EP2119832B1 - Method for operating a self-propelled street miller - Google Patents

Method for operating a self-propelled street miller Download PDF

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Publication number
EP2119832B1
EP2119832B1 EP09006453.6A EP09006453A EP2119832B1 EP 2119832 B1 EP2119832 B1 EP 2119832B1 EP 09006453 A EP09006453 A EP 09006453A EP 2119832 B1 EP2119832 B1 EP 2119832B1
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EP
European Patent Office
Prior art keywords
road
milling machine
milling
detected
measuring transducers
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EP09006453.6A
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German (de)
French (fr)
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EP2119832A1 (en
Inventor
Joannis Reiffen
Holger Voss
Rafael Schomaker
Susan Ruddlmann
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Dynapac GmbH
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Dynapac GmbH
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path

Definitions

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

Description

Die Erfindung betrifft ein Verfahren zum Betrieb einer selbstfahrenden Straßenfräse gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a method for operating a self-propelled road milling machine according to the preamble of claim 1.

Straßenfräsen dienen dazu, insbesondere den Straßenbelag schadhaft gewordener Straßen abzufräsen. Auf eine so abgefräste Straße ist dann lediglich ein neuer Straßenbelag aufzubringen, um eine erneuerte Straße fertig zu stellen. Dabei dient die abgefräste Straße als Unterbau.Road milling machines are used, in particular, to scrape off the road surface of damaged roads. On such a milled road is then only apply a new road surface to complete a renewed road. The milled road serves as a substructure.

Straßenfräsen der hier angesprochenen Art sind üblicherweise selbstfahrend ausgebildet. Die Straßenfräsen verfügen über ein lenkbares Raupen- oder Radfahrwerk. Von einem Bedienstand aus wird die Straßenfräse vom Fahrer manuell entlang des zu entfernenden Straßenbelags gelenkt. Dabei orientiert sich der Fahrer visuell am Straßenrand oder an einer Fräskante eines bereits abgefrästen Straßenbelags. Hierbei ist es nachteilig, dass der Fahrer einen Großteil seiner Aufmerksamkeit dem Lenken der Straßenfräse widmen muss. Dadurch steht dem Fahrer weniger Zeit zur Überwachung des Fräsvorgangs und zur Bedienung anderer den Fräsvorgang selbst betreffenden Einrichtungen zur Verfügung. Des Weiteren hängt die Genauigkeit, mit der die Straßenfräse gelenkt wird, vom Geschick und den Erfahrungen des Fahrers ab. Vor allem bei unerfahrenen Fahrern entstehen größere Ungenauigkeiten, indem es beispielsweise zu einer unnötig großen Überlappung mit einem benachbarten Frässtreifen kommt. Auch Beschädigungen, beispielsweise von Kantsteinen oder dergleichen, sind bei unerfahrenen Fahrern denkbar.Road milling of the type discussed here are usually self-propelled. The road milling machines have a steerable crawler or wheel chassis. The driver manually steers the road milling machine along the road surface to be removed from an operator station. In this case, the driver orients himself visually at the roadside or at a milling edge of an already milled road surface. Here it is disadvantageous that the driver has to devote a large part of his attention to steering the road milling machine. As a result, the driver has less time to monitor the milling process and to operate other facilities related to the milling process itself. Furthermore, the accuracy with which the road milling machine is steered depends on the skill and experience of the driver. Especially inexperienced drivers cause greater inaccuracies, for example, comes to an unnecessarily large overlap with a neighboring Fräserreifen. Even damage, such as curbs or the like, are conceivable inexperienced drivers.

Aus US 4,195,946 ist es bekannt, dass Straßenbaufahrzeuge für die Steuerung des Fahrzeugs während des Asphaltierens mehrere Sensoren aufweisen, die jeweils einer Referenz zugeordnet sind. Jeder Sensor wird unabhängig von den anderen Sensoren durch eine eigene Steuereinheit ausgelesen. Dieses Verfahren zum Steuern des Straßenbaufahrzeuges ist durch seine Vielzahl von Komponenten sehr komplex und daher Aufwendig in der Bedienung. Darüber hinaus wird durch die Sensoren keine Redundanz bzgl. des Messens der Referenzen gebildet. US 5,362,176 beschreibt einen Straßenfertiger der mittels den Signalen zweier Sensoren gesteuert wird, die sich entlang einer Kante auf dem Straßenbelag orientieren. Bei einer Unterbrechung dieser Kante kann eine Steuerung des Straßenfertigers durch die Signale der Sensoren allerdings nicht fortgesetzt werden.Out US 4,195,946 It is known that road vehicles for the control of the vehicle during the asphalting have a plurality of sensors, each one Reference are assigned. Each sensor is read out independently of the other sensors by its own control unit. This method of controlling the road vehicle is very complex due to its large number of components and therefore expensive to operate. In addition, no redundancy is formed by the sensors with respect to measuring the references. US 5,362,176 describes a paver which is controlled by the signals of two sensors, which are oriented along an edge on the pavement. In the event of an interruption of this edge, control of the paver by the signals of the sensors, however, can not be continued.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betrieb einer selbstfahrenden Straßenfräse zu schaffen, das den Fahrer während des Fräsvorgangs entlastet.The invention has for its object to provide a method for operating a self-propelled road milling machine, which relieves the driver during the milling process.

Ein Verfahren zur Lösung dieser Aufgabe weist die Maßnahmen des Anspruchs 1 auf. Demnach ist es vorgesehen, dass zum Lenken der Straßenfräse mindestens eine Referenz durch mehrere Messwertgeber erfasst wird und mehrere Messwertgeber parallel ausgewertet werden, wobei kurze Unterbrechungen einer Referenz durch paralleles Erfassen der mindestens einen Referenz mit mehreren Messwertgebern kompensiert werden. Durch die automatische Lenkung der Straßenfräse entlang des zu entfernenden Straßenbelags wird die Genauigkeit des Fräsvorgangs erhöht. Darüber hinaus wird der Fahrer entlastet, da die Lenkvorgänge während des Abfräsens des Straßenbelags automatisch stattfinden, wobei sie im Regelfall kein manuelles Eingreifen erfordern.A method for achieving this object comprises the measures of claim 1. Accordingly, it is provided that at least one reference is detected by a plurality of transducers for steering the road milling machine and a plurality of transducers are evaluated in parallel, short interruptions of a reference are compensated by detecting the parallel of the at least one reference with multiple transducers. The automatic routing of the road milling machine along the road surface to be removed increases the accuracy of the milling process. In addition, the driver is relieved, since the steering operations take place automatically during the milling of the road surface, and they usually require no manual intervention.

Bevorzugt ist vorgesehen, die Lenkung der Straßenfräse von mindestens einer Steuerungseinrichtung vornehmen zu lassen, die der Straßenfräse zugeordnet ist. Dadurch wird die Straßenfräse derart entlang des zu entfernenden Straßenbelags gelenkt, dass eine Fräswalze der Straßenfräse den vorzugsweise schadhaften Straßenbelag präzise von der Straße abfräsen kann. Insbesondere werden so unnötig große Überlappungen der Frässtreifen und Beschädigungen von Begrenzungen der abzufräsenden Straße vermieden.It is preferably provided to allow the steering of the road milling machine to be carried out by at least one control device which is assigned to the road milling machine. As a result, the road milling machine is guided along the road surface to be removed in such a way that a milling roller of the road milling machine can precisely mill off the preferably damaged road surface from the road. In particular, unnecessarily large overlaps of the milling strips and damage to the boundaries of the road to be scoured are thus avoided.

