WO2008128617A1 - Dispositif de découpe de sol à guidage automatique jusqu'à la cible - Google Patents

Dispositif de découpe de sol à guidage automatique jusqu'à la cible Download PDF

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Publication number
WO2008128617A1
WO2008128617A1 PCT/EP2008/002481 EP2008002481W WO2008128617A1 WO 2008128617 A1 WO2008128617 A1 WO 2008128617A1 EP 2008002481 W EP2008002481 W EP 2008002481W WO 2008128617 A1 WO2008128617 A1 WO 2008128617A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
cutting device
target
movement
floor
Prior art date
Application number
PCT/EP2008/002481
Other languages
German (de)
English (en)
Inventor
Alfred Rettenweber
Stefan Wagner
Original Assignee
Wacker Construction Equipment Ag
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 Wacker Construction Equipment Ag filed Critical Wacker Construction Equipment Ag
Publication of WO2008128617A1 publication Critical patent/WO2008128617A1/fr

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Classifications

    • 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
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
    • 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
    • E01C23/09—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 forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
    • E01C23/0906—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 forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges
    • E01C23/0926—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 forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters
    • E01C23/0933—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 forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters rotary, e.g. circular-saw joint cutters

Definitions

  • the invention relates to a floor cutting device, such as. B. a floor cutter or a floor cutting machine.
  • the floor cutting apparatus has a cutting motor for rotationally driving a cutting tool and a feeding device for moving the cutting tool at a feed speed relative to the floor. Furthermore, a control device for controlling the feed rate in response to a load of the cutting tool is provided. The feed rate is thus no longer set manually by the operator, but automatically by the controller.
  • Lasers is used as a guideline so that a joint cutter can be guided with the help of this visible laser beam.
  • a laser beam is used as a replacement for a conventional, usually applied to the floor with paint mark.
  • the operator must guide the floor cutting device in such a way that the laser beam always strikes a guide target attached to the joint cutter or a mark provided thereon. Again, a constant presence and concentration of the operator is required.
  • the invention has for its object to provide a Bodenschneidvor- direction in which the operator is largely exempt from management tasks, so that the floor cutting device can do their job independently. This should be done without expensive preparatory measures, such. As the marking of the soil, the tensioning of traction cables, etc. may be possible.
  • a ground cutting apparatus comprises a landing gear, a cutting motor carried by the landing gear for rotationally driving a cutting tool, a feed device for moving the landing gear relative to the ground, a target movement device for specifying a target movement for the ground cutting device, an actual movement device for detection an actual movement of the bottom cutting device and a control device for controlling the feed device such that a deviation between the desired movement and the actual movement is minimal.
  • the desired movement and the actual movement may include a position, an orientation and / or a direction of travel of the floor cutting device.
  • a target guidance device having the desired movement device and the actual movement device can be provided, with a target device to be arranged spatially separated from the landing gear for predetermining a destination in the direction of which the landing gear or a floor trimmer comprising the landing gear is to travel borne by the landing gear borne detection device for locating the target device, and with an evaluation device for obtaining a resulting from the relative position of the target device in relation to the direction finding target information, and for evaluating the target information and thus obtaining information about the target and / or the actual movement or information about the deviation between the target and the actual movement.
  • the route, in particular the straight line, staked, along which the floor cutting device is to be moved is to be moved.
  • the Target device will reach.
  • stronger steering measures due to the sensitive cutting tools are generally more problematic.
  • the aiming device can be aimed at with the aid of the direction finding device provided on the chassis, so that the bottom cutting device is already aligned relatively precisely to the aiming device.
  • a target information is obtained first, which results from the relative position of the target device and the direction finder.
  • destination information z. B. an approximation, an offset or an angular position (orientation) of the direction finding relative to the target device can be determined.
  • the actual movement of the chassis and thus also a deviation between the desired and the actual movement can be determined. Due to this deviation, the control device can bring about suitable control measures via the feed device in order to keep the bottom cutting device on the predetermined course.
  • the aiming device may include light means for outputting light, while the aiming device may comprise a light detector for detecting the light from the light device.
  • the direction finding device may also have a light device, while the light detector is provided on the target device.
  • the direction finding device or the aiming device it is alternatively possible for the direction finding device or the aiming device to have both a light device and a light detector, and conversely, a mirror surface is provided on the aiming device or the direction finder. In this variant, therefore, both the light device and the light detector are provided on the same device, while the other device provides only the mirror surface on which the light from the light device is reflected back to the light detector.
