EP2573266A2 - Method for controlling a loading procedure of a transport vehicle with milled material, apparatus for carrying out such a method and a device for milling - Google Patents

Abstract

The method involves detecting the relative position of a transport container (3) in a loading area of a milling device (1) with the help of a sensor unit. the loading operation is started by starting up a conveyor (10). The relative position of the transport container is monitored with the help of the sensor unit. A signal is outputted, if a predetermined filling of the transport container is determined. The sensor unit determines a removal of the transport container from the loading area, particularly stopping of the loading operation. An independent claim is included for a device for controlling a loading operation of a transport container of a transport vehicle by a milling device of a milling machine.

Description

The invention relates to a method for controlling a loading process of a transport vehicle with milled material, a device for carrying out such a method and a milling device, in particular road milling machine, with such a device.

Milling devices are known from the prior art which have a milling rotor carried by a machine frame and arranged transversely to the working direction. In milling operation, such milling devices travel over the ground, wherein the milling rotor dips into the ground and mills soil material through the processing tools arranged on the rotating milling rotor. In milling operation, the milling device thus moves in the working direction and passes over the soil to be processed. Typical applications of such milling devices include road construction and road construction, for example in the form of road milling, and the degradation of soil material, for example in open pit mining. Such milling devices are preferably also designed as self-propelled machines, which can be dispensed with separate towing vehicles.

An essential aspect in the operation of such milling devices is the handling of the milled material, ie the milled from the milling rotor material. In many situations of use, it is necessary that the milled material is removed from the milling site by means of a suitable transport device, for example a lorry. For this purpose, the milling device usually has a conveying device via which the milled material can be transported or conveyed from the area of the milling rotor to the transport container of the transport vehicle during the milling operation of the milling device. Different embodiments are known with regard to the specific arrangement of the conveyor in relation to the transport vehicle. In addition to the possibility that the conveyor with respect to the working direction of the milling device, the milled material to the rear ("backloader") or transported to the side ("side loader"), has turned out to be particularly suitable for milling machine designed as a road milling machines forward conveyor belt ("muzzle"). The latter has the advantage that the transport vehicle can drive during the milling work in front of the milling device on the not yet milled ground. In particular, this load variant, however, the milling guide usually before increased demands. Thus, in particular, the visibility of the preceding transport trucks are poor and the router operator, for example, can not fully see the loading trough. Even the driver of the transport truck can not see the loading belt. This is all the more true if the visibility is further limited by the local conditions, as is often the case especially in road construction, for example by road curves, narrow streets, flowing traffic in the environment, ground obstacles, such as Gullideckel, etc. In addition, the milling leader is responsible for a safe work process, especially with regard to traffic safety and personal safety. For a perfect removal of the milled material as precise as possible monitoring of the loading process is desirable. On the one hand, the milled material, often milled road surface, on a comparatively high density, so that it can quickly come to overload situations. On the other hand, the transport trucks usually used here move at speeds of up to 100 km / h, so that overloaded vehicles can pose a particularly high security risk.

Due to the fact that the milling device is usually in driving mode during working or milling operation, i. moves in the direction of travel, the transport vehicle often can not persist in one place over the entire loading process away. Rather, it must move with the milling device in the working direction in order to remain in the loading range of the conveyor. Since the milling device frequently moves comparatively slowly in milling operation, a repetitive approach and stop of the transport vehicle has proven itself, wherein at the same time, in particular, a uniform loading of the transport container of the transport vehicle can be achieved. This process will be explained further below by way of example with reference to the operation of a front loader road milling machine.

In milling operation, a transport vehicle with a transport container in front of the milling device anticipates this and picks up the milled material via the conveying device. In this case, the coordination of the movement of the milling device and the transport vehicle is of particular importance. On the one hand, it must be ensured that the milled material can be dropped from the conveyor into the transport container of the transport vehicle. On the other hand, there is a collision between Both vehicles in milling and loading operation to prevent. According to the previous state, the responsibility for coordinating the relative position of the transport vehicle to the milling device lies essentially with the machine operator of the milling device. This constantly observes the distance of the cutting vehicle to the transport vehicle and instructs the driver of the transport vehicle continuously on the commands "drive forward", "stop" and "depart" for adjusting the position of the transport vehicle relative to the milling in the direction of moving forward milling device. This is usually done via horns. In concrete terms, the milling device advancing essentially at a constant operating speed approaches the transport vehicle up to a minimum distance. The operator then gives the command "ancestor" until the transport vehicle has advanced at the maximum distance for the loading process and causes the transport vehicle with the command "stop" to stop. The maximum distance is the distance between the transport vehicle and milling device, in which the conveyor can drop the milled material just in the rear of the transport container without milled material drops in significant quantities behind the transport container on the ground. The minimum distance is corresponding to the distance at which the conveyor just drops the milled material in the front region of the transport container or in which the milling device does not yet collide with the transport vehicle, depending on which distance is greater. As soon as the transport container of the transport vehicle has reached its desired filling, which is also observed by the operator of the milling device, the machine operator signals with the command "depart" that the loading process is completed. Then the loaded transport vehicle leaves. This type of loading process makes a total of enormous demands on the operator of the milling device, in addition to the milling process (especially observation of the milling edge, operation and control of the machine during the milling process and locating the environment of the machine) always the loading process or the relative position between the transport vehicle and must observe the milling device. This leads to a considerable burden on the machine operator.

The object of the invention is now to provide a way to relieve the operator during the working operation of the milling device and the simultaneous loading of the transport vehicle.

The object is achieved with a method for controlling a loading process of a transport vehicle with milled material, with a device for carrying out such a method and with a milling device, in particular a road milling machine, according to the independent claims. Preferred developments are specified in the dependent claims.

The basic idea of the invention lies in the fact that the machine operator with the embodiments according to the invention is relieved of the necessity of continuous observation of the relative position of the transport container of a transport vehicle in relation to the milling apparatus and this process, at least in essential parts, runs automatically according to the invention. Accordingly, the operator no longer has to continuously ensure that the transport vehicle is always in a position suitable for loading during the milling operation of the milling device and can accordingly concentrate on carrying out the milling work itself.