Gemäß einer bevorzugten Ausgestaltung des Verfahrens ist es vorgesehen, die Straßenfräse in Abhängigkeit von mindestens einer Referenz automatisch zu lenken. Die mindestens eine Referenz dient dabei als Bezugspunkt bzw. Bezugslinie, wonach die Straßenfräse entlang des zu entfernenden Straßenbelags automatisch gelenkt wird. Eine einzige Referenz ist ausreichend zur selbsttätigen Steuerung der Straßenfräse. Um die Genauigkeit der automatischen Steuerung zu erhöhen, um Messfehler zu vermeiden und/oder Unterbrechungen der Referenz zu überbrücken, werden bevorzugt mehrere Referenzen verwendet.According to a preferred embodiment of the method, it is provided to steer the road milling machine in dependence on at least one reference automatically. The at least one reference serves as a reference point or reference line, after which the road milling machine is steered automatically along the road surface to be removed. A single reference is sufficient for the automatic control of the road milling machine. To the To increase the accuracy of the automatic control to avoid measurement errors and / or to bridge gaps in the reference, it is preferred to use multiple references.

Während des Abfräsens des Straßenbelags wird die mindestens eine Referenz insbesondere fortlaufend erfasst. Dadurch können bereits geringe Abweichungen von der optimalen Frässtrecke entlang des zu entfernenden Straßenbelag sofort durch entgegengerichtete, automatische Lenkbewegungen korrigiert werden.During the milling of the road surface, the at least one reference is detected in particular continuously. As a result, even small deviations from the optimum milling path along the road surface to be removed can be corrected immediately by means of opposing, automatic steering movements.

Insbesondere werden für den Fall, dass mehrere Referenzen verwendbar sind, mehrere oder alle dieser Referenzen gemeinsam erfasst. Hierdurch wird eine gemeinsame Auswertung und/oder eine Korrektur von Messfehlern ermöglicht. Mehrere Referenzen können wahlweise auch zu Gruppen von Referenzen zusammengefasst werden, die dann jeweils wie eine einzelne Referenz zum Beispiel durch Mittelwertbildung oder anderweitige Verarbeitung zum automatischen Steuern der Straßenfräse ausgewertet werden.In particular, in the event that multiple references are usable, several or all of these references are captured together. As a result, a common evaluation and / or a correction of measurement errors is made possible. Optionally, multiple references can also be grouped into sets of references, which are then each evaluated as a single reference, for example, by averaging or otherwise processing the automatic milling of the road milling machine.

Bevorzugt wird wahlweise eine der Referenzen erfasst. Durch Auswahl einer besonders geeigneten Referenz für einen bestimmten Abschnitt der Straße kann beispielsweise die automatische Lenkung präzisiert werden. In einem anderen Abschnitt der Straße kann bevorzugt eine andere Referenz ausgewählt und verwertet werden. Ein wahlweises Erfassen einer Referenz kann auch in schneller Folge alternierend erfolgen, so dass beispielsweise die abwechselnde Auswahl zweier oder mehrerer Referenzen zeitlich periodisch aufeinander folgt. Eine solche alternierende Auswahl kann manuell oder auch automatisch seitens der Steuerungseinrichtung vollzogen werden.Preferably, one of the references is optionally detected. By selecting a particularly suitable reference for a particular section of the road, for example, the automatic steering can be specified. In another section of the road, another reference may preferably be selected and utilized. An optional detection of a reference can also be effected alternately in rapid succession, so that, for example, the alternating selection of two or more references follows one another periodically in time. Such an alternating selection can be carried out manually or automatically by the control device.

Bei einer vorteilhaften Ausgestaltung der Erfindung ist es vorgesehen, die automatische Lenkung der Straßenfräse unter Zuhilfenahme eines elektronischen Navigationssystems, insbesondere einem elektronischen Navigationsrechner, durchzuführen. Das elektronische Navigationssystem peilt mindestens eine Referenz, vorzugsweise mehrere Referenzen, entlang der abzufräsenden Straße an. Bei den Referenzen kann es sich um entlang der abzufräsenden Straße angeordnete Sender handeln. Das elektronische Navigationssystem steuert dabei nach dem Prinzip eines Autopiloten die Straßenfräse automatisch derart, dass sie nach und nach die einzelnen als Referenzen dienenden Sender entlang der Straße abfährt. Denkbar ist es auch, ein satellitengestütztes Navigationssystem zu verwenden, beispielsweise ein Global Positioning System (GPS). Dieses arbeitet satellitengestützt. Dabei werden in das elektronische GPS-Navigationsgerät den Verlauf der abzufräsenden Straße folgende Positionen als Referenzen eingegeben. Vom GPS-Navigationssystem wird die Straßenfräse dann automatisch nach dem Prinzip eines Autopiloten so gesteuert, dass sie nach und nach die in das elektronische Navigationsgerät eingegebenen Positionen, die den Verlauf der abzufräsenden Straße entsprechen, abfährt. Durch die Eingabe von Positionen in das GPS-Navigationssystem entfallen ortsfeste Sensoren am Rand der abzufräsenden Straße. Denkbar ist es auch, dass das GPS-Navigationssystem sowohl mit abgespeicherten Positionen als auch mit festen Referenzen, z.B. Sendern, in der Nähe der Straße arbeitet. Ein solches nach dem Prinzip des Differenzial-GPS arbeitendes Navigationssystem stellt sicher, dass die damit gesteuerte Straßenfräse mit höchster Genauigkeit die einzelnen als Referenzen dienenden Positionen automatisch abfährt.In an advantageous embodiment of the invention, it is provided to carry out the automatic steering of the road milling machine with the aid of an electronic navigation system, in particular an electronic navigation computer. The electronic navigation system aims at at least one reference, preferably a plurality of references, along the road to be cut. The references may be transmitters arranged along the road to be scanned. According to the principle of an autopilot, the electronic navigation system automatically controls the road milling machine in such a way that it gradually leaves the individual transmitters serving as references along the road. It is also conceivable to use a satellite-based navigation system, for example a Global Positioning System (GPS). This works satellite-based. In this case, the course of the road to be cut off the following positions as references in the electronic GPS navigation device entered. From the GPS navigation system, the road milling machine is then automatically controlled according to the principle of an autopilot so that it gradually decreases the inputted into the electronic navigation device positions that correspond to the course of the road to be milled. The entry of positions in the GPS navigation system eliminates fixed sensors at the edge of the road to be cut. It is also conceivable that the GPS navigation system works both with stored positions and with fixed references, eg transmitters, near the road. Such a navigation system operating on the principle of the differential GPS ensures that the road milling machine controlled thereby automatically moves off the individual references serving as references.

Insbesondere wird die Straßenfräse mit einem einstellbaren Abstand zu der mindestens einen Referenz automatisch gelenkt. Der Abstand zu der mindestens einen Referenz kann durch den Bediener vorgewählt und/oder im Betrieb eingestellt werden. Vorzugsweise kann der Abstand zu der mindestens einen Referenz auch anhand von Mess- bzw. Referenzdaten berechnet werden. Die Straßenfräse wird dann automatisch so gelenkt, dass der eingestellte Abstand zu der Referenz gegebenenfalls zuzüglich einer einstellbaren Toleranz während des Fräsens möglichst eingehalten wird. Bei einer Auswahl mehrerer Referenzen lassen sich insbesondere Abstände für jede Referenz vorgeben, anhand derer die Straßenfräse dann automatisch gelenkt wird. Zur Gewährleistung eines exakten Abfräsens des Straßenbelags werden bevorzugt die Abstände der unterschiedlichen Referenzen miteinander verglichen und beispielsweise durch Mittelwerte bzw. Korrekturwerte vorzugsweise ineinander umgerechnet. Somit wird auch bei Ausfall einer oder mehrerer Referenzen ein störungsfreier Betrieb der Straßenfräse gewährleistet. Die mindestens eine Referenz kann insbesondere als linke oder rechte Begrenzung des abzufräsenden Straßenbelags dienen. Insbesondere kann die mindestens eine Referenz beim Abfräsen entfernt werden, so dass sie im Bereich hinter der Fräswalze der Straßenfräse nicht mehr als Referenz genutzt werden kann. Sie wird dann vorzugsweise durch eine andere Referenz ersetzt. Die Referenz kann aber alternativ auch außerhalb des abzufräsenden Bereichs des Straßenbelags angeordnet sein, so dass sie durch den Fräsvorgang nicht beeinträchtigt wird.In particular, the road milling machine is automatically steered with an adjustable distance to the at least one reference. The distance to the at least one reference can be preselected by the operator and / or adjusted during operation. Preferably, the distance to the at least one reference can also be calculated on the basis of measurement or reference data. The road milling machine is then automatically steered so that the set distance to the reference, where appropriate, plus an adjustable tolerance during milling as possible. In particular, when selecting a number of references, distances can be specified for each reference, by means of which the road milling machine is then steered automatically. In order to ensure exact milling of the road surface, the distances of the different references are preferably compared with one another and preferably converted into one another, for example, by mean values or correction values. Thus, even in case of failure of one or more references a trouble-free operation of the road milling machine is guaranteed. The at least one reference can in particular serve as a left or right boundary of the road surface to be scoured. In particular, the at least one reference can be removed during milling, so that it can no longer be used as a reference in the area behind the milling drum of the road milling machine. It is then preferably replaced by another reference. Alternatively, however, the reference may be arranged outside the area of the pavement to be scoured, so that it is not impaired by the milling process.