  • the light device may be a laser device for emitting light in the form of a light beam or - with appropriate optics, such as. B. a lens assembly or a rotating mirror (scanner) - a light fan.
  • the light detector can then have a determination device for determining a light actual location at which the light impinges on the light detector, and for determining a light location deviation as a deviation between the actual light actual location and a predetermined light target location.
  • the light target location In this embodiment, it is assumed that with an ideal alignment and positioning of the chassis with the direction finder with respect to the target device such that in undisturbed straight-ahead running the chassis would reach the target perfectly, the light from the laser device always on the same, predetermined Spot on the light detector would strike. This point is called the light target location. In fact, however, a deviation will occur due to external disturbances, non-ideal alignment, or skewing of the landing gear such that the location where the light from the laser device actually impinges on the light detector (actual light location) from the given target light location differs. This deviation is called the light-site deviation.
  • This light location deviation or the detected light actual location is interpreted by the evaluation device as a criterion for a - possibly undesirable - change in the position of the floor cutting device, in particular for a change in the relative position of the direction finder in relation to the target device, the steering measures required. If, therefore, the detected actual location of the light deviates from the predetermined desired light location, ie if there is a light location deviation, control measures can be taken with the aid of the evaluation device and the associated control device in order to determine the light location deviation to reduce and thus also to reduce the deviation between the desired movement and the actual movement. In this way, the landing gear is kept on the specified course.
  • control device manages to keep the light actual location at the light detector in the region of the desired light location by controlling the feed device, it is ensured that the position and orientation of the undercarriage comply with the specifications and the desired work result can be achieved, in which the Cutting tool cuts the required joint.
  • the determination device with which the light actual location or the light location deviation is detected, two light sensors arranged at an angle to each other, for. B. CCD sensors, and arranged in the pitch angle therebetween, semitransparent reflector.
  • the light coming from the light device can be distributed by the reflector to essentially the same proportions on the two light receivers.
  • the distribution of light so z. B. the only one light beam or the fan of light on two Lichtaufêt and thus the determination of two light-Istorten or Lichtort-deviations, allows a two-dimensional monitoring of the relative position of target device and direction finder.
  • a deviation of the position and the orientation (yaw angle) of the floor cutting device can be constantly monitored in this way.
  • the actual movement device may comprise a GPS system (Global Positioning System) or a similar system for detecting position coordinates in an inertial system (earth coordinates).
  • GPS system Global Positioning System
  • the exact position coordinates can be permanently recorded.
  • the orientation of the chassis can be determined.
  • a GPS sensor can be used in two places on the chassis. Be provided system to determine in this way the orientation of the chassis and thus the actual movement of the floor cutter.
  • the control device the actual movement can be compared with a predetermined desired movement (given course) and appropriate control measures initiated.
  • a gyroscope, a gyroscope or an ultrasound device can be suitable as an alternative to the above-described light device.
  • the control device can only permit an advancing movement of the running gear if the deviation between the desired movement and the actual movement is smaller than a predefined limit value. If the deviation becomes too large, this is considered an indication of a fault.
  • the feed motion of the chassis is stopped and the machine is stopped.
  • the advancing movement of the landing gear can be stopped by the control device, if over a certain period of time the actual movement can not be determined. For example, it may be possible that no light beam passes to the light detector due to an obstacle between the target device and the direction finder, so that no more precise determination of the actual movement is possible. Then there is a fault that must result in stopping the journey.
  • the feed device can have a plurality of wheels carrying the running gear as well as a steering device by means of which individual wheels can be driven individually.
  • the driven wheels can be driven separately on the right and left of their own feed motors so as to achieve steering of the device through different angular speeds of the wheels. In extreme cases, even a reversal of the rotation tion of individual wheels can be achieved in order to effect a particularly effective steering.
  • wheels can be provided which are driven independently of one another, that is to say with different speeds or moments. It may also be expedient to use a swivel-axle steering in which a rigid axle is pivoted about its center. With a higher construction cost is also an example.
  • Achs- knuckle steering known in motor vehicles possible, which provides a single-wheel steering, consisting of an axle and two pivotally mounted thereto stub axles. Under certain circumstances, the use of a steering trapezoid makes sense in order to be able to hit the wheels at different angles so that the extensions of all wheel axles intersect at the center of the curve when cornering.
  • the floor cutting device is divided into two bodies which are connected to each other via a hinge.
