine erleichtert. Visible light has with this is that it facilitates a visual inspection of the scanning by the operator of the construction machine the advantage.
  • Zweckmäßig ist es, wenn die Beleuchtungsvorrichtung eine Optik zum Festlegen und gegebenenfalls zum Verändern des von der Beleuchtungsvorrichtung ausgeleuchteten Bereichs aufweist. It is expedient if the illumination device includes an optical system for determining and optionally for changing of the illuminated by the illumination device range. Diese Beleuchtungsvorrichtung kann Reflektoren und/oder optische Linsen enthalten und auf diese Weise definieren, wo der ausgeleuchtete Bereich liegt und welche Abmessungen er hat. This illumination apparatus may include reflectors and / or optical lenses and define in this way, where the illuminated area is and what dimensions it has.
  • Besonders günstig ist es, wenn die Optik einstellbar ist, um die Lage und/oder die Größe des von der Beleuchtungsvorrichtung ausgeleuchteten Bereichs zu verändern. , when the optical system is adjustable to vary the position and / or the size of the illuminated by the illumination device region is particularly favorable. Auf diese Weise kann der ausgeleuchtete Bereich an sich verändernde Arbeitsbedingungen angepasst werden, beispielsweise an einen sich ändernden Abstand zwischen dem Sensor und dem Abtastfeld. In this way, the illuminated area can be adapted to changing operating conditions, such as to a changing distance between the sensor and the scanning field.
  • In einer weiteren, vorteilhaften Variante der Erfindung ist die Helligkeit der Beleuchtungsvorrichtung variabel, um eine optimale Beleuchtung des Arbeitsfeldes bei gleichzeitig möglichst geringem Energieverbrauch zu ermöglichen. In a further advantageous variant of the invention, the brightness of the lighting device is variable in order to allow an optimal illumination of the working area at the same time the least possible power consumption.
  • Denkbar ist es, dass der Sensor nicht kontinuierlich Messdaten gewinnt, sondern dass er zur diskontinuierlichen Gewinnung von Messdaten eingerichtet ist, beispielsweise nach festen oder variablen Messintervallen. It is conceivable that the sensor is not continuously measured data wins, but that it is arranged for the discontinuous acquisition of measurement data, for example, according to fixed or variable measurement intervals is. In diesem Fall ist es vorteilhaft, wenn die Beleuchtungsvorrichtung so eingerichtet ist, dass sie nur während der Gewinnung von Messdaten durch den Sensor Licht aussendet, so dass während des inaktiven Zustands des Sensors Energie gespart werden kann. In this case, it is advantageous if the lighting device is adapted to emit only during the acquisition of measured data by the sensor light so that during the inactive state of the sensor energy can be saved.
  • In einer weiteren Variante der Erfindung weist die Sensoranordnung eine auf das Abtastfeld ausgerichtete Kamera auf. In a further variant of the invention, the sensor assembly on an aligned on the scanning camera. Mittels dieser Kamera kann der Bediener das von der Beleuchtungsvorrichtung ausgeleuchtete Abtastfeld visuell überprüfen, ohne sich dazu selbst zum Abtastfeld begeben zu müssen. By means of this camera allows the operator to check the illuminated from the lighting device scanning visually without having to go even for scanning.
  • Zweckmäßig kann es ferner sein, wenn die Beleuchtungsvorrichtung unabhängig vom Betrieb des Sensors aktivierbar ist. It can be advantageous also when the lighting device is independent of the operation of the sensor activated. In diesem Fall kann die Beleuchtungsvorrichtung eingeschaltet werden, um beispielsweise das Abtastfeld visuell zu kontrollieren, ohne dass dazu auch der Sensor eingeschaltet werden müsste. In this case, the lighting device can be switched to control for example the scanning visually, without the need for and the sensor may have to be turned on.
  • Die Erfindung bezieht sich auch auf eine Baumaschine, beispielsweise einen Straßenfertiger oder einen Beschicker, mit einer Sensoranordnung der vorstehend beschriebenen Art. The invention also relates to a construction machine such as a road paver or a feeder, having a sensor arrangement of the type described above.
  • Im Folgenden wird ein vorteilhaftes Ausführungsbeispiel der Erfindung anhand einer Zeichnung näher erläutert. In the following, an advantageous embodiment of the invention will be explained in more detail with reference to a drawing.
  • Figur 1 Figure 1 zeigt eine perspektivische Ansicht eines Ausführungsbeispiels einer Baumaschine 1 mit einer erfindungsgemäßen Sensoranordnung 2. Bei der Baumaschine 1 kann es sich um einen Straßenfertiger oder um einen Beschicker für einen Straßenfertiger handeln. shows a perspective view of an embodiment of a construction machine 1 with an inventive sensor arrangement 2. In the construction machine 1 may be a road paver or a feeder for a road finisher. Es kann sich jedoch auch um eine andere Baumaschine handeln, die in Dunkelheit oder in dunklen Räumen eingesetzt werden kann, beispielsweise in einem Tunnel, oder die in ihrem Inneren abgedunkelte Bereiche hat, aus denen jedoch Messdaten gewonnen werden sollen. However, it may also be some other construction machine, which can be used in the dark or in a dark room, for example in a tunnel, or has in its interior the darkened areas, but from which measurement data are to be obtained.