Die mindestens eine Referenz wird insbesondere mechanisch und/oder berührungslos erfasst. Im ersten Fall sorgt eine mechanische Verbindung zu der Referenz für eine direkte Erfassung der Referenz, und zwar durch Kontakt mit der Referenz. Alternativ kann auch eine berührungslose Erfassung der Referenz erfolgen. Bei einer berührungslosen Erfassung der Referenz entfällt jeglicher mechanischer Kontakt mit dieser, so dass die damit verbundenen Nachteile, nämlich dass die mechanischen Erfassungselemente zerstört, abgenutzt oder beschädigt werden können, vermieden werden.The at least one reference is detected in particular mechanically and / or contactlessly. In the first case, a mechanical connection to the reference provides for direct detection of the reference by contact with the reference. Alternatively, a non-contact detection of the reference can take place. In a contactless detection of the reference eliminates any mechanical contact with this, so that the associated disadvantages, namely that the mechanical detection elements can be destroyed, worn or damaged, can be avoided.

Die mindestens eine Referenz wird durch die Messwertgeber, insbesondere einen Sensor, ein mechanisches Tastorgan und/oder ein Bilderfassungsmittel, erfasst. Als mechanisches Tastorgan kommt ein Gleitschuh, eine Rolle, ein Taststab oder ähnliches in Frage, wobei das Tastorgan in mechanischem Kontakt mit der Referenz steht. Somit wird eine direkte Erfassung der Referenz ermöglicht. Dem mechanischen Tastorgan kann ein Schalter oder dergleichen zugeordnet sein, der ein Signal erzeugt, wenn das Tastorgan den mechanischen Kontakt zur Referenz verliert. Die automatische Steuerung der Straßenfräse kann dann unterbrochen werden, oder es kann eine Umschaltung auf einen eine andere Referenz detektierenden Messwertgeber erfolgen. Als Sensor wird beispielsweise ein Sensor für Signale wie optische bzw. akustische Wellen und ähnliches verwendet. Die mindestens eine Referenz reflektiert dabei das Signal, das beispielsweise eine Lichtwelle, eine Schallwelle, eine Ultraschallwelle oder ähnliches sein kann. Das Signal kann aus der Umgebung der Referenz oder gezielt von einer an der Straßenfräse oder auch in deren Umgebung angeordneten Signalquelle, wie beispielsweise einer Lampe, einer Leuchtdiode, einem Laser, einem Tongenerator oder ähnlichem, ausgehen. Das reflektierte Signal kann dann von dem entsprechenden Sensor, wie einem Ultraschallsensor, einem lichtempfindlichen Sensor oder ähnlichem, an der Straßenfräse detektiert werden. Die Detektion erfolgt dabei vorzugsweise gerichtet, so dass der Ursprung der. reflektierten Welle zuortbar ist. Sofern es sich um ein von einer Signalquelle der Straßenfräse ausgesandtes Signal handelt, kann dieses zusätzlich kodiert sein, um eine eindeutige Zuordnung zu einem Sensor-Signalquelle-Paar zu ermöglichen. Es können ebensolche Signalquellen auch in der Umgebung der Straßenfräse unabhängig von dieser angeordnet werden. Zur Erfassung der Referenz kann insbesondere aber auch ein Bilderfassungsmittel verwendet werden, wie beispielsweise eine Kamera. Das von der Kamera aufgenommene Bild der Referenz bzw. der Umgebung der Referenz wird dann durch eine geeignete Bearbeitung der Bilddaten zur Erfassung der Referenz umgewandelt. Somit können beispielsweise Farb- bzw. Helligkeitsunterschiede, wie sie eine Fahrbahnmarkierung, eine Fahrspur, eine Kante oder eine speziell aufgebrachte Markierung darstellen, als Referenz dienen. Die Bilderfassung kann auch Strukturen der Referenz auswerten, woraus feststellbar ist, welche Art einer Referenz ausgewertet wird.The at least one reference is detected by the transducers, in particular a sensor, a mechanical feeler and / or an image capture means. As a mechanical feeler comes a shoe, a roller, a probe or the like in question, wherein the sensing element is in mechanical contact with the reference. Thus, a direct detection of the reference is made possible. The mechanical sensing element may be associated with a switch or the like which generates a signal when the sensing element loses the mechanical contact with the reference. The automatic control of the road milling machine can then be interrupted, or it can be done switching to a another reference detecting transducer. For example, a sensor for signals such as optical or acoustic waves and the like is used as the sensor. The at least one reference reflects the signal, which may be, for example, a light wave, a sound wave, an ultrasonic wave or the like. The signal may originate from the vicinity of the reference or specifically from a signal source arranged on or in the vicinity of the road milling machine, for example a lamp, a light-emitting diode, a laser, a tone generator or the like. The reflected signal can then be detected by the corresponding sensor, such as an ultrasonic sensor, a photosensitive sensor or the like, on the road milling machine. The detection is preferably directed, so that the origin of the. reflected wave is assignable. If it is a signal emitted by a signal source of the road milling machine, this can additionally be coded in order to enable unambiguous assignment to a sensor-signal source pair. It can be arranged even in the vicinity of the road tiller regardless of this same signal sources. For capturing the reference, however, it is also possible in particular to use an image capture device, such as a camera, for example. The image taken by the camera of the reference or the environment of the reference is then converted by a suitable processing of the image data for the detection of the reference. Thus, for example, color or brightness differences, as they represent a lane marking, a lane, an edge or a specially applied mark, serve as a reference. The image acquisition can also evaluate structures of the reference, from which it can be determined which kind of reference is evaluated.

Die mindestens eine Referenz wird durch mehrere Messwertgeber erfasst. Dadurch wird es möglich, Messfehler einzelner Messwertgeber zu kompensieren.The at least one reference is detected by several transducers. This makes it possible to compensate for measurement errors of individual transducers.

Auch können von den Messwertgebern bzw. der Steuerungseinrichtung Hindernisse erkannt und geeignete Gegenmaßnahmen eingeleitet werden.Also, obstacles can be detected by the transducers or the control device and appropriate countermeasures initiated.

Besonders bevorzugt wird mindestens ein Typ von Messwertgeber, zur Erfassung der mindestens einen Referenz ausgewählt. Somit wird erreicht, dass aus einer Anzahl von Möglichkeiten, eine Referenz zu erfassen, der Messwertgeber ausgewählt werden kann, der am besten geeignet ist, die Referenz zu erfassen. Eine solche Auswahl lässt sich insbesondere aber auch während des Betriebs der Straßenfräse jederzeit ändern, so dass fortlaufend eine optimale Erfassung der mindestens einen Referenz sichergestellt wird.Particularly preferred is at least one type of transmitter, selected for detecting the at least one reference. Thus, it is achieved that from a number of ways to detect a reference, the transmitter can be selected which is best suited to detect the reference. However, such a selection can in particular also be changed at any time during operation of the road milling machine, so that an optimum detection of the at least one reference is continuously ensured.