An essential aspect of the invention resides in a method for controlling a loading process of a transport container of a transport vehicle, which is loaded by a milling device in the milling operation, wherein the milling device comprises a conveyor via which milled material is conveyed into the transport container during the milling operation of the milling device. The method according to the invention comprises the steps of a) detecting the relative position of the transport container in the loading area of the milling device by means of a sensor device, b) starting the loading process by starting the conveyor, c) monitoring the relative position of the transport container by means of the sensor device and preferably also controlling the loading process depending on the relative position of the transport container and'd) outputting a signal to the machine operator of the milling device when a desired filling of the transport container is detected or when the sensor device detects a removal of the transport container from the loading area. In this case, the output of the signal in accordance with step d) can take place, for example, by means of an optical and / or acoustic signal and / or also include an automatic stopping of the loading process. The inventive method is thus characterized in an essential aspect by the monitoring of the transport container by a sensor device, which is designed for detecting and tracking the position of the transport container and preferably also for monitoring the level or for monitoring to achieve a desired filling during the loading process. As a result, an automated monitoring of the loading process is possible, so that the machine operator no longer observe the position of the transport container relative to the milling device at any time and, depending on the embodiment, the driver of the transport vehicle must give appropriate control commands. Instead, he can focus on the milling work. At the same time, for example, as possible allows central loading of the transport container, so that the milled material can be distributed in the transport container to the edge regions by gravity and trickle.

With the first step, detecting the relative position of the transport container in the loading area of the milling device with the aid of a sensor device, according to the method, the determination as to whether a transport container is present in the loading area of the milling device takes place. The loading area of the milling device is the area in which the conveyor can convey or deposit milled material obtained during the milling process. The loading area is, for example, when using a arranged on the milling conveyor belt as a conveyor in other words the discharge area of the conveyor belt. The loading area shifts accordingly depending on the height and other factors, such as the rotational speed of the conveyor belt of the conveyor belt. Only when the loading area is above the transport container of the transport vehicle, the milled material is thus dropped into the transport container. The relative position according to the method refers to the position of the transport container in relation to the milling device and especially in relation to the conveyor of the milling device. According to the invention, the sensor device is designed in such a way that it can detect the presence of at least one subarea of the transport container in the loading area for receiving milled material. Specific embodiments of the sensor device will be described in more detail below. In principle, for example, a two-dimensional test can be carried out as to whether the loading area overlaps with at least one part of the transport container in the horizontal plane. Alternatively, three-dimensional information, for example the distance of the loading area to the transport container in the vertical direction, can be taken into account in addition.

After the sensor device has ascertained the presence of at least one subarea of the transport container in the loading area or ensures that the milled material dropped by the transport device lands in the transport container, then the loading process is started by putting the conveyor into operation. This can be done automatically, for example. Alternatively, for example, a start or release circuit can be enabled, which allows a manual start of the loading process by the machine operator. Under commissioning of the conveyor falls according to the invention even signaling to the machine operator, which has determined the sensor device that the loading area is positioned above the transport container. The coordination between the steps a) and b) takes place via a control unit, which communicates with the sensor device and optionally further devices, such as the release circuit, the milling device is functionally connected. A functional connection exists when communication between two elements is possible via the connection and, in particular, data and / or control commands can be received and / or sent. A functional connection thus comprises, in addition to a mechanical connection, also line connections, for example for the transmission of electrical or optical signals, and also wireless connections, for example radio connections.

During the loading process, the milling device moves on the abzufräsenden underground. In this case, a continuous monitoring of the relative position of the transport container to the milling device or to the loading area of the conveyor takes place by means of the sensor device. The essential element of this step is thus that the sensor device continues to check continuously to what extent the loading area of the conveyor is located at least over a partial area of the transport container and the milled material is correspondingly dropped into the transport container. At the same time, depending on the monitoring result (or depending on the question as to whether the loading area is above the transport container), a signal is output, for example optically, acoustically and / or in the form of at least one control function, if a nominal filling has been reached or the loading area is not more completely overlaps with the transport container or with the receiving opening of the transport container. The output of a signal is thus to be understood broadly and includes all measures which are suitable to alert the operator to the situations "target filling reached" and / or "transport container removed from loading area". By controlling an optical and / or acoustic signaling device, it is possible, for example, to alert the operator to the achievement of the desired filling or to the removal of the transport container from the loading area. The outputting of a signal can alternatively or additionally also be pure control functions. For example, under control functions for the loading process, first of all all measures can be taken which in some way have an influence on the loading process, in particular, in particular, the commands "conveyor on" and "conveyor off". It goes without saying that different signals or control functions can be triggered simultaneously. Overall, a considerable relief in particular of the milling guide is made possible because he no longer has to continuously observe and control the loading process of the milled material on the transport vehicle.

The loading process is preferably stopped according to the method when a desired filling of the transport container is determined or as soon as the sensor device removes the Detects transport container from the loading area. The nominal filling is that filling which must not be exceeded in order to avoid overloading the transport vehicle. The desired filling may be defined by the filling volume of the transport container and / or in particular by the filling weight of the transport container. The achievement of the desired filling can be determined concretely in different ways. Ideally, this is also done with the help of the sensor device, although other methods, such as weight-based methods, are possible. A removal of the transport container from the loading area can for example be present when the distance between the milling device and transport vehicle is too large. This can be done in the milling operation, in particular in the back or to the side unloading milling devices, when the milling device in milling away too far from the transport vehicle or according to muzzle forefront milling when the transport vehicle is moved too far forward or not yet close enough to the milling device in that the transport container is not yet in the loading area of the transport device and therefore milling material can not yet be thrown into the transport container.

The specific implementation of the position determination of the transport container by the sensor device may vary. Thus, for example, corresponding marking elements may be present on the transport container, which selectively recognizes the sensor device and thereby makes inferences about the current position of the transport container. These may be, for example, suitable reflectors and / or transponder elements. However, the sensor device can be designed in particular in such a way that it detects the upper edge of the transport container or its peripheral edge, as is possible, for example, with known optoelectronic devices. On the one hand, this has the advantage that the transport container does not have to be designed in a special way; after all, the use of upwardly open and peripheral edge transport containers is absolutely customary, and, on the other hand, a multiplicity of devices are known, via which such "edge recognition" is known. can be reached quickly.

In principle, it is also possible to design the sensor device in such a way that it always detects the entire transport container or at least the peripheral upper edge of the transport container and monitors its relative position. Often this is not possible. This may be the case, for example, due to the specific arrangement of the sensor device and / or the dimensions of the transport container and / or the sensor field (area which the sensor device can detect). However, it has been shown that the detection of partial areas of the transport container by the sensor device for carrying out the inventive method is sufficient. In this case, it has proved to be advantageous if, during monitoring of the relative position of the transport container with the aid of the sensor device, the following operations occur: 1. Detecting at least a portion of the transport container, in particular a part of the upper edge of the transport container, and determining the filling state in this portion of the 2. storing the filling level detected in step 1 in the at least one subarea, 3. detecting a further subarea of the transport container, determining the filling state in this further subarea and storing the detected filling state of the further subarea, 4. determining the total filling with the aid of in step 3 currently determined and deposited in step 2 latest data, 5. updating the levels of already detected portions of the transport container and 6. Determining the degree of filling of the transport container on the basis of in relation to the individual subregions of the transport container each latest fill levels. The basic concept in this embodiment thus consists in a virtual division of the transport container into a plurality of subregions, which are each monitored by the sensor device. In parallel with this, the control unit creates a history of the subareas that have already been recorded, and finally determines the total filling of the transport container from the synopsis of the currently determined subarea and the additional subsections. Due to the fact that, in milling operation, the distance between the milling device and the transport vehicle changes between maximum approach in the loading area and maximum distance in the loading area, the sensor device is thus repeatedly guided with its detection area over the entire transport container, in particular its upper edge. Since, however, the sensor device can only check and monitor only a part of the transport container for reaching the desired filling, the sensor device can thus not simultaneously determine the degree of filling of the transport container in its entirety. The method according to the invention solves this problem in that it subdivides the transport container into a plurality of subregions and uses the filling states respectively determined for the subregions to determine the overall filling state of the transport container. In this case, the most up-to-date data record is always used, so that, for example, if the first sub-area has been checked by the sensor device three times in succession, the last and thus most recently determined filling state is used to determine the total filling. Specifically, these steps take place, for example, by a control unit, which receives the corresponding data from the sensor device, deposited and updated with respect to the respective subarea.