  • Each of the bodies has its own axle with wheels.
  • the articulation has become e.g. proven in small tugs, earthmoving vehicles or smaller soil compaction rollers.
  • another joint can be used with the vehicle longitudinal axis as the direction of rotation, so that always have all four wheels ground contact.
  • the appropriate steering concept will be selected depending on the reasonable construction cost (manufacturing cost) and the technical requirements. Particular attention must be paid to the fact that slip may occur in the wheels, which may be quite small in size, which may result in steering or steering Driving the floor cutter difficult. By a suitable steering concept, this slip can be reduced.
  • Nahfeldkennungs may be provided a Nahfeldkennungs adopted, for detecting an obstacle in the travel of the floor cutting device.
  • the Nahfeldkennungs issued can z. B. after the radar or work on the ultrasound principle, as it is also known in parking aids for motor vehicles (PARKTRONIC Mercedes-Benz).
  • the Nahfeldkennungs can also be effective when the landing gear has reached the target device. With the help of the Nahfeldkennungs attended it is possible to switch off the feed, the tool movement and / or the drive for the tool movement to damage, z. B. at the target device to avoid.
  • the operator can be visually and / or acoustically informed that the manual alignment of the landing gear, which he has done at the beginning of the work, is sufficient to ensure a straight movement of the landing gear to the target device. The operator then only has to swivel the landing gear until he hears the visual or audible confirmation. In addition, it is possible that the automatic feed of the machine is released only when a sufficiently accurate alignment has been detected. For this purpose, tolerance values are to be provided.
  • a distance measuring device for measuring the distance between the aiming device and the rest of the floor cutting device.
  • a distance measuring device are ultrasonic or laser measuring devices with which the distance can be measured very precisely.
  • the floor cutting device already stops its operation at some distance (eg a few meters) in front of the target device.
  • the feed movement of the chassis can be stopped when a predetermined minimum distance between the target device and the chassis is below.
  • FIG. 1 shows a bottom cutting device according to the invention with a joint cutter in perspective view.
  • Fig. 2 is a rear view of the joint cutter
  • Fig. 3 is a schematic plan view of an inventive
  • Fig. 7 shows the definition of a fixed coordinate system
  • Fig. 8 is a control concept for the control device.
  • Fig. 1 shows a floor cutting device with a joint cutter 1 and serving as a target device laser 2.
  • Fig. 2 shows the joint cutter 1 in rear view.
  • a chassis 3 On a chassis 3 is serving as a cutting motor 4
  • the cutting motor 4 drives, via a cutting shaft (not shown), a cutting disk 5 serving as a cutting tool, which in a known manner processes the cutting disk 5 which is to be machined. Edge soil saws. In the cutting wheel 5, it may be z. B. act a diamond blade.
  • a rear axle with two rear wheels 6 is arranged, of which in Fig. 1 only one can be seen. Accordingly, at the front end of the chassis 3, a front axle 7 is also arranged with two wheels 8.
  • the rear wheels 6 can be driven by a pre-pushing device shown in Fig. 2.
  • the feed device has for each rear wheel 6, a drive motor 9 and one of the drive motor 9 rotatably driven drive wheel 10 which rests on the circumference of the respective associated rear wheel 6 and this drives so rotating.
  • a known coupling 1 1 is provided for engaging and disengaging the drive.
  • the clutch 1 1 operates against tension springs 12 which press the drive wheels 10 against the rear wheels 6.
  • the drive motors 9 can be individually controlled for the left and right rear wheels 6 and set in this way the speed of the rear wheels 6 independently. In this way, a steering movement of the joint cutter 1 can be achieved by its yaw axis.
  • a control device for controlling the feed rate may be provided as z. B. from DE 101 45 465 Al is known.
  • a target guidance device is provided, with which the joint cutter on a predetermined course, for. B. a cutting line 14 is held such that the cutting tool 5 is guided along the cutting line 14, as shown in Fig. 1.
  • the destination guidance device has the laser 2, which is arranged as a target device separate from the joint cutter 1 or the chassis 3, and a direction finder 15 carried by the chassis 3.
  • the laser 2 is arranged at a distance from the chassis 3 and specifies the destination in the direction of the chassis 3 is to be moved.
  • the joint cutter 1 is aligned such that a laser beam 16 emitted by the laser 2 strikes the direction finding device 15.
  • the direction finding device thus enables the operator to find a suitable position and orientation of the joint cutter 1 with respect to the laser 2.
  • the direction finding device 15 is designed such that it registers an impact of the laser beam 16. If the laser beam 16 impinges in a correspondingly preselected area of the direction finder 15, it is possible to inform the operator by means of an acoustic or optical signal that the floor cutter 1 is correctly aligned. He can then rely on the joint cutter 1 along the laser beam 16 and thus along the first virtual (not visible) cutting line 14 is moved. Therefore, the operator does not have to place a corresponding marking on the floor along which he has to move the joint cutter 1, as in the prior art.
  • the direction finder 15 is coupled to a control device, which ensures that the laser beam 16 incident as possible always on the same location on the direction finder 15.
  • the control device seizes measures by driving the drive motors 9 in order to drive the rear wheels 6 at different speeds and thereby determine the determined offset or the incorrect alignment of the joint cutter 1 to correct. With the help of suitable control algorithms, it is thus easy to keep the laser beam 16 always at the predetermined location of the direction finder 15.