Vorzugweise werden mehrere gleiche und/oder verschiedene Typen von Messwertgebern, parallel ausgewertet. Unter unterschiedlichen Umgebungsbedingungen liefern insbesondere verschiedene Typen von Messwertgebern unterschiedlich genaue oder aussagekräftige Messergebnisse. Zur Vermeidung von Messungenauigkeiten durch einen einzelnen Messwertgeber werden dazu mehrere Messwertgeber parallel ausgewertet. Durch anschließende gezielte Auswahl eines Messwertgebers oder weniger Messwertgeber bzw. durch Vergleiche und/oder Abgleiche der Messwerte verschiedener Messwertgeber, beispielsweise durch Mittelwertbildung oder ähnliches, wird eine hohe Genauigkeit erreicht.Preferably, several identical and / or different types of transducers are evaluated in parallel. In particular, different types of transducers provide differently accurate or meaningful measurement results under different environmental conditions. In order to avoid measuring inaccuracies by a single transmitter, several transducers are evaluated in parallel. By subsequent selective selection of a transmitter or fewer transducers or by comparisons and / or comparisons of the measured values of different transducers, for example by averaging or the like, a high accuracy is achieved.

Bevorzugt kann zumindest einer der Messwertgeber gegenüber der Straßenfräse versetzt, verschoben oder verfahren werden, insbesondere seitlich. Dadurch, dass einer, mehrere oder alle Messwertgeber flexibel an verschiedenen Stellen der Straßenfräse einsetzbar sind, indem die Position des Messwertgebers bzw. der Messwertgeber an der Straßenfräse nahezu beliebig veränderbar ist, können der bzw. die Messwertgeber optimal zur Erfassung der mindestens einen Referenz positioniert werden. Besonders bevorzugt lässt sich mindestens einer der Messwertgeber gegenüber der Straßenfräse verschwenken, verkippen bzw. verdrehen, um damit vorzugsweise in allen drei Raumrichtungen optimal zur zu erfassenden Referenz ausgerichtet werden zu können.Preferably, at least one of the transducers can be offset, moved or moved relative to the road milling machine, in particular laterally. Because one, several or all transducers can be used flexibly at different points of the road milling machine by the position of the transmitter or the sensor on the road milling machine can be changed almost arbitrarily, the or the transducers can be optimally positioned to detect the at least one reference , Particularly preferably, at least one of the transducers can be pivoted, tilted or rotated relative to the road milling machine in order to be able to be aligned optimally in all three spatial directions to the reference to be detected.

Insbesondere wird eine der Referenzen durch mindestens einen Messwertgeber, vorzugsweise aber gemeinsam durch mehrere Messwertgeber erfasst. Dies wird vorzugsweise zu Kontrollzwecken der Messergebnisse verschiedener Messwertgeber vorgenommen. Die Erfassung einer Referenz durch mehrere, insbesondere unterschiedliche Messwertgeber resultiert in einer erhöhten Genauigkeit der Messergebnisse gegenüber einer Einzelmessung und führt zu dem weiteren Vorteil, dass bei einem Ausfall oder temporärer Ungenauigkeit eines Messwertgebers weiterhin eine sichere Erfassung derselben Referenz gewährleistet ist. Dies ist insbesondere im Hinblick darauf wichtig, dass beispielsweise optische Sensoren kurzzeitig durch Umgebungseinflüsse wie Rauch oder Staub in Ihrer Messgenauigkeit eingeschränkt sein können, während Ultraschallsensoren hierdurch nicht oder weniger betroffen sind. Umgekehrt kommen Ultraschallsensoren bei anderen Umwelteinflüssen, wie starken Erschütterungen, eher an ihre Leistungsgrenzen, während dies für optische Sensoren wiederum unkritischer ist.In particular, one of the references is detected by at least one transmitter, but preferably jointly by a plurality of transducers. This is preferably too Control purposes of the measurement results of different sensors made. The detection of a reference by a plurality of, in particular different transducers results in an increased accuracy of the measurement results over a single measurement and leads to the further advantage that in case of failure or temporary inaccuracy of a transmitter further secure detection of the same reference is guaranteed. This is particularly important in view of the fact that, for example, optical sensors may be briefly limited by environmental factors such as smoke or dust in your measurement accuracy, while ultrasonic sensors are not or less affected. Conversely, ultrasonic sensors come closer to their performance limits in other environmental conditions, such as strong vibrations, while this is again less critical for optical sensors.

Eine im Wesentlichen entlang der abzufräsenden Straßendecke verlaufende Referenz wird bevorzugt verwendet. Indem eine solche, vorzugsweise langgestreckte Referenz zugrunde gelegt wird, wird sichergestellt, dass die Lenkung der Straßenfräse in Abhängigkeit von der verwendeten Referenz über ausreichend lange Strecken der abzufräsenden Straßendecke erfolgen kann. Somit kann eine Referenz ausgewählt werden, ohne zwingend in kurzen Abständen auf eine andere Referenz wechseln zu müssen, die beispielsweise abschnittsweise nicht vorhanden oder ungenau ist. Eine solche Referenz kann auch durch Sender oder anzupeilende Objekte entlang der abzufräsenden Straßendecke bestehen. Die Referenz kann auch durch die Abspeicherung von Navigationspositionen entlang der abzufräsenden Straßendecke gebildet werden.A reference substantially along the road surface to be scoured is preferably used. By making use of such a preferably elongated reference, it is ensured that the routing of the road milling machine, depending on the reference used, can take place over sufficiently long distances of the road surface to be scoured. Thus, a reference can be selected without having to change at short intervals to another reference, which is for example partially missing or inaccurate. Such a reference may also consist of transmitters or objects to be tracked along the road surface to be scoured. The reference can also be formed by the storage of navigation positions along the road surface to be scoured.

Besonders bevorzugt wird ein Bereich der Straße und/oder ein Bereich der Umgebung der Straße als Referenz verwendet. Verschiedene Bestandteile der Straße oder deren Umgebung, die sich entlang der Straße erstrecken, eignen sich besonders gut als Referenz. Diese braucht lediglich ausgewählt und als Grundlage für die automatische Steuerung der Straßenfräse verwendet zu werden.Particularly preferably, an area of the road and / or a region of the surroundings of the road is used as a reference. Various elements of the road or their surroundings, which extend along the road, are particularly suitable as a reference. This only needs to be selected and used as a basis for the automatic control of the road milling machine.

Insbesondere wird eine Kante und/oder ein Vorsprung der Straße bzw. der Umgebung der Straße als Referenz verwendet. Eine Kante und/oder ein Vorsprung lässt sich leicht detektieren, so dass sie sich gut als Referenz zur automatischen Lenkung eignet.In particular, an edge and / or a projection of the road or the surroundings of the road is used as a reference. An edge and / or a protrusion is easily detected so that it is well suited as a reference for automatic steering.

Als Referenz kann auch eine Fräskante eines bereits abgefrästen Abschnitts der Straße verwendet werden. Sofern bereits ein Abschnitt der Straße abgefräst worden ist, befindet sich zumindest an dessen einem Rand eine Fräskante, die als Referenz für einen nächsten, parallelen Fräsvorgang entlang der Straße genutzt werden kann. Eine solche Fräskante stellt einen Vorsprung dar, der gut erfassbar ist und sich bereits entlang der Straße erstreckt.As a reference, a milling edge of an already milled section of the road can be used. If a section of the road has already been milled off, there is at least at one edge thereof a milling edge which can be used as a reference for a next, parallel milling process along the road. Such Milling edge is a projection that is easy to grasp and already extends along the road.