Essential criteria for a perfect filling of the transport container with milled material on the one hand, the loss-free as possible promotion of the milled material in the transport container with Help the conveyor and at the same time the maximum and / or uniform loading of the transport container with milled material in order to achieve efficient removal of the milled material from the workplace. The strategy for filling the transport container can provide a load from behind or from the front or preferably to protect the transport vehicle evenly over the transport container. In an advantageous embodiment, the invention proposes in this context that during the step c) (monitoring of the relative position ...) and in particular during the control of the loading process (which, for example, during the step c) can take place) detecting the discharge path of the from the conveyor into the transport container dropped milling material together with at least the rules of the lateral deflection of the discharge path relative to the transport container by a lateral adjustment of the conveyor and / or the rules of the discharge of the discharge path, in particular by regulating the operating speed of the conveyor, by a height adjustment of the conveyor and / or by adjusting the position angle of the conveyor takes place. In this case, working speed specifically refers in particular to the rotational speed of a conveyor belt of a conveyor belt. Regardless of the relative movement of the milling device to the transport container is thus varied in this embodiment, the discharge point of the material to be milled in the transport container in different ways and by adjustments of the conveyor. For this purpose, it is useful first necessary that the discharge point in the transport container is known. For this purpose, it can be provided that the sensor device detects the discharge path of the material to be milled and at least determines a virtual discharge point, in particular at the level of the upper edge of the transport container. It is important that the milled material can no longer fall out of the transport container below this virtual discharge point, which is the case below the upper edge of a transport container, for example. Subsequently, a fine control of the discharge track or an influencing of the virtual discharge point, in particular in the surface of the upper edge of the transport container, carried out in various ways and ways. Specifically, for example, a lateral deflection of the conveyor for lateral adjustment of the discharge path can be triggered so that the discharge point of the milling material in the working direction moves to the right or to the left. Side deflection thus refers to a change of the discharge track to the sides to the right or left. Additionally or alternatively, for example, the discharge of the discharge track, for example, by increasing or decreasing the rotational speed of a conveyor belt or the height adjustment or the position adjustment of the conveyor take place. Overall, a particularly uniform distribution of the milled material in the entire transport container can be achieved in this way. It goes without saying that to trigger the individual control functions suitable actuators are present and are controlled by the control unit.

In order to relieve the operator even further, it is in addition to the above-described monitoring by the sensor device, whether a transport container in the loading area, further preferred that the distance between the transport vehicle and milling device in the milling operation as largely automatically or at least without an individual intervention of the Machine operator is coordinated. According to the invention, the control unit is preferably designed in this case in such a way that it controls a signaling device depending on the degree of loading of the transport container and / or the distance between the milling device and the transport vehicle, which at least in each case a signal for the instructions "drive forward", " stop "and" drive off "indicates. The instructions are preferably carried out in a perceptible by the driver of the transport vehicle manner. The control unit is thus able via the signal device to regulate the relative position between the transport vehicle and the milling device by the automatic output of appropriate commands to the driver of the transport vehicle. Depending on the filling strategy, the machine operator of the milling device, for example, no longer has to take care that the transport vehicle advances and stops in time during the loading process and thus moves in a suitable manner with the milling device driving in the milling operation. This embodiment of the method according to the invention is characterized in that the driver of the transport vehicle automatically receives his travel commands during the loading process from the signal device controlled by the control unit. Alternatively, however, it may also be provided that the control unit controls the travel movement of the transport vehicle directly during the loading process, for example via corresponding remote control devices or via a mechanical coupling, which is designed in such a way that it can also be controlled by the control unit for distance regulation. Preferably, this method is used in road milling application, which loaded in the direction of forward and thus on a front driving transport vehicle.

As already mentioned above, the transport vehicle with its transport container oscillates relative to the milling device due to the repetitive advancing and stopping during the loading process between a maximum and a minimum spaced relative position. When forward or in the direction of loading loading milling devices, the transport vehicle is, for example, initially at a maximum distance. The maximum spacing is present when the milled material is just dropped in the rear of the transport container. The maximum distance thus corresponds to a position of the loading area of the milling device at the rear end of the transport container. In milling operation, the milling device approaches the transport vehicle standing in front of it in the working direction over time, until a minimum distance is reached. The minimum distance is reached when either a collision between the two vehicles is imminent or the milled material is just completely thrown into the front area of the transport container and not forward beyond the container. In the latter case, the loading area is thus at the front end of the transport container. The transport vehicle then drives forward again until the maximum distance is restored. This process is repeated until the transport container of the transport vehicle is filled in the desired manner. In a preferred embodiment, the control unit correlates this spacing process "maximum distance - minimum distance - maximum distance - ..." between the transport vehicle and the milling device in a targeted manner with an alternating detection of the front and the rear upper edge of the transport container. Targeted the front and rear upper edge of the transport container are thus used by the control unit as a measure of reaching the maximum distance (trailing edge of the transport container) and the minimum distance (leading edge of the transport container). This embodiment is particularly advantageous in that the sensor devices which can be used in this context can as a rule detect the front and the rear upper edge of the transport container in a particularly reliable and reliable manner since, for example, they are particularly visually distinct from their surroundings.

