US20150218762A1 - Automotive Milling Machine, And A Method For Unloading Milled Material - Google Patents

Automotive Milling Machine, And A Method For Unloading Milled Material Download PDF

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Publication number
US20150218762A1
US20150218762A1 US14/422,238 US201314422238A US2015218762A1 US 20150218762 A1 US20150218762 A1 US 20150218762A1 US 201314422238 A US201314422238 A US 201314422238A US 2015218762 A1 US2015218762 A1 US 2015218762A1
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US
United States
Prior art keywords
loading surface
transport conveyor
transport
milling machine
impingement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/422,238
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English (en)
Inventor
Christian Berning
Dirk Franzmann
Armin Montermann
Cyrus Barimani
Günter Hähn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wirtgen GmbH
Original Assignee
Wirtgen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wirtgen GmbH filed Critical Wirtgen GmbH
Assigned to WIRTGEN GMBH reassignment WIRTGEN GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FRANZMANN, DIRK, BERNING, CHRISTIAN, Barimani, Cyrus, Dr., Hähn, Günter, Dr., MONTERMANN, ARMIN
Publication of US20150218762A1 publication Critical patent/US20150218762A1/en
Abandoned legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • 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
    • 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
    • E01C23/12—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E01C23/127—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots

Definitions

  • the invention relates to an automotive milling machine in accordance with the pre-characterizing clause of claim 1 , as well as to a method for unloading milled material in accordance with the pre-characterizing clause of claim 10 .
  • the milling machine comprises a controller for the travelling and milling operation as well as a working drum for the milling of, for example, a road pavement.
  • a transport conveyor device for example, a transport conveyor device comprising no less than one transport conveyor is located in front of or behind the working drum as seen in the direction of travel.
  • the transport conveyor device comprises a discharge end at which the milled material is discharged onto the loading surface of the no less than one transport vehicle via a flight path in the form of a parabolic trajectory that is attributable to the conveying speed.
  • the last or single transport conveyor of the transport conveyor device as seen in the direction of transport may be slewed sideways, relative to the longitudinal axis of the milling machine, about a specifiable slewing angle to the left or right and may be adjustable in height via a specifiable elevation angle.
  • the milled material is discharged towards the front onto the transport vehicle driving ahead.
  • the operator of the milling machine needs to signal to the vehicle driver of the transport vehicle as to when the transport vehicle is to continue moving forward. This leads to problems because the operator basically needs to concentrate on the milling process and at the same time needs to avoid a collision with the transport vehicle driving ahead.
  • the information is usually communicated by means of sounding a horn so that, as soon as the vehicle driver of the transport vehicle hears the horn sounding, the transport vehicle is moved forward by a certain distance.
  • An additional problem lies in the fact that the operator of the milling machine also needs to deal with loading the loading surface by adjusting the slewing angle, elevation angle and conveying speed of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport and is thus distracted from his actual task of carrying out the milling operation.
  • a correction of the slewing angle may be required, for example, when altering the steering direction of the milling machine.
  • the controller comprises a detection and control system which continuously locates the alterable position of the loading surface of the transport vehicle and of the last or single slewable transport conveyor of the transport conveyor device as seen in the direction of transport relative to the machine frame, or the alterable position of the loading surface of the transport vehicle relative to the slewable transport conveyor, and which continuously controls positioning of the point of impingement of the milled material automatically via the slewing angle and/or the elevation angle and/or the conveying speed of the slewable transport conveyor in such a way that the discharged milled material impinges within the loading surface.
  • Such controller enables the operator of the milling machine to concentrate on the milling operation and on travelling along a specified milling track.
  • An automatic unloading procedure is thus realized which ensures automatic coordination of the unloading procedure with the movement of the milling machine and of the transport vehicle even when cornering.
  • the slewing angle of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport may also be controllable in accordance with the steering angle of the automotive milling machine.
  • the loading surface may be located, and the position of the transport conveyor and the conveying speed of the slewable transport conveyor may be regulated in such a way that the point of impingement on the loading surface is always maintained at the position specified by the controller independent of the movements of the milling machine and the transport vehicle.