Besonders bevorzugt wird ein Kantenstein bzw. ein Bordstein der Straße als Referenz verwendet. Ein solcher Kantenstein bzw. Bordstein findet sich als Randeinfassung einer Straße oder auch als Randeinfassung eines zugehörigen Bürgersteigs bzw. Radwegs meistens am Rand der Straße. Er verläuft im Regelfall zumindest abschnittsweise parallel zu der Straße und eignet sich demnach besonders als Referenz.Particularly preferably, an edge stone or a curb of the road is used as a reference. Such curb or curb is found as a border of a road or as a border of an associated sidewalk or bike path usually at the edge of the road. As a rule, it runs at least in sections parallel to the road and is thus particularly suitable as a reference.

Denkbar ist es auch, als Referenz eine Leitplanke zu verwenden. Eine solche Leitplanke verläuft entlang der Straße im Wesentlichen parallel zu dieser und bietet besonders gute Eigenschaften, was ihre Erfassbarkeit betrifft. Eine Leitplanke reflektiert optische und akustische Wellen und insbesondere auf sie abgestrahlte Signale besonders gut. Darüber hinaus befinden sich Leitplanken typischerweise oberhalb der Straßenoberfläche, so dass aufgrund ihres Abstands zum Boden weniger Störungen durch Staub und ähnliches bei der Erfassung der Referenz zu erwarten sind. Auch Begrenzungspfähle oder ähnliches können als Referenz geeignet sein.It is also conceivable to use as a reference a guardrail. Such a guardrail runs along the road substantially parallel to it and offers particularly good properties in terms of their detectability. A guardrail reflects optical and acoustic waves and in particular signals that are radiated on them particularly well. In addition, guardrails are typically above the road surface, so that due to their distance from the ground less dust and similar disturbances are expected in the detection of the reference. Also limiting piles or the like may be suitable as a reference.

Insbesondere wird eine Markierung der Straße und/oder eine Markierung der Umgebung der Straße als Referenz verwendet. Eine solche Markierung kann beispielsweise eine Fahrbahnmarkierung, wie ein Mittelstreifen oder auch ein Randstreifen, sein. Die Markierung kann auch gezielt als Referenz auf der Straße bzw. in der Umgebung angebracht worden sein. Durch die Erfassung einer solchen Markierung ist eine Unabhängigkeit von Kantensteinen, Leitplanken oder auch Fräskanten gegeben, die in einigen Fällen nicht vorhanden bzw. als Referenz nicht tauglich sein können. Auch kann die Erfassung einer Markierung auf der Straße insbesondere mit Hilfe von Bilderfassungsmitteln Vorteile im Hinblick auf eine hohe Arbeitsgeschwindigkeit und -genauigkeit haben.In particular, a marking of the road and / or a marking of the surroundings of the road is used as a reference. Such a marking may be, for example, a lane marking, such as a median strip or an edge strip. The marking can also be targeted as a reference on the road or in the environment have been attached. By capturing such a mark is given an independence of edge stones, crash barriers or milling edges, which may not be available in some cases or may not be suitable as a reference. Also, the detection of a mark on the road, in particular with the aid of image acquisition means, can have advantages with regard to a high operating speed and accuracy.

Ein gespeichertes und/oder ermitteltes Profil der Straße bzw. der Umgebung der Straße kann besonders bevorzugt zur Erfassung der Referenz verwendet werden. Indem das Profil der Straße gespeichert und/oder beispielsweise durch Messwertgeber bzw. die Steuerungseinrichtung ermittelt wird, lässt sich die Auswahl der zu erfassenden Referenzen verbessern bzw. sogar automatisieren. Beispielsweise kann in Bereichen, in denen eine oder mehrere Referenzen unbrauchbare Messwerte liefern, automatisch auf eine andere Referenz gewechselt werden, die anhand des Profils ermittelt wird. Das Profil der Straße bzw. der Umgebung der Straße kann dazu insbesondere während des Abfräsens der Straßendecke kontinuierlich ermittelt werden bzw. bei Bedarf neu gespeichert werden. Besonders bevorzugt kann kontinuierlich ein Profil der Straße bzw. der Umgebung der Straße ermittelt werden, um dieses Profil selbst als Referenz zu verwenden.A stored and / or determined profile of the road or the surroundings of the road can be used with particular preference for detecting the reference. By storing the profile of the road and / or for example by means of transducers or the control device is determined, the selection of the references to be detected can be improved or even automate. For example, in areas where one or more references provide useless readings, they may automatically switch to another reference that is determined by the profile. The profile of the road or the surroundings of the road can be continuously determined in particular during the milling of the road surface or be re-saved if necessary. Particularly preferably, a profile of the road or the surroundings of the road can be determined continuously in order to use this profile itself as a reference.

Ein bevorzugtes Ausführungsbeispiel der Erfindung wird nachfolgend anhand der Zeichnung erläutert. In dieser zeigen:

  • Fig. 1 Eine Draufsicht auf eine erfindungsgemäße selbstfahrende Straßenfräse,
  • Fig. 2 eine Draufsicht eines Straßenabschnitts mit einer selbstfahrenden Straßenfräse vor dem Abfräsen eines Straßenbelags, und
  • Fig. 3 eine schematische Darstellung einer Draufsicht einer automatisch gelenkten, selbstfahrenden Straßenfräse beim Abfräsen des Straßenbelags.
A preferred embodiment of the invention will be explained below with reference to the drawing. In this show:
  • Fig. 1 A top view of a self-propelled road milling machine according to the invention,
  • Fig. 2 a plan view of a road section with a self-propelled road milling machine before milling a road surface, and
  • Fig. 3 a schematic representation of a plan view of an automatically steered, self-propelled road milling machine when milling the pavement.

Die Fig. 1 zeigt eine Draufsicht auf eine selbstfahrende Straßenfräse 10 zum Abfräsen schadhafter und/oder verschlissener Straßendecken. Das hier beschriebene Verfahren eignet sich zum Betrieb beliebiger selbstfahrender Straßenfräsen 10, ist also nicht auf die gezeigte Straßenfräse beschränkt.The Fig. 1 shows a plan view of a self-propelled road milling machine 10 for milling damaged and / or worn pavements. The method described here is suitable for operating any self-propelled road milling machines 10, so it is not limited to the road milling machine shown.

Die Straßenfräse 10 weist vier Fahrwerke 11 auf, die paarweise an ihren gegenüberliegenden Enden angeordnet sind. Im gezeigten Ausführungsbeispiel sind alle vier Fahrwerke 11 jeweils einzeln um vertikale Achsen 13 drehbar. Bei den Fahrwerken 11 handelt es sich in diesem Fall um Raupenfahrwerke, die jeweils einzeln antreibbar sind.The road milling machine 10 has four carriages 11, which are arranged in pairs at their opposite ends. In the exemplary embodiment shown, all four running gears 11 are individually rotatable about vertical axes 13. In the chassis 11 is in this case to crawler tracks, which are each driven individually.