It is ideal if the control unit can access as many operating parameters of the milling device as possible in order to optimally control the loading process. The control unit thus preferably takes into account at least one and in particular more of the operating parameters "driving operation of the milling device", "driving speed of the milling device in milling operation", "activation of a milling rotor", "milling depth of a milling rotor", "operating status of the conveyor", "conveying speed of a conveyor belt Conveyor "," Side adjustment angle of the conveyor belt "or" Inclination angle of the conveyor belt ". The driving speed of the milling device in the milling operation is so far a particularly relevant size, as that it has a direct influence on the relative distance between the milling device in the working direction moving milling device and the transport vehicle. The activation of the milling rotor is relevant insofar as the milled material is obtained only when the milling rotor is activated. The milling depth of the milling rotor provides information about how much material to be milled per distance unit. The term "operating status" of the conveyor means, in particular, the determination as to whether the conveyor is in operation or not. The conveying speed of a conveyor belt of the conveyor means the rotational speed of the conveyor belt The lateral adjustment angle of the conveyor belt denotes the deviation of the conveyor belt position in the horizontal from a straight line running in the direction of the milling device and the angle of inclination of the conveyor belt accordingly gives the angular position of the conveyor belt Conveyor belt in a vertical plane in the conveying direction of the conveyor belt from a rising on the floor vertical. Both sizes are also particularly suitable for fine adjustment of Abwurfortes during the loading process, in particular the discharge. To determine the individual operating parameters, suitable devices, for example sensors, are preferably present in each case, which transmit the respective measured data to the control unit. If certain variables are actively controlled by the control unit, such as the inclination and / or lateral displacement angle of a conveyor belt, correspondingly suitable actuators are also present, which can be controlled by the control unit.

The invention also relates to a device for controlling a loading operation of a transport container of a transport vehicle by a milling device in the milling operation, ideally for carrying out the method described above, wherein the milling device comprises a conveyor via which during the milling operation of the milling device milled material is conveyed into the transport container. An essential element of the device according to the invention is a sensor device designed to detect the relative position of the transport container to the milling device and a control unit which controls the loading process on the basis of the relative position of the transport container to the milling device detected by the sensor device. In other words, the device is able to determine the distance of the transport container to the milling device and in particular to the conveyor, especially their discharge device, the milling device and forward it to the control unit. This device can be used accordingly to ensure that during the loading process, the transport container is within reach of the conveyor or in the loading area. The control unit can now be designed in a first aspect of the invention in such a way that it automatically interrupts the loading process of the conveyor when the sensor device has not detected a transport container in the loading area or the transport container has left the loading area. This ensures that only milled material is conveyed via the conveyor, although a transport container for receiving milled material in the loading area is present and the milled material can be promoted accordingly in the transport container.

In order to enable an efficient loading process, it is not necessary that the sensor device always covers the entire receiving area of the transport container. Rather, it is essential that the relevant filling opening for the transport container is detected or it is ensured that the milled material is conveyed as completely as possible into the transport container. Typical transport containers, for example suitably equipped articulated lorries, usually have a transport container open at the top, as a rule with a peripheral upper edge. The upper edge represents the outer dimensions of the transport container in the vertical direction. Sufficient position determination of the transport container relative to the milling device is accordingly already obtained with a sensor device which is designed to detect this upper edge of the transport container. In certain embodiments, it is also already sufficient if the sensor device is formed only for detecting a portion of the upper edge of the transport container. In practical use, the sensor device can thus distinguish regions of the upper edge and regions lying next to the upper edge inside and outside the transport container. It is crucial that the sensor device detects whether the milled material can be conveyed into the transport container and whether the loading area of the conveyor lies within the outer dimensions of the transport container.

In principle, in the case of the specific design of the sensor device, reference may be made to all sensor devices known in the prior art and suitable for the present application. For this purpose, suitable transponder elements, reflectors, etc., for example, can be present on the transport container, which can serve for position determination in interaction with a suitable sensor device. However, the use of a sensor device with a sensor which is designed to acquire spatial information or 3D information is preferred. For this purpose, a camera device with at least two image pickup elements arranged at a distance from each other is particularly suitable, in particular a so-called stereo vision camera. In principle, however, alternative electro-optical devices are possible, such as in particular a camera with a PMD sensor ( Photonic Mixer Device ). Electro-optical devices are generally characterized by their comparatively simple installation and their high reliability in practical use. A stereo vision camera and a camera with a PMD sensor are particularly advantageous insofar as they can be used to obtain three-dimensional information particularly well, which is advantageous, for example, with regard to filling level determination of the transport container. PMD sensors also enable efficient external light suppression, whereby the sensor device can be supplied to a wider range of applications.

The concrete structural design and arrangement of the sensor device may vary. In principle, it is possible to arrange the sensor device completely or at least partially on the side of the transport container. In this case, the sensor device thus determines, based on the position of the transport vehicle, the relative position of the milling device or the discharge device of the conveyor device. However, the sensor device is particularly preferably arranged on the side of the milling device, so that it is not necessary to equip the individual transport vehicles with corresponding components of the sensor device. On the side of the milling device thus designates an arrangement on the milling device or at least on a co-moving with the milling device element. Since the transport containers are usually loaded from above, it is particularly useful to arrange the sensor device in such a way that on the one hand it can determine the dimensions of the transport container and, ideally, its fill level. The sensor device is for this purpose at least partially higher in the vertical direction than the transport container and in particular arranged as to be overcome by the conveyor upper edge of the transport container. In detail, such an arrangement of the sensor device succeeds particularly well on the conveying device of the milling device, which preferably comprises a conveyor belt and a supporting frame. Conveyor belt and support frame thus form a functional unit, which is often arranged obliquely pointing upwards at the milling device and usually projects beyond the upper edge of the transport container. For this embodiment, it is particularly suitable if the sensor device is arranged on the support frame, in particular in the upper end region of the support frame. The support frame comprises both directly the conveyor belt-carrying elements as, for example, trim parts, cross struts, etc. The upper end is in relation to the maximum longitudinal extent of the conveyor belt in the vertical direction above third. The sensor device is ideally arranged as high as possible lying on the support frame in order to achieve as full as possible angle of view in the transport container. The sensor device is further preferably designed as a structurally independent module with its own housing, for example, to be suitable for retrofitting. In principle, however, the sensor device can also be integrated in components of the milling device.

In addition to relieving the operator of the permanent check whether a transport container is within the loading area, it is also advantageous if the device for controlling a loading operation can also influence the relative positioning of the transport vehicle in relation to the milling device in a certain way. For this purpose, in a preferred embodiment, for example, a signal device operated by the control unit be present, which is designed to display at least the three control functions "drive forward", "stop" and "depart". The signaling device essentially has the task to signal to the driver of the transport vehicle regardless of the operation by the operator of the milling device, whether he should stop during the loading process or during the milling operation of the milling device, a piece should advance or, in the event that Transport container has reached its desired filling, should depart. For this purpose, the signaling device is preferably arranged on the milling device, in particular on a part of the milling device facing the transport vehicle. According to alternative embodiments, however, a mobile signaling device is also possible, which can be attached, for example, in the area of the driver of the transport vehicle for the loading process, or a more extensive system solution, for example, has permanently integrated signaling devices on the side of the transport vehicle and / or the milling device, which automatically, for example, via radio, in conjunction with the usually arranged on the milling device control unit. For signaling purposes, the signaling device can basically refer to all that is suitable for this purpose. Ideally, the signal device for displaying the at least three control functions comprises an optical and / or acoustic display element. An optical display element may be, for example, a light panel, a screen or the like, via which, similar to a traffic light, various command symbols can be visually displayed. The acoustic display element may be, for example, a horn, in which case in a further preferred embodiment, the horn, which is already provided by default in a generic milling device, is used by the control unit. For each command, a specific Hupfolge etc. can be provided.

