Floor sawing equipment with controllable supporting wheels

(canceled)

(canceled)

(canceled)

(canceled)

A floor saw for sawing in a concrete surface segment, the floor saw comprising a control unit and a circular cutting blade arranged transversally offset from a centrum line of the floor saw, the centrum line being aligned with a forward direction of the floor saw,

• the floor saw further comprising a first drive wheel and a second drive wheel separated by the centrum line and arranged to support the floor saw on the concrete surface segment, wherein the drive wheels are arranged to be driven by respective first and second electric machines,
• wherein the control unit is arranged to control a difference between wheel forces of the drive wheels by controlling a respective torque and/or speed of the first and/or second electric machines, in dependence of a desired yaw motion by the floor saw.

A floor saw for sawing in a concrete surface segment, the floor saw comprising a circular cutting blade arranged transversally offset from a centrum line, the centrum line being aligned with a forward direction of the floor saw, the floor saw further comprising at least two supporting wheels arranged to support the floor saw on the concrete surface segment, out of which supporting wheels at least one is a drive wheel, a sensor arrangement configured to determine a current yaw motion of the floor saw, and a control unit configured to obtain a desired yaw motion setting,

• wherein the drive wheel is arranged on an opposite side of the centrum line compared to the circular cutting blade and arranged to generate a respective variable wheel force by a respective first electric machine arranged to be controlled by the control unit, and
• wherein the control unit is arranged to control the first electric machine to reduce a difference between the current yaw motion of the floor saw and the desired yaw motion setting.

(canceled)