  • the detection and control system may comprise no less than one detector which continuously detects the position of the loading surface and/or of the slewable transport conveyor of the transport conveyor device, and/or may comprise additional detectors which detect the slewing angle, the elevation angle and/or the conveying speed of the transport conveyor.
  • a preferred embodiment provides for the detection and control system to continuously locate the position of the loading surface and/or of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport by means of a first image-recording system or a non-optical electronic positioning system, in particular a radio-frequency identification system (RFID), which supplies data for determining the position of the loading surface in relation to the machine frame or to the slewable transport conveyor.
  • RFID radio-frequency identification system
  • the detection and control system may compare the data for determining the position with specified target position data in order to, in the event of any deviations from the specified target position data, perform a continuous position control for the position of a discharge end and/or of the point of impingement of the milled material and/or a speed control for the conveying speed in accordance with a specified point of impingement.
  • the detection and control system may comprise a second image-recording system which detects and analyses the filling condition on the loading surface by evaluating the image data and which continuously controls the conveying speed and/or the position of a discharge end and/or of the point of impingement of the milled material relative to the loading surface in order to load the loading surface uniformly and/or in accordance with a specified loading programme.
  • a second image-recording system may be omitted if an image-recording system is already used to locate the position of the loading surface, the image data of which can also be used for detection of the filling condition.
  • the detection and control system may locate the position of the loading surface as well as regulate the position of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport or the position of the point of impingement and the conveying speed in such a way that the point of impingement on the loading surface is always maintained at the position within the loading surface specified by the controller independent of the movements of the milling machine and of the transport vehicle.
  • the first and/or second image-recording system or a detector for the radio-frequency identification system may be arranged at the discharge end of the single or last transport conveyor as seen in the conveying direction of the milled material.
  • Arranging such positioning system at the discharge end of the transport conveyor enables the position of the transport vehicle relative to the last or single transport conveyor of the milling machine as seen in the direction of transport to be detected without it being necessary to additionally determine the position of the milling machine.
  • the image data may be analysed to determine how and to what extent the loading surface has been filled. Controlling the conveying speed and/or the position of the discharge end of the transport conveyor or of the point of impingement of the milled material respectively relative to the loading surface enables uniform loading of the loading surface.
  • the filling condition on the loading surface may be detected and analysed by an image-recording system, and the conveying speed and/or the position of the discharge end of the transport conveyor relative to the loading surface may be continuously controlled in order to load the loading surface uniformly and/or in accordance with a specified loading programme.
  • the detection and control system may emit a signal prior to or latest in the event of any deviation not rectifiable by means of control of the position of the loading surface relative to the position of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport and/or relative to the machine frame.
  • the signal may be used to cause a machine stoppage or take measures to prevent collisions between the vehicles.
  • control data for the slewing angle, elevation angle and/or conveying speed may be stored in a map that is available to the detection and control system.
  • An RFID system enables identification of, for example, loading surfaces of different transport vehicles.
  • No less than one point of the usually essentially rectangular loading surface or essentially cuboid-shaped loading volume respectively, may carry a marking detectable by the detection and control system.
  • a movement control signal for example, a visual or an audible signal may be generated in accordance with the positioning signals. Movement control signals for the transport vehicle have been described in principle in DE 10 2009 041 842 A1.
  • the alterable position of the loading surface of the transport vehicle and of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport relative to the machine frame, or the alterable position of the loading surface of the transport vehicle relative to the last or single transport conveyor as seen in the direction of transport is continuously located by a detection and control system, and that positioning of the point of impingement of the milled material is continuously controlled automatically by the detection and control system via the slewing angle and/or the elevation angle and/or the conveying speed of the transport conveyor device in such a way that the milled material is discharged within the loading surface.