As already mentioned above, in practical use cases arise in which the sensor device can not detect or detect the complete transport container and in particular the complete peripheral upper edge of the transport container for each loading position of the transport vehicle relative to the milling device. Rather, the sensor device registers whether the loading area lies at least in a part of the transport container. In this case, the sensor device preferably further determines in which direction the transport container (for example, forward or backward) extends or in which direction it extends. This question is relevant in that it can be determined by whether the loading area coincides with the front or the rear of the transport container. However, the assessment of the extent to which the transport container has reached its nominal filling depends on the total filling of the transport container. Here is in other words also the at the moment of the sensor device not covered part of the transport container to be considered. According to the invention, it is provided in a situation that the control unit comprises a memory element, in particular in the form of a rolling memory, wherein the memory element is designed to store the data determined by the sensor device and stores the respective most recent data record in relation to the respective section of a transport container. Based on the entire transport container, the control unit thus creates a history of the data acquired by the sensor device for the individual subregions. Due to the fact that the milling device approaches the initially maximally spaced transport vehicle during the loading process up to a minimum distance and the sensor device is arranged at least in such a way that it can completely cover the transport container or its upper edge over this approaching process, it is possible that with the sensor device and the creation of a history, the complete detection of the transport container or at least the complete peripheral upper edge of the transport container and the total degree of filling of the transport container can be determined, although the sensor device detects only a portion of the transport container currently. A rolling memory in which the most recent data for each subsection of the transport container are stored and the older data are discarded accordingly, is advantageous in that it only requires a comparatively small storage capacity.

The present device relieves the leader of the milling device in so far as it takes over control tasks regarding the positioning of the transport vehicle in relation to the milling device. However, for reasons of safety, this appropriately automated process should be able to be manually overridden by the operator of the milling device at any time. Preferably, therefore, an actuating device with an actuating means is provided, which is arranged within reach of an operator on the milling device, wherein the actuating device is designed in such a way that control commands, in particular for activating and deactivating the device for controlling a loading operation, via the actuating means entered and can be transmitted to the control device via the actuating device. The machine operator of the milling device is thus not necessarily reliant on the function of the device according to the invention for controlling a filling process, but can make manual inputs that are prioritized over the automatic control commands of the control unit.

Finally, the invention also relates to a milling machine, in particular a road milling machine or device for mining soil material, especially with a projecting direction Transport device, with the device according to the invention for carrying out the method according to the invention.

Fig. 1a und 1b

Seitenansicht und Draufsicht auf eine Fräsvorrichtung und ein Transportfahrzeug;

Fig. 2a und 2b

Seitenansicht und Draufsicht auf die Fräsvorrichtung aus den Figuren 1 a und 1 b mit Sensoreinrichtung;

Fig. 3a, 3b und 3c

Draufsichten zum Ablauf des Beladungsvorgangs;

Fig. 4

Veranschaulichung der Teilerfassung des Transportbehälters durch die Sensoreinrichtung;

Fig. 5a und 5b

Regelvorgänge durch die Steuereinheit in Seitenansicht und Draufsicht;

Fig. 6

Schema zur Funktionsweise der Steuereinheit; und

Fig. 7

Ablaufdiagramm zur Steuerung eines Beladungsvorgangs.

The invention will be explained with reference to exemplary embodiments indicated in the drawings. They show schematically:

Fig. 1a and 1b

Side view and top view of a milling device and a transport vehicle;

Fig. 2a and 2b

Side view and top view of the milling device from the FIGS. 1 a and 1 b with sensor device;

Fig. 3a, 3b and 3c

Plan views of the end of the loading process;

Fig. 4

Illustration of the partial detection of the transport container by the sensor device;

Fig. 5a and 5b

Control operations by the control unit in side view and plan view;

Fig. 6

Scheme for the operation of the control unit; and

Fig. 7

Flow chart for controlling a loading process.

The same components are given below with the same reference numerals.

The FIGS. 1 a and 1b illustrate a typical working situation of a milling device 1 in side view ( Fig. 1a ) and in plan view ( Fig. 1b ). The milling device 1 milled while milling soil material in the respective set milling depth FT and promotes this milled material (milled soil material) in the transport container 3 of a transport vehicle 2 (specifically, a semitrailer). For this purpose, the milling device 1 comprises a machine frame 4, a chassis 5 (comprising a total of four individual lifting columns with caterpillar nacelles), an operator workstation 6 and a milling rotor 8 mounted in a milling drum box 7, lying transversely to the working direction a of the milling apparatus 1 over the base 9 to be scoured emotional. The milled material is transported via a conveying device designed as a conveyor belt 10 from the milling device 1 to the transport vehicle 2. The conveyor belt 10 extends in the present embodiment to the front or in the working direction a and is obliquely forward and directed vertically upward from the machine frame 4 of the milling device 1 from. The conveying path of the milled material in the conveyor is in Fig. 1a indicated by the dotted arrows. At the upper end 11 of the conveyor belt 10, the milled material is ejected and ends up in the transport container 3. As soon as the transport container 3 has reached its desired filling, the transport vehicle 2 moves away from the milling device 1 and becomes, for example replaced by another transport vehicle 2 with empty transport container 3 to continue the milling. The transport container 3 is thus loaded from above by the ejected from the conveyor belt 10 milled material. The transport container 3 in this case has a front and a rear wall and corresponding side walls and a bottom and has a total of a substantially box-shaped appearance. The receiving space of the transport container 3 is bounded above by a peripheral upper edge 12.

In practical use, the milling device 1 moves in the milling operation at a nearly constant speed, however, relatively slowly in the direction of a. The transport vehicle 2, however, does not move at the same speed, but at intervals or in stop-and-go operation, as a continuous forward drive at the pace of the milling device would have severe wear on the transport vehicle 2 result. When in the working direction a forwardly unloading milling device 1, the transport vehicle is initially with the distance ΔA _max , measured here in the working direction a as the distance between the machine frame 4 and the rear side of the transport container 3, in the working direction a in front of the milling device 1. During the milling operation the milling device 1 initially moves towards the transport vehicle 2 in the working direction a until the minimum distance ΔA _min (FIG. Fig. 1 b) is reached. In order to prevent a collision of both vehicles or a dropping of the material to be milled beyond the front edge of the transport container, the transport vehicle 2 then moves on reaching the minimum distance ΔA _min again and stops when the _maximum output distance ΔM _max to the milling device 1 is reached again. Relatively speaking, the distance between the milling device 1 and the transport vehicle 2 thus generally increases and decreases several times between ΔA _max and ΔA _min during a loading process. The minimum distance ΔA _min and the maximum distance ΔA _max are dimensioned such that on the one hand there is no collision between the two vehicles and at the same time the milled material as completely as possible and distributed over the entire length of the transport container 3 in the transport container 3 (over the top edge 12) is dropped.