Ein Lenken der Straßenfräse 10 ist durch paralleles Drehen von aus jeweils zwei Fahrwerken 11 an einem Ende der Straßenfräse 10 gebildeten Paaren von Fahrwerken 11 möglich. Dabei können lediglich die Fahrwerke 11 eines Paares in gleicher Richtung oder alternativ auch die Fahrwerke 11 eines weiteren Paares gegensinnig um ihre jeweiligen Achsen 13 gedreht werden. Auch andere Ausbildungen der Fahrwerke 11 sind denkbar. Beispielsweise können auch als Radfahrwerke ausgebildete Fahrwerke 11 - wie hier beschrieben - gelenkt werden. Mit zwei oder mehr feststehenden Raupenfahrwerken kann die Straßenfräse 10 durch unterschiedliche Antriebsgeschwindigkeiten und/oder -richtungen parallel angeordneter Fahrwerke gelenkt werden. Dementsprechend können, wie oben beschrieben ist, auch nur ein oder zwei Fahrwerke drehbar gelagert sein, um die Straßenfräse steuern zu können. Die Fahrwerke 11 sind außerdem um ihre vertikalen Achsen 13 jeweils einzeln motorisch drehbar. Ein Lenkeinschlag aller Fahrwerke 11 zum Fahren nach links ist in der Fig. 1 durch gestrichelt eingezeichnete Fahrwerke 15 angedeutet. Durch entsprechendes Drehen der Fahrwerke 11 um die Achsen 13 lassen sich damit nahezu beliebige Bewegungen der Straßenfräse 10 in der Ebene der Straßenoberfläche durchführen, insbesondere auch Seitwärtsbewegungen und Diagonal- bzw. Schrägfahrten.A steering of the road milling machine 10 is possible by parallel rotation of each of two carriages 11 at one end of the road milling machine 10 formed pairs of chassis 11. In this case, only the chassis 11 of a pair in the same direction or alternatively, the chassis 11 of another pair can be rotated in opposite directions about their respective axes 13. Other embodiments of the chassis 11 are conceivable. For example, trolleys 11 configured as wheel suspensions can also be steered as described here. With two or more stationary crawler tracks, the road milling machine 10 can be steered by different drive speeds and / or directions of parallel arranged landing gears. Accordingly, as described above, only one or two running gears can be rotatably mounted in order to be able to control the road milling machine. The trolleys 11 are also individually rotatable about their vertical axes 13. A steering angle of all chassis 11 to drive to the left is in the Fig. 1 by dashed lines 15 chassis indicated. By appropriately rotating the trolleys 11 about the axes 13, almost any movements of the road milling machine 10 in the plane of the road surface can thus be carried out, in particular also sideways movements and diagonal or oblique movements.

Die Straßenfräse 10 weist zum Abfräsen eines Straßenbelags 24 in Fräsrichtung 14 eine um eine horizontale Fräswalzendrehachse 16 drehbare Fräswalze auf, die sich auf der Unterseite des Rahmens 12 der Straßenfräse 10 befindet und daher in der Zeichnung nicht dargestellt ist. Von der motorisch angetriebenen Fräswalze abgetragenes Material des Straßenbelags 24 wird an das vordere Ende des Rahmens 12 transportiert und dort von einem Förderband 17 auf ein bereit stehendes, hier nicht gezeigtes Fahrzeug zum Abtransport geladen. Oberhalb der Fräswalze mit der Fräswalzendrehachse 16 befindet sich mindestens ein Bedienstand 19, von dem aus ein Fahrer 20 den Betrieb der Straßenfräse 10 überwachen kann.The road milling machine 10 has for milling a road surface 24 in the milling direction 14 about a horizontal Fräswalzendrehachse 16 rotatable milling drum, which is located on the underside of the frame 12 of the road milling machine 10 and therefore not shown in the drawing. Material of the road surface 24 removed by the motor-driven milling drum is transported to the front end of the frame 12 and loaded there by a conveyor belt 17 onto a ready-to-stand vehicle (not shown here) for removal. Above the milling drum with the Fräswalzendrehachse 16 is at least one control station 19, from which a driver 20 can monitor the operation of the road milling machine 10.

Zur automatischen Lenkung der Straßenfräse 10 sind Messwertgeber 23 an der Straßenfräse 10 angeordnet. Diese Messwertgeber 23 können eine ausgewählte Referenz, wie eine Kante, eine Böschung oder eine Farbmarkierung, erfassen. Verschiedene Arten von Messwertgebern 23 kommen dafür in Frage, wie mechanische Tastsensoren oder auch berührungslose Sensoren, zum Beispiel zur Entfernungsmessung mit Schall, Licht, insbesondere Laserlicht, usw. Auch Bilderfassungsmittel zum Beispiel in Form von Kameras oder Photodetektoren für sichtbares, infrarotes oder auch ultraviolettes Licht mit entsprechenden Bildauswertungseinheiten können zum Einsatz kommen. Schließlich ist es auch denkbar, elektronische Navigationsgeräte bzw. -systeme zu verwenden, womit die Straßenfräse so gesteuert wird, dass sie automatisch Referenzen in der Art von Koordinaten ansteuert.For automatic steering of the road milling machine 10, transducers 23 are arranged on the road milling machine 10. These transducers 23 may detect a selected reference, such as an edge, a slope, or a color marker. Various types of transducers 23 come into question, such as mechanical touch sensors or non-contact sensors, for example, for distance measurement with sound, light, especially laser light, etc. Also image capture means, for example in the form of cameras or photodetectors for visible, infrared or ultraviolet light with appropriate image evaluation units can be used. Finally, it is also conceivable to use electronic navigation devices or systems, whereby the road milling machine is controlled so that it automatically drives references in the form of coordinates.

Die Messwertgeber 23 können an beliebigen Stellen am Rahmen 12 der Straßenfräse 10 angeordnet sein, so dass die vom jeweiligen Messwertgeber 23 zu erfassende Referenz möglichst störungsfrei erfasst werden kann. Die Messwertgeber 23 können dazu vorzugsweise in der Nähe der Fräswalzendrehachse 16 beispielsweise seitlich am Rahmen 12 an der Straßenfräse 10 oder auch unterhalb des Rahmens 12 vorgesehen sein. Möglich ist auch eine Anordnung an den äußeren Kanten bzw. Ecken des Rahmens 12 der Straßenfräse 10, wie auch an verschiedenen anderen exponierten Stellen, wie zum Beispiel an Aufbauten. Die Messwertgeber 23 können zusätzlich auch in der Höhe und/oder seitlich verstellbar bzw. an teleskopartigen Auslegern angeordnet sein, so dass ihr Einsatzbereich vergrößert wird. Um einen möglichst großen Erfassungsbereich abdecken zu können, können einzelne Messwertgeber 23 an erhöhten Positionen, wie beispielsweise an einem Dach der Straßenfräse 10, angeordnet sein. Ein Bilderfassungsmittel als Messwertgeber 23, wie eine Kamera, wird dabei vorzugsweise so angeordnet, dass es die zu erfassende Referenz möglichst senkrecht von oben erfassen kann und gleichzeitig durch einen großen Abstand zur Fahrbahn vor Verschmutzungen geschützt ist.The transducers 23 can be arranged at arbitrary locations on the frame 12 of the road milling machine 10, so that the reference to be detected by the respective transducers 23 can be detected as trouble-free as possible. For this purpose, the transducers 23 can preferably be provided in the vicinity of the milling drum rotation axis 16, for example laterally on the frame 12 on the road milling machine 10 or else below the frame 12. Also possible is an arrangement at the outer edges or corners of the frame 12 of the road milling machine 10, as well as at various other exposed locations, such as on superstructures. The sensors 23 may additionally be arranged in height and / or laterally adjustable or on telescopic arms, so that their application area is increased. To the largest possible coverage To be able to cover individual transducers 23 may be arranged at elevated positions, such as on a roof of the road tiller 10. An image capture means as a transmitter 23, such as a camera, is preferably arranged so that it can detect the reference to be detected as perpendicular as possible from above and is simultaneously protected by a large distance from the roadway from contamination.

Das Verfahren zum Betrieb der selbstfahrenden Straßenfräse 10 wird anhand der Fig. 2 und 3 erläutert:

  • Die Straßenfräse 10 wird zunächst mit der Fräswalzendrehachse 16 am Beginn eines abzufräsenden Straßenabschnitts 21 platziert.
The method for operating the self-propelled road milling machine 10 is based on the Fig. 2 and 3 explains:
  • The road milling machine 10 is first placed with the milling drum rotation axis 16 at the beginning of a road section 21 to be scoured off.

