Abstract
The present invention relates to a method for controlling a road milling machine comprising a milling drum and a rear blade when there is an obstacle located in the ground to be milled, comprising the following steps: a) Milling the ground at a predetermined milling depth (FT) along a working direction (a); b) Advancing the road milling machine in the working direction (a) towards the obstacle located in the ground; c) Raising the milling drum and the rear blade out of the ground in the working direction (a) in front of the obstacle; d) Moving over the obstacle in such a way that the milling drum remains out of contact with the obstacle; e) Lowering the milling drum and the rear blade to the predetermined milling depth (FT) in the working direction (a) behind the obstacle and continuing the milling of the ground, wherein the road milling machine is controlled in such a way that in step c) the raising of the milling drum is carried out before the raising of the rear blade out of the ground, wherein the road milling machine continues to move in the working direction (a) between the raising of the milling drum and the raising of the rear blade. The present invention also relates to a road milling machine for performing the method.
Claims
1. A method for controlling a road milling machine comprising a milling drum and a rear blade when there is an obstacle located in the ground to be milled, the method comprising: a) milling the ground at a predetermined milling depth (FT) along a working direction (a); b) advancing the road milling machine in the working direction (a) towards the obstacle located in the ground; c) raising the milling drum and the rear blade out of the ground in the working direction (a) in front of the obstacle; d) moving over the obstacle in such a way that the milling drum remains out of contact with the obstacle; and e) lowering the milling drum and the rear blade to the predetermined milling depth (FT) in the working direction (a) behind the obstacle and continuing the milling of the ground, wherein the road milling machine is controlled in such a way that in step c) the raising of the milling drum is carried out before the raising of the rear blade out of the ground, wherein the road milling machine continues to move in the working direction (a) between the raising (23) of the milling drum and the raising of the rear blade.
2. The method according to claim 1, wherein the raising of the milling drum leaves an excavation area (AB) in which the milling depth (FT) of the milled track begins to decrease in the working direction (a) as a result of the raising of the milling drum, wherein the excavation area (AB) has a front edge (VK) at its deepest point, wherein the raising of the rear blade takes place at a displacement point (V.sub.2) along the working direction (a) which is at a distance (y) from the front edge (VK) of the excavation area (AB) which is smaller than a distance (x) of the rear blade from an axis of rotation of the milling drum, or the raising of the rear blade takes place at a displacement point (V.sub.3) along the working direction (a) which is on the front edge (VK).
3. The method according to claim 1, wherein the raising of the rear blade is controlled in such a way that a lower edge of the rear blade facing the ground follows a predetermined trajectory (T) during the raising, taking into account the advancement speed and the acceleration of the road milling machine.
4. The method according to the preceding claim 1, wherein the trajectory (T) has at least one of the following features: the trajectory (T) comprises exclusively one movement transverse to the working direction (a) vertically upwards, which is not superimposed with a traveling movement of the road milling machine in the working direction (a), and a subsequent movement horizontally in the working direction (a); the trajectory (T) comprises a plurality of step-wise movements transverse to the working direction (a) vertically upwards, wherein the lower edge is moved horizontally in the working direction (a) between the steps, and wherein the step-wise vertical movements are not superimposed with a traveling movement of the road milling machine in the working direction (a); the trajectory (T) comprises at least one tilted movement, simultaneously transverse to the working direction (a) vertically upwards and horizontally in the working direction (a); and the trajectory (T) follows a ramp (R) in the excavation area (AB) created by the raising of the milling drum in such a way that the lower edge substantially abuts the surface of the ramp (R) over the entire excavation area (AB).
5. The method according to claim 1, wherein at least one sensor device is arranged in front of the milling drum in the working direction (a), which sensor device is designed to detect obstacles in the ground to be milled, wherein the at least one sensor device comprises an inductive, capacitive or magnetic sensor, an optical sensor, or a sound sensor.
6. The method according to claim 1, wherein in order to carry out steps c), d) and e), an extension (E) of the obstacle in the working direction (a) is input in advance by the operator, or in that the extension (E) of the obstacle in the working direction (a) is determined by a sensor device.
7. The method according to claim 1, wherein steps c), d) and e) are carried out automatically, triggered by a single control command from an operator or by the detection of an obstacle by a sensor device.
8. The method according to claim 5, wherein the operator is shown a representation of the obstacle on a display device produced from data obtained from a sensor device, and in that the operator can specify on the display device the front and rear edges of the obstacle in the working direction (a), wherein steps c), d) and e) are then carried out in such a way that the milling drum remains out of contact with the edges of the obstacle specified by the operator.
9. The method according to claim 5, wherein the position in the working direction (a) at which the raising of the milling drum is carried out is determined taking into account the position of the obstacle, the milling depth (FT) and also the geometry of the milling drum in order to keep the milling drum out of contact with the obstacle.
10. The method according to claim 1, wherein during steps c) and d) a conveyor device of the road milling machine is put out of operation automatically.
11. The method according to claim 1, wherein to continue the milling of the ground according to step e), machine settings with regard to milling depth (FT) and/or advancement speed and/or operation of the conveyor device are automatically set as machine settings set in step a).
12. The method according to claim 3, wherein the lowering of the rear blade to the predetermined milling depth (FT) in the working direction (a) behind the obstacle is controlled in such a way that the lower edge of the rear blade follows the same trajectory (T) as followed during the lowering as during the raising, in the opposite direction.