Previously, it was necessary to coordinate this relative movement of both vehicles to each other that the operator of the milling device 1 signaled to the driver of the transport vehicle 2, when the minimum distance ΔA _min has been reached and the transport vehicle 2 is to be set in motion when the maximum distance reaches ΔA _max is and the transport vehicle 2 is to stop, and finally when the transport container 3 has reached its desired filling and should not be loaded further, so that the transport vehicle 2 can depart. At the same time, the operator of the milling device 1 had to observe and control the milling process itself, so that the machine operator of the milling device 1 was involved in a variety of different tasks and were made correspondingly high demands on him.

To relieve the machine operator of the milling device 1, a sensor device according to the invention is now provided, with the aid of which the operator is substantially relieved of the observation and constant instruction of the transport vehicle 2 over the milling operation. The mode of operation and the specific arrangement of the sensor device will be explained in more detail with reference to the embodiments given in the following figures.

According to the embodiment in the FIGS. 2a and 2b The sensor device comprises a sensor camera 13 for detecting 3D or spatial information (specifically, a stereo vision camera), which is arranged in the upper end region of the conveyor belt 10 with a view towards the transport vehicle 3. The sensor camera 13 is arranged so high that it is positioned above the upper edge 12 of the transport container 3. The sensor camera 13 is thus aligned on the conveyor belt 10 in such a way that it is aligned with its detection field in the filling opening of the transport container 3 (limited by the upper edge 12) into it. The detection field is the area that is detected by the sensor camera 13. The detection cone 14 of the sensor camera 13 is in the FIGS. 2a and 2b indicated by the dotted, gray underlying cone. The sensor camera 13 is in particular able to at least partially detect the upper edge 12 of the transport container 3 or to distinguish it from the environment and thus determine and track its relative position to the milling device 1. At the same time can be detected in the present embodiment by the special orientation of the sensor camera 13 at least in a partial area of the interior of the transport container 3, whereby the current level with milled material in the transport container 3 can be determined. In this case, the sensor camera 13 with its detection cone 14 does not detect the complete upper edge 12 of the transport container 3 and also not the complete receiving space of the transport container 3 but, depending on the distance of the milling device 1 from the transport vehicle 2, in each case a partial area.

The sensor camera 13 is connected to a control unit 15, as shown in FIG Fig. 2a is exemplified by the dashed connection line 15 '. The control unit 15 receives the data determined by the sensor camera 13 and determines therefrom in more detail below the Gesamtfüllzustand the transport container 3. In addition, the control unit 15 coordinates in the present embodiment, the positioning of the transport vehicle 2 relative to the milling device 1 and controls to a display device 16 as a function of the relative distance of the transport vehicle 2 to the milling device 1. The operation of the display device 16 is shown below in Fig. 6 further explained.

The Figures 3a, 3b and 3c illustrate the operation of the present device for controlling the loading process from the FIGS. 2a and 2b continue, where Fig. 3a the maximum distance ΔA _max between the milling device 1 and transport vehicle 2 and Fig. 3b indicate the minimum distance ΔA _min in each of the plan view. Fig. 3c Finally, the case in which the transport vehicle 2 is not yet or no longer within the loading area 17 of the milling device 1 is concerned. For reasons of clarity, the control unit 15 in the FIGS. 3a to 3c not specified.

The loading area 17 is that area at the level of the upper edge 12 of the transport container 3, within which the milled material falls from the conveyor belt 10 into the transport container 3. In other words, the loading area 17 indicates the area into which the milled material coming from the conveyor belt 10 enters the receiving area of the transport container 3 bounded by the upper edge 12 to the sides. Only when at least part of the transport container 3 is in the loading area 17 or when the loading area is completely in the horizontal direction within the outer edges 12 of the transport container 3, the milled material from the conveyor belt 10 completely falls into the transport container 3. With the change in the relative distance between the milling device 1 and The loading area 17 is also displaced in relation to the transport vehicle 2 and in particular to the transport container 3 in order to enable the transfer of the material to be milled from conveyor belt 10 into the transport container 3 as completely as possible. The loading area 17 should ideally be located in the area of the transport container 3 because otherwise milled material falls next to the transport container 3.

Fig. 3a indicates the maximum distance of the forward loading milling device 1 at. This is ultimately defined by the upper edge 12 of the rear wall 18 of the transport container 3 and their distance from the machine frame 4 of the milling device 1. If the distance between the milling device 1 and the transport vehicle 2 increases further, milled material falls next to the transport container 3 behind the transport vehicle 2. Der Minimum distance .DELTA.A _min is reached when the milling device 1 has moved up far enough to the transport vehicle, that the upper edge 12 of the front wall 19 of the transport container adjacent to the loading area 17 (so that the milled material just just completely falls into the transport container 3) or the milling device. 1 moved so close to the transport vehicle 2 that there is just no collision between the two vehicles. It goes without saying that the position of the loading area in practical use is not necessarily below the conveyor belt, but may for example also be offset forward in the discharge direction. When using the in the FIGS. 2a and 2b specified device with the sensor camera 13, the control unit 15 and the display device 16 (in the FIGS. 3a to 3c not stated separately) it follows that the milling device 1 relative to the transport vehicle 2 for a complete load between the maximum distance .DELTA.A _max and the minimum distance ΔA _min commutes, because the transport vehicle 2 for the reasons mentioned above is not uniform with the uniformly in the working direction a working milling device 1 is moved. The interval-like ancestor of the transport vehicle 2, triggered by reaching the minimum distance .DELTA.A _min , up to the maximum distance .DELTA.A _max is coordinated by the controlled by the control unit 15 display 16, so that the operator of the milling device 1 is no longer on an appropriate spacing between the two vehicles Working operation must pay attention. Fig. 3c Finally, it indicates the case in which the transport vehicle 2 is too far away from the milling device 1 or, in other words, no transport container 3 in the loading area 17 is detected by the sensor camera 13. In this case, the control unit 15 is designed in such a way that the loading process is not started automatically and rather in the concrete embodiment, a warning message is issued to the machine operator. However, the control of the milling device 1 is formed in such a way that the operator can start the operation of the conveyor belt 10 without the presence of a transport container 3 in the loading area 17 manually. The loading area 17 can also vary in size and be adapted to the individual circumstances. It is important that the loading area 17 a to the edge of the transport container 3 spaced, preferably in the working direction a center, ensures loading, so that the edge distribution of the material to be milled in the transport container 3 takes place essentially by gravity and trickle. Further details of the interaction between the sensor camera 13, the control unit 15 and the display device 16 are described below in the Fig. 6 specified further.