Die Straßenfräse 10 bewegt sich dazu im Wesentlichen in Fräsrichtung 14 und wird dabei automatisch von einer nicht gezeigten Steuerungseinrichtung gelenkt. Die Steuerungseinrichtung empfängt zumindest einen Teil der Signale der Messwertgeber 23, um aufgrund dessen entsprechende Lenkbewegungen der Fahrwerke 11 Straßenfräse einzuleiten. Die Lenkung wird dazu von einem entsprechenden Antrieb betätigt. Zur Steuerung der Lenkung dienen die Messwertgeber 23, indem sie kontinuierlich den Abstand der Straßenfräse 10 zu der gewählten Referenz, in dem gezeigten Fall zu dem Bordstein 22, bestimmen. Durch Lenkbewegungen der Fahrwerke 11 in Richtung des Bordsteins 22 bzw. von diesem weg, je nachdem, ob die Straßenfräse 10 gemäß den Messergebnissen der Messwertgeber 23 einen zu großen bzw. zu kleinen Abstand zu dem Bordstein 22 als gewählter Referenz aufweist, wird die Abweichung vom eingestellten Abstand zur Referenz kompensiert, so dass die Straßenfräse 10 einen im Wesentlichen konstanten Abstand zu dem Bordstein 22 während des Abfräsens einhält. Eine zu kompensierende Abstandsänderung kann beispielsweise durch eine Kurve in oder eine Änderung der Breite der Straße auftreten. Kurze Unterbrechungen der Referenz werden durch paralleles Erfassen der mindestens einen Referenz mit mehreren Messwertgebern 23 kompensiert, während endende Referenzen, wie beispielsweise ein fehlender Bordstein 22 an einer Straßeneinmündung, durch eine geeignete alternative Referenz ersetzt werden müssen.For this purpose, the road milling machine 10 essentially moves in the milling direction 14 and is automatically guided by a control device (not shown). The control device receives at least a portion of the signals from the transducers 23 in order to initiate road milling machines on the basis of their corresponding steering movements of the running gears 11. The steering is operated by a corresponding drive. To control the steering serve the transmitter 23 by continuously determine the distance of the road tiller 10 to the selected reference, in the case shown to the curb 22. By steering movements of the chassis 11 in the direction of the curb 22 and away from this, depending on whether the road tiller 10 according to the measurement results of the transmitter 23 too large or too small distance to the curb 22 as a selected reference, the deviation from adjusted distance from the reference, so that the road tiller 10 maintains a substantially constant distance to the kerbstone 22 during the milling. A distance change to be compensated may occur, for example, by a curve in or a change in the width of the road. Short breaks in the reference are compensated for by detecting the at least one reference with multiple transducers in parallel, while ending references, such as a missing curb 22 at a road junction, must be replaced by a suitable alternative reference.

Die Straßenfräse 10 wird nun im Wesentlichen in ihrer Fräsrichtung 14 den gesamten abzufräsenden Straßenbelag 24 einmal entlang gelenkt, wobei sie dem Verlauf des Straßenabschnitts 21 folgt. Dabei trägt sie den Straßenbelag 24 mit Hilfe der auf der Fräswalzendrehachse 16 gelagerten Fräswalze ab, so dass ein vom Straßenbelag 24 befreiter Unterbau 25 der Straße freigelegt wird. Somit wird ein erster Streifen des Straßenbelags 24 abgefräst, wie dieses in Fig. 3 zu sehen ist.The road milling machine 10 is now guided along its entire direction in the milling direction 14 the entire road surface 24 to be scoured, following the course of the road section 21. It wears the road surface 24 with the help of mounted on the Fräswalzendrehachse 16 milling drum, so that one of the road surface 24th liberated substructure 25 of the road is exposed. Thus, a first strip of the road surface 24 is milled, as this in Fig. 3 you can see.

Die Steuerungseinrichtung übernimmt die Lenkung der Straßenfräse 10 auf Basis von Messergebnissen der Messwertgeber 23. Die Abstände der Straßenfräse 10 zu der mindestens einen Referenz werden vom Fahrer 20 vorgewählt bzw. von der Steuerungseinrichtung anhand der Messdaten mindestens eines Messwertgebers 23 festgelegt. Die Steuerungseinrichtung steuert während des folgenden Fräsvorgangs die Lenkung der Straßenfräse 10 so, dass der eingestellte Abstand zur Referenz möglichst genau eingehalten wird. Bei Abweichungen in die eine Richtung wird gegensinnig in die andere gelenkt. Der Lenkeinschlag richtet sich dabei vorzugsweise nach der Größe der Abweichungen. Dementsprechend wird bei kleinen Abweichungen lediglich wenig gegengelenkt, während bei starken Abweichungen stark gegengelenkt werden muss. In einer Gefahrensituation, beispielsweise aufgrund von Hindernissen im Gefahrenbereich rundum, insbesondere vor oder neben der Straßenfräse 10, stoppt die Steuerungseinrichtung den automatischen Betrieb sofort und bremst die Straßenfräse 10 schnellstmöglich ab. Der Fahrer 20 ist unabhängig davon jederzeit in der Lage, in den Betrieb der Straßenfräse 10 einzugreifen, um die Steuerung und Lenkung derselben zu übernehmen. Diese dient insbesondere dazu, Fehlfunktionen oder drohende Gefahrensituationen, die zum Beispiel noch nicht durch einen Messwertgeber 23 erfasst worden sind, abzuwenden.The control device takes over the steering of the road milling machine 10 on the basis of measurement results of the sensors 23. The distances of the road milling machine 10 to the at least one reference are preselected by the driver 20 or determined by the control device based on the measurement data of at least one transmitter 23. During the following milling process, the control device controls the steering of the road milling machine 10 so that the set distance from the reference is maintained as accurately as possible. Deviations in one direction are directed in opposite directions in the other. The steering angle preferably depends on the size of the deviations. Accordingly, only little is deflected with small deviations, while strong deviations must be strongly countered. In a dangerous situation, for example due to obstacles in the danger area all around, in particular in front of or next to the road milling machine 10, the control device stops the automatic operation immediately and brakes the road milling machine 10 as quickly as possible. Independently of this, the driver 20 is always able to intervene in the operation of the road milling machine 10 in order to take over the control and steering thereof. This serves, in particular, to avert malfunctions or imminent hazardous situations which, for example, have not yet been detected by a transmitter 23.

Am linken Rand des abgefrästen Straßenbelags 24 ist durch das erste Abfräsen eine Fräskante 26 entstanden, die beispielsweise auch als Referenz für einen weiteren Fräsvorgang dienen kann. Dieses ist in Fig. 3 gezeigt, in der die Straßenfräse 10 einen weiteren Streifen des Straßenbelags 24 abfräst, indem die Straßenfräse 10 sich wieder im Wesentlichen in Fräsrichtung 14 bewegt und dabei nun automatisch entlang der Fräskante 26 gelenkt wird, die aber ebenso auch dem Verlauf des Straßenabschnitts 21 folgt. Dabei entsteht eine neue Fräskante 27 des zweiten, sich an den ersten anschließenden abgefrästen Streifens des Straßenbelags 24, die wieder als Referenz für einen weiteren Fräsvorgang dienen kann. Gleiches gilt ebenso für den linken Bordstein 29 des Straßenabschnitts 21, der sich hier am besten für den letzten Fräsvorgang eignet, da zum Abtragen des restlichen Straßenbelags 24 bis an diesen Bordstein 29 heran gefräst werden muss.At the left edge of the milled road surface 24, a milling edge 26 has been created by the first milling, which can also serve as a reference for a further milling operation, for example. This is in Fig. 3 shown, in which the road milling machine 10 mills another strip of road surface 24 by the road milling machine 10 again moves substantially in the direction of milling 14 and is now automatically directed along the milling edge 26, but also also follows the course of the road section 21. This results in a new milling edge 27 of the second, at the first subsequent milled strip of the road surface 24, which can serve as a reference for another milling operation again. The same applies equally to the left curb 29 of the road section 21, which is best suited here for the last milling process, since for the removal of the remaining road surface 24 to this curb 29 has to be milled up.