  • Im dargestellten Ausführungsbeispiel ist die Sensoranordnung 2 mittels eines Auslegers 3 an einer Komponente 4 der Baumaschine 1 befestigt, beispielsweise an einer Außen- oder Innenwand 4 der Baumaschine 1. Alternativ wäre es jedoch auch denkbar, dass die Sensoranordnung 2 in die Komponente 4 der Baumaschine 1 integriert ist. In the illustrated embodiment, the sensor assembly 2 is attached to a component 4 of the construction machine 1 by means of a boom 3, but the first example, on an outer or inner wall 4 of the construction machine Alternatively, it would also be conceivable that the sensor arrangement 2 in the component 4 of the construction machine 1 is integrated.
  • Schematisch ist angedeutet, dass die Sensoranordnung 2 einen Sensor 5 aufweist, der zur Gewinnung von Messdaten aus einem Abtastbereich 6 eingerichtet ist. Schematically is indicated that the sensor arrangement 2 comprises a sensor 5 which is arranged for obtaining measurement data of a scanning area. 6 Mit gestrichelten Linien 7 ist der Abtast- oder Erfassungswinkel des Sensors 5 angedeutet. With dashed lines 7 of the sensing or detecting angle of the sensor 5 is indicated.
  • Bei dem Sensor 5 kann es sich um einen berührungslosen Sensor handeln. The sensor 5 may be a non-contact sensor. Beispielsweise handelt es sich um einen Ultraschall-Materialsensor an einer Förderschnecke der Baumaschine 1 oder um einen Ultraschall-Nivellier-Sensor. For example, there is an ultrasonic sensor material to a screw conveyor of the construction machine 1 or by an ultrasonic level sensor. Die vom Sensor 5 ermittelten Messdaten dienen dazu, einen Zustand an oder in der Baumaschine 1 oder ein mittels der Baumaschine 1 erzieltes Arbeitsergebnis zu repräsentieren. The measurement data determined by the sensor 5 are used to represent a state on or in the construction machine 1 or a result obtained by means of the construction machine 1 operation result.
  • Erfindungsgemäß ist in die Sensoranordnung 2 eine Beleuchtungsvorrichtung 8 integriert. According to the invention a lighting device 8 is integrated in the sensor arrangement. 2 Die Beleuchtungsvorrichtung 8 umfasst eine Lichtquelle 9 zum Erzeugen von beispielsweise sichtbarem Licht. The lighting device 8 comprises a light source 9 for generating, for example, visible light. Bei der Lichtquelle 9 kann es sich um eine LED oder um ein Feld von LEDs handeln. The light source 9 may be an LED or an array of LEDs. Ferner verfügt die Beleuchtungsvorrichtung 8 über eine vor der Lichtquelle 9 angeordnete Optik 10. Diese Optik 10 kann Reflektoren und/oder Linsen umfassen. Furthermore, the illumination device has a 8 arranged in front of the light source 9 optic 10. The optic 10 may include reflectors and / or lenses. Sie dient dazu, das von der Lichtquelle 9 erzeugte Licht zu einem Strahlkegel 11 zu bündeln. It serves to concentrate the light generated by the light source 9 to a spray cone. 11
  • Dort, wo der Strahlkegel 11 der Beleuchtungsvorrichtung 8 auf eine ansonsten dunkle Arbeitsfläche 12 trifft, entsteht durch die Beleuchtung ein ausgeleuchteter Bereich 13. Im vorliegenden Ausführungsbeispiel ist die Optik der Beleuchtungsvorrichtung 8 so eingestellt, dass der ausgeleuchtete Bereich 13 genau mit dem Abtastbereich 6 des Sensors 5 übereinstimmt. Where the jet cone 11 of the lighting device 8 strikes an otherwise dark work surface 12, is formed by lighting an illuminated region 13. In the present embodiment, the optical system of the lighting apparatus is set to 8 so that the illuminated portion 13 exactly with the scanning 6 of the sensor 5 matches. Die Lichtquelle 9 und die Optik 10 sind vorzugsweise mittels einer Steuerung so ansteuerbar, dass die Helligkeit des Strahlkegels 11 und die Divergenz dieses Strahlkegels 11 veränderbar sind, so dass sich die Beleuchtung beispielsweise an einen sich ändernden Abstand zwischen der Sensoranordnung 2 und der Arbeitsfläche 12 anpassen kann. The light source 9 and the optical system 10 are preferably controlled such that the brightness of the beam cone 11 and the divergence of this cone beam are changeable 11, so that the lighting for example to match a changing distance between the sensor arrangement 2 and of the working surface 12 by means of a control can.
  • Im Betrieb der Baumaschine 1 kann die Beleuchtungsvorrichtung 8 den Bereich 13 auf der Arbeitsfläche 12 dann ausleuchten, wenn der Sensor 5 aktiv ist und Messdaten erfasst, oder wenn die Beleuchtungsvorrichtung 8 unabhängig vom Betrieb des Sensors 5 durch einen Bediener der Baumaschine 1 aktiviert wurde. In operation of the construction machine 1, the lighting device may then illuminate the area 13 on the work surface 12 8, when the sensor 5 is active and captures data, or when the illumination device 8 has been activated independent of the operation of the sensor 5 by an operator of the construction machine. 1
  • Ausgehend von dem dargestellten Ausführungsbeispiel kann die erfindungsgemäße Sensoranordnung 2 auf vielfache Weise geändert werden. Starting from the illustrated embodiment, the sensor arrangement 2 according to the invention can be modified in many ways. Beispielsweise wäre es möglich, mehrere Sensoren 5 in die Sensoreinrichtung 2 zu integrieren. For example, it would be possible to integrate multiple sensors 5 in the sensor device. 2 Darüber hinaus könnte eine Kamera in der Sensoranordnung 2 vorgesehen sein, mittels derer der von der Beleuchtungsvorrichtung 8 ausgeleuchtete Bereich 13 erfasst wird. In addition, a camera in the sensor assembly 2 could be provided by means of which the illuminated area of ​​the illumination device 8 is detected. 13 Das von der Kamera gelieferte Bild könnte auf einer Anzeigevorrichtung für den Bediener der Baumaschine 1 angezeigt werden. The image supplied by the camera may be displayed on a display device for the operator of the construction machine. 1