  • Fig. 3 shows a schematic plan view of the already known from Fig. 1 principle, the joint cutter 1 is shown symbolically only as a dashed frame. For simplicity, the same reference numerals as in Fig. 1 are used.
  • the laser beam 16 from the laser 2 strikes the direction finder 15 provided on the joint cutter 1.
  • a semitransparent reflector 16 which divides the laser beam 16 and projected onto two ground glass plates 17a, 17b.
  • two light spots 1 and 2 are formed on the ground glass panes 17a, 17b. These light spots are also referred to as the light actual location.
  • a CCD sensor 18 and a corresponding optics 19 are respectively arranged, with the aid of which the position of the laser spots 1, 2 on the ground glass plates 17a, 17b can be determined.
  • Fig. 4 shows an example of the case in which the orientation of the joint cutter 1 deviates from the predetermined target line.
  • the laser 2 has changed its position from the desired position 2a in the actual position 2b.
  • the cutting disk 5 would not be moved in the direction of the actual position of the laser (reference symbol 2b).
  • the position of the two ground glass image points also changes with respect to one another.
  • the ground glass image point 1 travels to the ground glass image point 1 ', while the ground glass image point 2 moves to the ground glass image point 2'. Accordingly, the actual screen image pixels 1 ', 2' are no longer at the predetermined light target location, but in each case at a deviating light actual location.
  • FIG. 5 shows, by way of example, the displacement of the matt disk image dots in the event that there is a pure lateral offset between the cutting disk 5 and the laser 2b in the shifted actual position 2b.
  • the matte screen pixels 1, 2 move in opposite directions from the view of the two CCD sensors 18 and reach the points 1 'and 2' (light actual locations).
  • FIG. 6 shows the combination of lateral offset and angular offset of the joint cutter 1 relative to the laser 2
  • the screen image pixels 1, 2 are moved from their ideal position (light target location) in a characteristic manner, so that the actual light locations 1 ', 2' result.
  • the CCD sensors 18 can consist of a line sensor, but also of a line of light-sensitive diodes, in order to detect the displacement of the screen image pixels 1, 2.
  • the CCD sensors 18 can consist of a line sensor, but also of a line of light-sensitive diodes, in order to detect the displacement of the screen image pixels 1, 2.
  • more complex CCD sensors 18 are possible.
  • FIG. 7 shows, for a top view of the joint cutter 1, a definition of the coordinate directions x, y, z and the yaw angle ⁇ in an absolute coordinate system, with which a control loop for maintaining the position and direction of the cutting process can be constructed.
  • the control loop is shown in FIG. 8.
  • a yaw angle deviation ⁇ Ist and a lateral offset ⁇ Y Ist is continuously measured and used in a controller 20 as an input variable.
  • the controller 20 controls a suitable actuator, for. B. the drive motors 9 and thus the rear wheels 6 of the joint cutter 1, so that a suitable drive s torque about the yaw axis and corresponding forces in the direction of the vehicle longitudinal axis (X direction) and / or forces transverse to the vehicle longitudinal axis (Y direction) be generated so that both the angle ⁇ and the side offset Y are corrected again or lie within an acceptable tolerance band.
  • the laser 2 serves as a target device and is provided spatially separated from the joint cutter 1.
  • the direction finding device 15 on the joint cutter 1 has the directionfinder serving as a light detector with the CCD sensor 18 serving as a light receiver. This arrangement is also possible vice versa, so that the joint cutter 1, the laser 2 as Bearing device carries while the target device by the light detector, ie z. B. the CCD sensors 18 is formed. These then give the information back to the controller 20 to the joint cutter 1 by remote data transmission.
  • the laser 2 and the CCD sensors 18 can also be used simultaneously for a distance measurement between the target point (location of the target device) and the joint cutter 1 or for an end stop after reaching the target point or a preceding end point.
  • a transit time measurement or the evaluation of the light spot diameter at the sensor can be used.
  • the feed device in particular the steering device provided there for generating a yaw moment about the vertical axis of the joint cutter 1, allows different design options:
  • the rear wheels 6 can be driven separately left and right; the front wheels 8 can be driven separately on the left and right; all four wheels 6, 8 can be driven separately; the driven or non-driven wheels 6, 8 may be adjustable in angle; the rigid axles front or rear are mounted vertically rotatable; the chassis is carried by three wheels, one of which is steerable; Articulated steering.
  • the control allows an instantaneous alignment of the joint cutter relative to a straight line (intended kerf) as a controlled variable and a steering as a manipulated variable by means of a target facility at the end of this line. This completely automates the cutting of floor joints.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mining & Mineral Resources (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif de découpe de sol comprenant un coupe-joints (1) et un laser (2) séparé de celui-ci. Le coupe-joints (1) est orienté de sorte qu'un rayon laser (16) en provenance du laser (2) servant de cible soit incident sur un dispositif de repérage (15). Ce dispositif de repérage (15) permet d'évaluer le rayon laser de sorte que des roues d'entraînement (6) du dispositif d'avance (1) soient commandées et déplacent le coupe-joints (1) de telle sorte que le rayon laser (16) soit toujours incident sur le dispositif de repérage (15). Un fonctionnement automatique du coupe-joints (1) est ainsi possible.
PCT/EP2008/002481 2007-04-18 2008-03-28 Dispositif de découpe de sol à guidage automatique jusqu'à la cible WO2008128617A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007018352.8 2007-04-18
DE102007018352A DE102007018352A1 (de) 2007-04-18 2007-04-18 Bodenschneidvorrichtung mit automatischer Zielführung