  • Positioning of the point of impingement of the milled material may be continuously controlled automatically by the detection and control system in such a way that the milled material is discharged in the centre of the loading surface or at another specifiable point of impingement within the loading surface.
  • the position of the loading surface and/or of the last or single transport conveyor of the transport conveyor device as seen in the direction of transport may be continuously located by means of an image-recording system or a non-optical electronic positioning system, in particular a radio-frequency identification system (RFID), which supplies data for determining the position of the loading surface in relation to the machine frame or to the last or single transport conveyor as seen in the direction of travel.
  • RFID radio-frequency identification
  • an image for determining the position of the loading surface in relation to the discharge end of the transport conveyor and/or for determining the filling condition of the loading surface may be recorded and analysed by an image-recording system using a specified sampling frequency.
  • the analysed data are compared with target position data, and the position of the discharge end of the transport conveyor and/or the conveying speed and/or the position of the transport vehicle may be controlled in the event of any deviations being determined.
  • the target position data may be determined by means of a teach-in procedure.
  • the position of the geometrical centre of the loading surface may be determined by means of image analysis or by means of the non-optical positioning system, and the position of the current point of impingement on the loading surface may be determined by means of image analysis, and a positioning control of the position of the discharge end and/or of the point of impingement of the milled material, as well as a speed control of the conveying speed of the transport conveyor may be performed in accordance with the desired position of the point of impingement so that a continuous regulation of the position of the current point of impingement is performed.
  • FIG. 1 a forward-loading road milling machine
  • FIG. 2 a rearward-loading road milling machine
  • FIG. 3 a top view of a milling machine in accordance with FIG. 1 .
  • FIG. 1 depicts a milling machine using as an example a forward-loading road milling machine 1 a .
  • the road construction machine 1 comprises a machine frame 2 which is supported by a chassis 4 comprising, for example, tracked travelling drive units or wheels, said chassis 4 being connected to the machine frame 2 via no less than three height adjustment devices in the form of lifting columns 5 .
  • four lifting columns 5 are intended for the embodiment which can be used to bring the machine frame 2 into a specifiable plane extending preferably parallel to the road surface 6 which supports the tracked travelling drive units of the chassis 4 .
  • the road milling machine shown in FIG. 1 comprises, in longitudinal direction of the milling machine 1 a , a working drum 22 between the tracked travelling drive units of the chassis 4 .
  • the milling machines 1 a , 1 b may comprise tracked travelling drive units and/or wheels.
  • the working drum may be adjustable in height via the lifting columns 5 supporting the machine frame 2 or relative to the machine frame 2 .
  • a milling machine 1 b may also exhibit the working drum 22 , for example, at the height of the rear tracked travelling drive units or wheels of the chassis 4 .
  • the transport conveyor device with no less than one transport conveyor 11 , 12 for transporting away the milled material may also be arranged at the front end 7 or at the rear end 8 of the milling machine 1 a , 1 b.
  • FIG. 2 depicts a rearward-loading milling machine 1 b as an example in which the transport vehicle 10 drives behind the milling machine in reverse travel mode.
  • the transport vehicle 10 may also be moved next to the milling machine 1 in forward travel as shown in FIG. 3 .
  • the milled material milled off by the working drum 22 is discharged onto the loading surface 15 of the transport vehicle 10 via a first permanently installed transport conveyor 11 of the transport conveyor device which transfers the milled material 14 onto a second slewable transport conveyor 12 .
  • the milled material 14 is not discharged immediately at the end of the transport conveyor 12 , but the milled material follows a parabolic trajectory so that the point of impingement 16 on the loading surface 15 is located at a distance from the free end 13 of the transport conveyor 12 .
  • the transport conveyor 12 may be slewed from a neutral position to the left or to the right via piston-cylinder units 18 in order to be able to discharge the milled material 14 onto the loading surface 15 even when cornering or in the event of the transport vehicle 10 driving in an offset track.
  • the vehicle driver of the milling machine 1 a , 1 b can adjust the elevation angle of the transport conveyor 12 by means of a piston-cylinder unit 20 .
  • the elevation angle has an influence on the parabolic trajectory of the milled material 14 and on the position of the point of impingement 16 , as has the conveying speed of the transport conveyor 12 .
  • the currently set elevation angle about a horizontal first axis 21 or slewing angle about a vertical second axis 23 respectively is reported to a detection and control system 24 additionally comprising no less than one detector 26 which continuously detects the position of the loading surface 15 and/or of the last or single transport conveyor 12 as seen in the direction of transport.