Claims (11)

  1. Sensor arrangement (2) for a construction machine (1) with a sensor (5), which is set up to gather measurement data from a sampling region (6) or from a sampling point, characterised in that an illumination device (8) for illuminating the sampling region (6) or the sampling point is integrated into the sensor arrangement (2), and
    in that the sensor (5) is an inductive sensor, a capacitive sensor or an ultrasonic sensor.
  2. Sensor arrangement according to Claim 1, characterised in that the sensor (5) is a noncontacting sensor (5).
  3. Sensor arrangement according to one of the preceding claims, characterised in that the illumination device (8) is adapted for emitting visible and / or infrared light (11).
  4. Sensor arrangement according to one of the preceding claims, characterised in that the illumination device (8) has an optical system (10) for defining the region (13) illuminated by the illumination device (8).
  5. Sensor arrangement according to Claim 4, characterised in that the optical system (10) can be set to vary the position and/or the size of the region (13) illuminated by the illumination device (8).
  6. Sensor arrangement according to one of the preceding claims, characterised in that the brightness of the illumination device (8) is variable.
  7. Sensor arrangement according to one of the preceding claims, characterised in that the sensor (5) is set up for the discontinuous gathering of measurement data and the illumination device (8) is set up such that it emits light only during the gathering of measurement data by the sensor (5).
  8. Sensor arrangement according to one of the preceding claims, characterised in that the sensor arrangement (2) has a camera aligned to the sampling region (6) or the sampling point.
  9. Sensor arrangement according to one of the preceding claims, characterised in that the illumination device (8) can be activated independently of the operation of the sensor (5).
  10. Construction machine (1) with the sensor arrangement (2) according to one of the preceding claims.
  11. Construction machine according to Claim 10, wherein the construction machine (1) is a road finisher or a charging machine.
EP20100008250 2010-08-06 2010-08-06 Sensor assembly for a construction machine Revoked EP2415934B1 (en)

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EP20100008250 EP2415934B1 (en) 2010-08-06 2010-08-06 Sensor assembly for a construction machine

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Application Number Priority Date Filing Date Title
EP20100008250 EP2415934B1 (en) 2010-08-06 2010-08-06 Sensor assembly for a construction machine
JP2011164167A JP5722721B2 (en) 2010-08-06 2011-07-27 Construction machinery for the sensor device
US13193829 US20120033065A1 (en) 2010-08-06 2011-07-29 Sensor arrangement for a construction machine
CN 201110218954 CN102373663B (en) 2010-08-06 2011-08-02 Sensor assembly for a construction machine

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EP2415934A1 true EP2415934A1 (en) 2012-02-08
EP2415934B1 true EP2415934B1 (en) 2015-10-07

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DE19911017A1 (en) 1999-03-12 2000-10-19 Daimler Chrysler Ag A method for adjusting a distance sensor of a motor vehicle
US20030117797A1 (en) 2001-12-21 2003-06-26 Gelcore, Llc Zoomable spot module
DE102005040772A1 (en) 2005-07-08 2007-01-18 Fraba Ag Optical length and speed sensor
DE202006013079U1 (en) 2006-08-25 2006-12-28 Uhl, Peter Karl Compressed air line leak detection unit has ultrasonic sensor and downconverter to audio frequency in single housing with analogue radio wireless transmission to earphones
DE102008023743A1 (en) 2008-05-15 2009-11-19 Dynapac Gmbh A method of operating a self-propelled road milling machine

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CN102373663A (en) 2012-03-14 application
EP2415934A1 (en) 2012-02-08 application
US20120033065A1 (en) 2012-02-09 application
JP2012067583A (en) 2012-04-05 application
JP5722721B2 (en) 2015-05-27 grant
CN102373663B (en) 2014-01-29 grant

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