Publications (1)

Publication Number Publication Date
WO2008128617A1 true WO2008128617A1 (fr) 2008-10-30

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Application Number Title Priority Date Filing Date
PCT/EP2008/002481 WO2008128617A1 (fr) 2007-04-18 2008-03-28 Dispositif de découpe de sol à guidage automatique jusqu'à la cible

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DE (1) DE102007018352A1 (fr)
WO (1) WO2008128617A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5444736B2 (ja) 2009-01-29 2014-03-19 日立工機株式会社 エンジンカッタ、車輪付きエンジンカッタ及び切削方法
SE545678C2 (en) * 2020-09-24 2023-12-05 Husqvarna Ab Floor sawing equipment with controllable supporting wheels
AU2021346650A1 (en) * 2020-09-24 2023-06-08 Husqvarna Ab Floor sawing equipment with controllable supporting wheels

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4013950A1 (de) * 1990-04-30 1991-11-07 Fraunhofer Ges Forschung Vorrichtung zum markieren von grundflaechen
DE4212518A1 (de) * 1991-04-15 1992-10-22 Fast Verdini Spa Schneidvorrichtung, insbesondere zum schneiden von asphalt und beton
DE19756676C1 (de) * 1997-12-19 1999-06-02 Wirtgen Gmbh Verfahren und Vorrichtung zum Abfräsen von Verkehrsflächen

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Publication number Priority date Publication date Assignee Title
US4978246A (en) * 1989-07-18 1990-12-18 Quenzi Philip J Apparatus and method for controlling laser guided machines
DE4406536A1 (de) 1994-02-28 1995-08-31 Alexander Karl Heinz Laser-Verfahren und -Vorrichtung zur Verwendung beim Fugenschneiden in Beton, Asphalt und ähnlichen Materialien im Hoch- und Tiefbau sowie im Straßenbau
DE19632456C1 (de) * 1996-08-12 1997-11-13 Hans Miller Abziehvorrichtung
DE19940404C2 (de) * 1999-08-25 2001-07-12 Moba Mobile Automation Gmbh Verfahren und Vorrichtung zum dreidimensionalen Steuern einer Baumaschine
DE10145465B4 (de) 2001-09-14 2005-12-01 Wacker Construction Equipment Ag Bodenschneidvorrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4013950A1 (de) * 1990-04-30 1991-11-07 Fraunhofer Ges Forschung Vorrichtung zum markieren von grundflaechen
DE4212518A1 (de) * 1991-04-15 1992-10-22 Fast Verdini Spa Schneidvorrichtung, insbesondere zum schneiden von asphalt und beton
DE19756676C1 (de) * 1997-12-19 1999-06-02 Wirtgen Gmbh Verfahren und Vorrichtung zum Abfräsen von Verkehrsflächen

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