Fig. 4 illustrates the operation for determining the Gesamtfüllzustandes of the transport container 3 in the event that the sensor device, specifically the sensor camera 13, not the transport container 3 detected in total, but rather only a partial section. For this purpose, the transport container 3 is virtually subdivided into the four subregions 20a to 20d, wherein alternatively, for example, also markings on the upper edge 12 of the transport container 3 for delimiting the subregions 20a to 20d and detection by the sensor camera 13 may be present. It goes without saying that the subdivision is also much finer and even partially overlapping can be done. The sensor camera 13 is designed in such a way that it respectively detects a partial section 20a, 20b, 20c or 20d when approaching the milling device 1 to the transport vehicle 2 in the working direction a, wherein the individual partial regions present in the order 20a, 20b, 20c, 20d to be run over when approaching the transport vehicle 2. If the transport vehicle 2 subsequently advances relative to the milling device up to the maximum distance ΔA _max , the detection of the subregions 20a to 20d takes place in the reverse order. When detecting the partial area 20d, the minimum distance ΔA _min between the milling device 1 and the transport vehicle 2 is reached. As soon as the sensor camera 13 has detected a subarea 20a, 20b, 20c or 20d, it deposits the fill state of the transport container for this subarea determined in each case for one of the subareas 20a to 20d in a memory of the control unit 15. If a subarea is monitored several times by the sensor camera 13 , the most current data record is stored in the memory. The control unit 15 is now designed in such a way that it accesses a respectively current ascertained data record for a partial area (for example partial area 20a) and for the remaining partial areas (in this case, for example partial areas 20b, 20c and 20d) stored filling states and from these Values the total filling condition of the transport container 3 determined. This makes it possible to adequately monitor the overall filling state of the transport container 3, although the corresponding sensor device, specifically the sensor camera 13, only recognizes a partial section of the transport container 3 for filling level determination.

The FIGS. 5a and 5b relate to a further developed embodiment of the control unit 15. The control unit 15 of FIGS. 5a and 5b is not only designed to evaluate the data determined by the sensor camera 13, but at the same time to control certain machine functions. This is in Fig. 5a illustrated by the connection of the control unit 15 with a machine controller 21. In the present exemplary embodiment, the machine controller 21 is essentially designed to control functions with regard to the positional orientation and the transport speed of the conveyor belt 10. For example, it is possible with the machine controller 21, the side deflection α ( Fig. 5b ; Deflection in the horizontal plane), the vertical deflection β (deflection in the vertical plane) and the discharge width w to be varied by regulating the conveying or circulating speed of the conveyor belt 10, wherein for the respective applications appropriate actuated by the machine control 21 actuators are present, the Control adjustment of the respective operating variables. The angle α as Seitenverstellwinkel results from the adjustment of the longitudinal extent of the conveyor belt in the horizontal plane in relation to the longitudinal extent of the conveyor belt 10 in the working direction a. The angle β, as a measure of the vertical adjustment, however, gives the lowering or angle of attack the conveyor belt 10 or its longitudinal extent in relation to a vertical vertical. For an adjustment of the angle α, the conveyor belt 10 according to arrow b in Fig. 5b , for an adjustment of the angle β, the conveyor belt 10, however, according to arrow c in Fig. 5a adjusted. The regulation of the conveying speed of the conveyor belt 10 leads in the final result to a shift of the loading area 17 or a change in the respective discharge width, as shown in FIG Fig. 5a is indicated by the Abwurfweiten w1 to w3. The discharge width w1 results at a comparatively low and the further discharge widths w2 and w3 at respectively higher rotational speeds of the conveyor belt 10.

Fig. 6 now the integration of the control unit 15 from the FIGS. 5a and 5b in the milling device 1 in detail. The control unit 15 thus initially detects the data determined by the sensor camera 13 and monitors the filling state of the transport container 3 on the basis of this data. The control unit 15 is also connected to the machine control unit 21. On the one hand, the control unit 15 receives information from the machine controller 21, for example with regard to the current operating state of the milling rotor 8 (in milling mode or off), with regard to the working or travel speed of the milling device 1, with regard to the conveying speed of the conveyor belt 10, etc. For this purpose, corresponding sensors connected via the machine control 21 to the control unit 15, which in Fig. 6 are indicated by the reference numeral 22. Based on the data supplied by the sensor device 13, the control unit 15 determines whether the loading area 17 lies completely in the transport container 3 and, if so, whether regulation of the position of the conveyor belt, for example by the actuation of the actuators 23 (for vertical adjustment) and 24 (For the horizontal adjustment) and / or a regulation of the discharge width w via a control of the rotational speed of the conveyor belt (for example via a control of the motor controller 25 for the drive roller of the conveyor belt) is required.

The control unit 15 further coordinates the optical display device 16 and an acoustic signaling device 26 to the driver of the transport vehicle 2, the commands "advance", "stop" and "depart" depending on the distance of the transport container 3 to the milling device 1 indicate. Both the visual indicator 16 and the audible indicator 26 can operate independently of each other and are capable of "stopping" 27, "driving forward" 28 and "departing" 29 automatically in response to the results determined by the sensor device 13 in terms of location and filling state of the transport container 3 without own intervention by the machine operator of the milling device 1 display.

Fig. 7 Finally, illustrates the essential steps for carrying out the method for controlling a loading operation of the transport container 3 of the transport vehicle 2 by the milling device 1 in the milling operation.

In step 30, the relative position of the transport container 3 is initially detected in the loading area 17 of the milling device 1 with the aid of the sensor camera 13. In this step, the sensor device 13 determines in other words whether the loading area lies inside the transport container 3 and milling material is thus completely in the transport container 3 would be promoted. Once the control unit 15 determines that the loading area 17 is within the upper edge 12 of the transport container 3, the control unit 15 starts the loading operation by putting the conveyor belt 10 into operation according to step 31 and / or, in an alternative embodiment, to the machine operator of the milling device in that the loading process can be started. The control unit 15 uses the sensor camera 13 to monitor the relative position of the transport container in accordance with step 32 over the loading operation and controls the loading operation as a function of the relative position of the transport container 3. The loading process can initially be controlled such that the control unit 15 controls the loading operation Conveyor belt 10 automatically shuts off when the loading area 17 is no longer within the bounded by the top edge 12 receiving opening of the transport container 3 or the machine operator of the milling device is a corresponding signal. In an alternative further preferred embodiment, controlling the loading process according to step 33, however, also includes the regulation of further operating parameters, such as the position of the conveyor belt in the horizontal plane and its inclination and the control of the rotational speed of the conveyor belt 10 to regulate the discharge of the milled material at the exit the conveyor belt 10. As soon as the control unit determines the achievement of the desired filling of the transport container, it preferably signals this to the machine operator of the milling device 1 and / or, depending on the embodiment, automatically stops the loading process according to step 34.