Zusätzlich zu der Referenz beispielsweise in Form des Bordsteins 22 des Straßenabschnitts bzw. der Fräskante 26 kann als Referenz beispielsweise auch eine Fahrbahnmarkierung 28 dienen, die von den Messwertgebern 23 der Straßenfräse 10 erfasst wird. Hierzu eignen sich besonders gut optische Messwertgeber 23, wie Photodetektoren oder Kameras mit Bildauswertung. Dazu wird vorzugsweise ein Helligkeits- oder Farbmuster von einer Bildauswertungseinheit ausgewertet und die Position bzw. der Verlauf der Referenz ermittelt.In addition to the reference, for example in the form of the curb 22 of the road section or the milling edge 26, a roadway marking can also be used as a reference, for example 28, which is detected by the transducers 23 of the road milling machine 10. Particularly suitable for this purpose are optical transducers 23, such as photodetectors or cameras with image evaluation. For this purpose, a brightness or color pattern is preferably evaluated by an image evaluation unit and the position or course of the reference is determined.

Der in einem oder mehreren Schritten abgefräste Straßenbelag 24 legt insgesamt den Unterbau 25 der Straße frei, der dann als Grundlage für einen erneuerten Straßenbelag 24 dienen kann.The milled road surface 24 in one or more steps exposes a total of the substructure 25 of the road, which can then serve as a basis for a renewed road surface 24.

Es ist noch denkbar, die automatische Steuerung der Lenkung mit einem elektrischen Navigationssystem vorzunehmen. Dieses elektronische Navigationssystem, vorzugsweise ein GPS-Navigator, kann Messwertgeber 23 ersetzen.It is still conceivable to make the automatic control of the steering with an electric navigation system. This electronic navigation system, preferably a GPS navigator, can replace transducers 23.

Das Navigationssystem steuert die Straßenfräse 10 anhand von Sendern entlang des abzufräsenden Straßenbelags 24 und/oder anhand von im Navigationssystem eingegebenen Koordinaten, die den Verlauf des abzufräsenden Straßenbelags 24 entsprechen bzw. wiedergeben.The navigation system controls the road milling machine 10 on the basis of transmitters along the road surface 24 to be scoured and / or on the basis of coordinates entered in the navigation system which correspond or reproduce the course of the road surface 24 to be scoured.

Bezugszeichenliste:LIST OF REFERENCE NUMBERS

1010
Straßenfräseroad milling machine
1111
Fahrwerklanding gear
1212
Rahmenframe
1313
Achseaxis
1414
FräsrichtungMilling direction
1515
Fahrwerklanding gear
1616
FräswalzendrehachseFräswalzendrehachse
1717
Förderbandconveyor belt
1919
Bedienstandoperating platform
2020
Fahrerdriver
2121
Straßenabschnittroad section
2222
Bordsteincurbstone
2323
MesswertgeberTransmitters
2424
Straßenbelagroad surface
2525
Unterbausubstructure
2626
Fräskantemilling edge
2727
Fräskantemilling edge
2828
Fahrbahnmarkierungroad marking
2929
Bordsteincurbstone

Claims (14)

  1. Method for operating a self-propelled road milling machine (10), wherein a milling drum in the road milling machine (10) is used to mill an, in particular, damaged road covering (24) off a road by steering the road milling machine (10) along the road covering (24) to be removed, wherein during the milling off of the road covering (24) the road milling machine (10) is steered automatically along the road covering (24) to be removed, characterized in that in order to steer the road milling machine at least one reference is detected by a plurality of measuring transducers (23), and a plurality of measuring transducers (23) are operated in parallel, wherein brief interruptions in a reference as a result of parallel detection of the at least one reference with a plurality of measuring transducers (23) are compensated.
  2. Method according to Claim 1, characterized in that the road milling machine (10) is steered as a function of the at least one reference, preferably with an electronic navigation system.
  3. Method according to Claim 1 or 2, characterized in that at least during the milling off of the road covering (24) the at least one reference is continuously detected, and preferably a plurality of references are detected selectively or together.
  4. Method according to one of Claims 2 or 3, characterized in that the road milling machine (10) is steered automatically at an adjustable distance from the at least one reference, wherein the at least one reference is preferably detected mechanically and/or in a contactless fashion.
  5. Method according to one of Claims 2 to 4, characterized in that the measuring transducers (23) include, in particular, a sensor, at least one transmitter, at least one mechanical sensing element and/or an image-capturing means, wherein a reference is preferably detected by means of a plurality of, in particular different, measuring transducers (23).
  6. Method according to Claim 5, characterized in that a plurality of identical and/or different measuring transducers (23) are evaluated in parallel.
  7. Method according to Claim 5 or 6, characterized in that at least one of the measuring transducers (23) can be shifted and/or moved in a fashion which is offset with respect to the road milling machine (10), in particular laterally with respect thereto.
  8. Method according to one of Claims 2 to 7, characterized in that one of the references is detected by at least one measuring transducer (23), preferably jointly by a plurality of measuring transducers (23), in particular for monitoring purposes.
  9. Method according to one of Claims 2 to 8, characterized in that a reference which runs essentially along the road covering (24) to be milled off is used.
  10. Method according to one of Claims 2 to 9, characterized in that a region of the road and/or of the surroundings of the road is used as a reference.
  11. Method according to one of Claims 2 to 10, characterized in that an edge and/or a projection of the road or of the surroundings of the road is used as a reference, in particular an edge stone, a crash barrier and/or a kerbstone (22, 29) are/is used as a reference.
  12. Method according to one of Claims 2 to 11, characterized in that a milling edge (26, 27) of the part of the road which has already been milled off is used as a reference.
  13. Method according to one of Claims 2 to 12, characterized in that a marking in the road or in the surroundings of the road is used as a reference.
  14. Method according to one of Claims 2 to 13, characterized in that a stored and/or acquired profile of the road or of the surroundings of the road, in particular positions along the road or the surroundings of the road are/is used during the detection of the reference, preferably in conjunction with an electronic navigation system and/or a navigation computer.
EP09006453.6A 2008-05-15 2009-05-13 Method for operating a self-propelled street miller Active EP2119832B1 (en)

Applications Claiming Priority (1)

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DE200810023743 DE102008023743A1 (en) 2008-05-15 2008-05-15 Method for operating a self-propelled road milling machine

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EP2119832B1 true EP2119832B1 (en) 2016-11-23

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DE102011106139B4 (en) * 2011-06-10 2015-04-02 Wirtgen Gmbh Method and device for determining a surface milled by at least one construction machine or mining machine with a milling drum
DE102011113752B4 (en) * 2011-09-19 2021-05-06 Bomag Gmbh Milling device with a sensor device for milling edge detection, method for milling edge detection and sensor device for milling edge detection.
DE102012001289A1 (en) 2012-01-25 2013-07-25 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
FR2986203B1 (en) * 2012-01-31 2014-03-21 Peugeot Citroen Automobiles Sa PARKING AID DEVICE COMPRISING A SENSOR FOR MEASURING THE DISTANCE SEPARATING FROM THE SENSOR OF AN OBSTACLE SUCH AS A SIDEWALK
US9121146B2 (en) 2012-10-08 2015-09-01 Wirtgen Gmbh Determining milled volume or milled area of a milled surface
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DE102014018082B4 (en) * 2014-12-08 2020-03-19 Bomag Gmbh Method for controlling a construction machine, control system for a construction machine, and construction machine
DE102016015499A1 (en) 2016-12-23 2018-06-28 Bomag Gmbh Ground milling machine, in particular road milling machine, and method for operating a ground milling machine
DE102019104850A1 (en) 2019-02-26 2020-08-27 Wirtgen Gmbh Paver
DE102019118059A1 (en) 2019-07-04 2021-01-07 Wirtgen Gmbh Self-propelled construction machine and method for controlling a self-propelled construction machine
DE102019005156B3 (en) 2019-07-24 2020-09-03 Otto Alte-Teigeler Gmbh Control method for machine guidance in parallel direction to the existing longitudinal surface structure and device for using this method
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DE102008023743A1 (en) 2009-11-19

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