  • Said detector 26 may be arranged either at the milling machine 1 a , 1 b , at the end facing the transport conveyor device, or at the free end 13 of the transport conveyor 12 .
  • the detection and control system 24 may be integrated into the controller 3 for the travelling and milling operation or may, as a minimum, be connected to the same in order to, should the need arise, also obtain data on the travel speed and/or a detected steering angle of the milling machine 1 a , 1 b and the conveying speed of the transport conveyor 12 .
  • the detection and control system 24 locates the alterable position of the loading surface 15 of the transport vehicle 10 and of the last or single transport conveyor 12 as seen in the direction of transport relative to the machine frame 2 , and continuously and automatically controls positioning of the point of impingement 16 of the milled material 14 via the slewing angle and/or the elevation angle and/or the conveying speed of the transport conveyor device so that the discharged milled material 14 impinges, as a minimum, within the loading surface 15 .
  • the alterable position of the loading surface 15 of the transport vehicle 10 may also be continuously located relative to the last or single transport conveyor 12 as seen in the direction of transport in order to perform the control operation.
  • the detection and control system 24 may also undertake the task of filling the loading surface 15 in a uniform fashion.
  • a loading programme may be intended for this purpose in order to load the loading surface 15 in accordance with a predetermined system.
  • the filling condition on the loading surface 15 may be detected and analysed by an image-recording system in order to continuously control the conveying speed and/or the position of the discharge end 13 of the last or single transport conveyor 12 as seen in the direction of transport relative to the loading surface 15 .
  • Control data for different positions and/or points of impingement 16 may be stored in a map in accordance with the loading surfaces 15 of different transport vehicles 10 and/or in accordance with different loading conditions of the loading surface 15 .
  • map memory may be integrated in the detection and control system 24 or in the controller 3 .
  • the control data concern the slewing angle, the elevation angle and/or the conveying speed of the transport conveyor 12 for different positions and/or points of impingement 16 within the position of a loading surface 15 detected by the detection and control system 24 .
  • the detection and control system 24 continuously detects the position of the loading surface 15 and/or of the last or single transport conveyor 12 as seen in the direction of transport by means of an image-recording system 28 or a non-optical electronic positioning system which supplies data for determining the position of the loading surface 15 in relation to the machine frame 2 or to the last or single transport conveyor 12 as seen in the direction of transport.
  • the information provided by the image-recording system 28 may be evaluated by image-analysing methods known for themselves.
  • a non-optical electronic positioning system is a radio-frequency identification system (RFID) which additionally offers the possibility of identifying a particular loading surface 15 of a particular transport vehicle 10 .
  • RFID radio-frequency identification system
  • RFID tags are used at the transport vehicle 10 in particular at the loading surface 15 .
  • sensor nodes distributed in space are used as markings and the signal field strength, which is dependent on the distance, is measured.
  • optical and quasi-optical (radio) measurement methods for length and angle, as well as different time measurement processes for time differences and propagation time differences.
  • the detection and control system 24 may compare the data for determining the position with specified position data in order to, in the event of any deviations from the specified target position data, perform a continuous position control for the position of the discharge end 13 and/or for the point of impingement 16 of the milled material 14 and/or a speed control for the conveying speed.
  • the target position data may be determined by means of a teach-in procedure in that the positions of the vehicles 1 a , 1 b , 10 are varied in accordance with realistic situations and the parameters required for each such situation, namely the slewing angle, elevation angle and conveying speed of the transport conveyor, are stored.
  • a loading programme may also be created. In doing so, variations in control arising, for example, during cornering may also be taken into account.
  • the data read in by means of the reading operation may also differentiate as to whether the transport vehicle 10 is driving on the left or on the right next to the milling track or in the milling track of the milling machine 1 a , 1 b.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Conveyors (AREA)
  • Disintegrating Or Milling (AREA)
  • Road Repair (AREA)
US14/422,238 2012-08-23 2013-08-21 Automotive Milling Machine, And A Method For Unloading Milled Material Abandoned US20150218762A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012215013.7 2012-08-23
DE102012215013.7A DE102012215013A1 (de) 2012-08-23 2012-08-23 Selbstfahrende Fräsmaschine, sowie Verfahren zum Abladen von Fräsgut
PCT/EP2013/067418 WO2014029824A1 (de) 2012-08-23 2013-08-21 Selbstfahrende fräsmaschine, sowie verfahren zum abladen von fräsgut