Parallel to these process steps, the control unit 15 simultaneously assumes in Fig. 7 In the embodiment shown, the control of the signal device 16 and / or 26, wherein initially to step 30, the achievement of the minimum distance .DELTA.A _min according to step 35 is awaited. The control unit 15 then outputs via the signal device 26 and / or 16 the command "drive forward" 28 according to step 36 until the maximum distance between the milling device 1 and the transport vehicle 2 ΔA _{max is} reached. At this time, the control unit signals 15 in step 37 "stop" 27 and thus gives the driver of the transport vehicle 2 the command to stop. The sequence of steps 35 to 37 may be repeated several times, as in Fig. 7 indicated by the dashed line. Once the transport container 3 has reached its desired filling, the control unit 15 according to step 38 via the signal devices 16 and / or 26, the command "depart" 29 to signal the driver of the transport vehicle 2 the completion of the filling process.

Claims (17)

Method for controlling a loading operation of a transport container (3) of a transport vehicle (2) by a milling device (1) in the milling operation, wherein the milling device (1) comprises a conveyor (10) via which during the milling operation of the milling device (1) milled material in the Transport container (3) is conveyed, and a control unit (15), comprising the steps: a) detecting (30) the relative position of the transport container (3) in the loading area (17) of the milling device (1) by means of a sensor device (13); b) starting (31) the loading process by putting the conveyor (10) into operation; c) monitoring (32) the relative position of the transport container (3) by means of the sensor device (10); and d) issuing a signal when a desired filling of the transport container (3) is determined and / or as soon as the sensor device detects a removal of the transport container (3) from the loading area (17), in particular stopping (34) of the loading operation. Method according to claim 1,
characterized,
that in step c) the following process steps take place: 1) detecting at least one subregion (20a, 20b, 20c, 20d) of the transport container (3), in particular a part of the upper edge (12) of the transport container (3), and determining the filling state in this subregion (20a, 20b, 20c, 20d) of the transport container (3); 2.) storing the level detected in step 1) in the at least one subregion (20a, 20b, 20c, 20d); 3.) Detecting a further subarea (20a, 20b, 20c, 20d) of the transport container (3), determining the filling state in this further subregion (20a, 20b, 20c, 20d) and storing the detected filling state of the further subarea (20a, 20b , 20c, 20d); 4.) determining the total filling with the help of the currently determined in step 3.) and in step 2.) stored latest data; 5.) Updating the levels of already detected portions (20a, 20b, 20c, 20d) of the transport container (3); and 6.) Determining the degree of filling of the transport container based on the in each case with respect to the individual subregions of the transport container levels. Method according to one of the preceding claims,
characterized,
in that, in step c), the loading process is controlled by detecting the discharge path of the milling material dropped from the conveyor (10) into the transport container (3) and at least one of the steps - Rules of the lateral deflection of the discharge track relative to the transport container (3) by a lateral adjustment of the conveyor (10); and - Rules the discharge of the discharge track, in particular by regulating the working speed of the conveyor (10), by a height adjustment of the conveyor (10) and / or by adjusting the attitude angle of the conveyor (10). Method according to one of the preceding claims,
characterized,
in that the control unit (15) controls a signaling device (16) in dependence on the degree of loading of the transport container and / or the distance between the milling device (1) and the transport vehicle (2), which at least in each case drive a signal for the instructions "move forwards" (28 ), "stop" (27) and "exit" (29). Method according to one of the preceding claims,
characterized,
in that the control unit (15) controls the travel movement of the transport vehicle (2) during the loading process. Method according to one of the preceding claims,
characterized,
in that the control unit (15) controls the signaling device (16) or the transport vehicle (2) in response to an alternating detection of the front and rear upper edges (12) of the transport container (3). Method according to one of the preceding claims,
characterized,
that the control unit (15) comprises at least one of the following operating parameters of the milling device (1) for controlling the loading operation takes into account: - Driving speed of the milling device (1) in milling operation; - Activation of a milling rotor (8); - Milling depth of a milling rotor (8); - Operating status of the conveyor (10); - conveying speed of a conveyor belt (10) of the conveyor; - Seitenverstellwinkel the conveyor belt (10); or - Inclination angle of the conveyor belt (10). Device for controlling a loading process of a transport container (3) of a transport vehicle (2) by a milling device (1) in the milling operation, wherein the milling device (1) comprises a conveyor (10) via which during the milling operation of the milling device (1) milled material in the Transport container (3) is promoted,
characterized,
in that it has a sensor device designed to detect the relative position of the transport container (3) to the milling device (1), and that it comprises a control unit (15) which, based on the relative position of the transport container (3) to the milling device (1) detected by the sensor device controls the loading process. Device for controlling a loading process according to claim 8,
characterized,
that the sensor device for detecting at least a partial area (20a, 20b, 20c, 20d) is formed of the upper edge (12) of the transport container (3). Device for controlling a loading process according to one of claims 8 or 9,
characterized,
in that the sensor device comprises a camera device (13) which is designed to detect 3D information. Apparatus for controlling a loading process according to claim 10,
characterized,
in that the camera device (13) comprises an electro-optical device with a sensor camera, in particular a stereo-vision camera (13) or a sensor camera with a PMD sensor. Device for controlling a loading process according to one of claims 8 to 11,
characterized,
that the conveyor comprises a conveyor belt (10) and a support frame, and that the sensor device is arranged on the support frame, especially in the upper end of the support frame. Device for controlling a loading process according to one of claims 8 to 12,
characterized,
in that a signal device actuated by the control unit (15) is provided, which is designed to output at least the three control functions "driving forward" (28), "stopping" (27) and "driving away" (29). Device for controlling a loading process according to claim 13,
characterized,
in that the signal device for outputting the at least three control functions (27, 28, 29) comprises an optical and / or acoustic output element (16). Device for controlling a loading process according to one of claims 8 to 14,
characterized,
that the control unit (15) includes a memory element, in particular in the form of a rolling memory, wherein the memory element configured to store the data determined by the sensor device and with respect to the respective section (20a, 20b, 20c, 20d) of the transport container ( 3) stored the most recent record. Device for controlling a loading process according to one of claims 8 to 15,
characterized,
in that an actuating device is present with an actuating means arranged on the milling device (1) within reach of an operator, wherein the actuating device is designed in such a way that control commands, in particular for activating and deactivating the device, can be input via the actuating means and via the actuating means Actuating device to the control unit (15) are transferable. Milling machine, in particular road milling machine or device for mining soil material, with a device according to one of claims 8 to 16, in particular for carrying out a method according to one of claims 1 to 7.

Images