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/067418 A-371-Of-International WO2014029824A1 (de) 2012-08-23 2013-08-21 Selbstfahrende fräsmaschine, sowie verfahren zum abladen von fräsgut

Related Child Applications (1)

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US15/000,161 Continuation US9915043B2 (en) 2012-08-23 2016-01-19 Automotive milling machine, as well as method for unloading milled material

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US20150218762A1 true US20150218762A1 (en) 2015-08-06

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US14/422,238 Abandoned US20150218762A1 (en) 2012-08-23 2013-08-21 Automotive Milling Machine, And A Method For Unloading Milled Material
US15/000,161 Active US9915043B2 (en) 2012-08-23 2016-01-19 Automotive milling machine, as well as method for unloading milled material
US15/913,971 Active US10400400B2 (en) 2012-08-23 2018-03-07 Automotive milling machine, as well as method for unloading milled material
US16/546,949 Active US10947677B2 (en) 2012-08-23 2019-08-21 Automotive milling machine, as well as method for unloading milled material

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US15/000,161 Active US9915043B2 (en) 2012-08-23 2016-01-19 Automotive milling machine, as well as method for unloading milled material
US15/913,971 Active US10400400B2 (en) 2012-08-23 2018-03-07 Automotive milling machine, as well as method for unloading milled material
US16/546,949 Active US10947677B2 (en) 2012-08-23 2019-08-21 Automotive milling machine, as well as method for unloading milled material

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US (4) US20150218762A1 (de)
EP (2) EP3342932B1 (de)
JP (1) JP6050493B2 (de)
CN (2) CN203700926U (de)
AU (1) AU2013305023B2 (de)
CA (1) CA2882583C (de)
DE (1) DE102012215013A1 (de)
RU (1) RU2610042C2 (de)
WO (1) WO2014029824A1 (de)

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US9464391B2 (en) * 2014-08-29 2016-10-11 Caterpillar Paving Products Inc. Cold planer having independently controlled conveyors
US9764910B2 (en) 2014-08-22 2017-09-19 Wirtgen Gmbh Automotive milling machine, as well as method for discharging milled material
US9809937B2 (en) 2014-08-22 2017-11-07 Wirtgen Gmbh Automotive milling machine, as well as method for discharging milled material
CN108221610A (zh) * 2018-03-14 2018-06-29 徐州徐工筑路机械有限公司 一种基于视觉识别的铣刨机自动输料系统
US10100470B2 (en) 2014-08-21 2018-10-16 Wirtgen Gmbh Automotive milling machine, as well as method for discharging milled material
US20190153682A1 (en) * 2017-11-22 2019-05-23 Wirtgen Gmbh Self-propelled milling machine, method for automatically loading a means of transport with milling material, as well as road or ground working unit
US10323365B2 (en) * 2016-11-16 2019-06-18 Wirtgen Gmbh Self-propelled milling machine, as well as method for controlling a self-propelled milling machine
US20190332987A1 (en) * 2015-08-17 2019-10-31 Caterpillar Paving Products Inc. Cold planer material transport management system
USRE48393E1 (en) * 2015-12-10 2021-01-12 Caterpillar Paving Products Inc. System for coordinating milling and paving machines
US11014753B1 (en) 2019-11-07 2021-05-25 Caterpillar Paving Products Inc. Trajectory control of discharge conveyor
US11149407B2 (en) 2018-12-06 2021-10-19 Caterpillar Inc. Earth-moving machinery collision threat filtering
US11318941B2 (en) * 2019-02-19 2022-05-03 Wirtgen Gmbh Working combination encompassing an earth working machine and a further vehicle, and an automatic spacing monitoring system

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DE102013214675A1 (de) 2013-07-26 2015-01-29 Wirtgen Gmbh Selbstfahrende Straßenfräsmaschine, sowie Verfahren zum Abfräsen und Abtransportieren eines abgefrästen Materialstroms
DE102014012825A1 (de) * 2014-08-28 2016-03-03 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zur Steuerung einer selbstfahrenden Baumaschine
CN104328733B (zh) * 2014-10-20 2016-06-15 芜湖市泰能电热器具有限公司 一种破碎机
CN105692098A (zh) * 2014-11-25 2016-06-22 无锡市洗选设备厂 偏角信号采集式砂石输送装置
CN105692119A (zh) * 2014-11-25 2016-06-22 无锡市洗选设备厂 砂石纠偏信号采集式输送装置
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US20160208447A1 (en) 2016-07-21
JP2015529762A (ja) 2015-10-08
EP2888409A1 (de) 2015-07-01
WO2014029824A1 (de) 2014-02-27
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US9915043B2 (en) 2018-03-13
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US20200109528A1 (en) 2020-04-09
US10400400B2 (en) 2019-09-03

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