13. A road milling machine for milling a ground in a working direction (a), comprising: a machine frame supported by travel devices; a milling drum case mounted on the machine frame having a front blade, two side blades and a rear blade which is height-adjustable relative to the machine frame; a milling drum mounted rotatably about an axis of rotation in the milling drum case; and a control device, wherein the control device is designed to carry out the method according to claim 1.
14. The road milling machine according to claim 13, wherein the road milling machine has an adjusting device for adjusting the height of the rear blade, which is designed in such a way that the rear blade is adjustable to below a lower apex of the milling drum by at least 10% of the diameter of the milling drum.
15. The method according to claim 5, wherein the magnetic sensor comprises a metal detector.
16. The method according to claim 5, wherein the optical sensor comprises a camera or a thermal imaging camera.
17. The method according to claim 5, wherein the sound sensor comprises an ultrasonic sensor.
18. The road milling machine according to claim 13, wherein the road milling machine has an adjusting device for adjusting the height of the rear blade, which is designed in such a way that the rear blade is adjustable to below a lower apex of the milling drum by at least 20% of the diameter of the milling drum.
19. The road milling machine according to claim 13, wherein the road milling machine has an adjusting device for adjusting the height of the rear blade, which is designed in such a way that the rear blade is adjustable to below a lower apex of the milling drum by at least 30% of the diameter of the milling drum.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0033] In the following, the present invention will be described in more detail using the exemplary embodiments shown in the figures. The figures schematically show the following:
[0034] FIG. 1 shows a side view of a road milling machine;
[0035] FIG. 2 shows a top view of a milling drum case and a milling drum;
[0036] FIGS. 3-9 show a time sequence of milling operations with an obstacle located in the ground to be milled;
[0037] FIG. 10 shows a detailed view according to section X from FIG. 5;
[0038] FIG. 11 shows a detailed view according to FIG. 10 with a raised milling drum;
[0039] FIG. 12 shows a single-step trajectory;
[0040] FIG. 13 shows a further single-step trajectory with a displacement point shifted towards the front edge of the excavation area;
[0041] FIG. 14 shows a further single-step trajectory with a displacement point corresponding to the front edge of the excavation area;
[0042] FIG. 15 shows a multi-step trajectory;
[0043] FIG. 16 shows a multi-step trajectory with inclined sections;
[0044] FIG. 17 shows a single-step, inclined trajectory;
[0045] FIG. 18 shows a trajectory in which the lower edge of the rear blade is substantially in contact with the surface of the ramp in the excavation area;
[0046] FIG. 19 shows a sensor device with a sensor;
[0047] FIG. 20 shows a sensor device with a plurality of sensors;
[0048] FIG. 21 shows the influence of the milling depth on the position of the raising of the milling drum; and
[0049] FIG. 22 shows a flow diagram of the method.
[0050] Identical or identically acting components are designated with the same reference numerals. Repeated components are not designated separately in each figure.
DETAILED DESCRIPTION OF THE INVENTION
[0051] FIG. 1 shows a road milling machine 1—here a road milling machine or cold milling machine of the center rotor type—for milling a ground 8 in a working direction a. The road milling machine 1 has a machine frame 3 and a driver's cab 2. The machine frame 3 is supported by lifting columns 15, which connect the machine frame 3 to the travel devices 6, which in the exemplary embodiments shown are designed as crawler tracks, although they may also be wheels. The machine frame 3 can be adjusted in height or in the vertical direction relative to the ground 8 by means of the lifting columns 15. The road milling machine 1 further comprises a drive motor 4, which is typically a diesel internal combustion engine, although it may also be an electric motor, for example. A hybrid drive is also possible. As a primary working unit, the road milling machine 1 has a milling drum 9 which is mounted rotatably about an axis of rotation 10 in a milling drum case 7. During operation of the road milling machine 1, the milling drum 9 rotates about the axis of rotation 10, milling ground material from the ground 8. This milled off material is transferred from the milling drum case 7 to a conveyor device 5, which typically comprises a conveyor belt, and which is designed to transfer the milled material to a transport vehicle (not shown) for removal. The milling drum case 7 can be arranged stationary on the machine frame 3 in the vertical direction. Alternatively, an adjustment device can be provided which is designed in such a way that the milling drum case can be adjusted in the vertical direction relative to the machine frame. In this case, the lifting devices 15 could also be dispensed with. In the driver's cab 2, in the embodiment shown, there is a control device 18, which is part of the on-board computer of the road milling machine 1, for example. In particular, the control device 18 is provided with input means, by means of which an operator can input control commands to the control device 18 to control the road milling machine 1. Furthermore, the control device 18 is connected to a display device 26; for example, a display. The display device 26 can also simultaneously be designed as an input means; for example, as a touchscreen.
[0052] FIG. 2 shows a top view of a milling drum 9 arranged in the milling drum case 7. For the sake of clarity, a vertical closure at the top or a cover is not shown in FIG. 2. The milling drum 9 has a multiplicity of milling tools 11; for example, milling picks. The milling tools 11 are thus arranged distributed over the outer shell of the hollow cylindrical milling drum 9; for example, in spirals. Overall, the milling drum case 7 surrounds the milling drum 9 like a hood and is substantially only open in the direction to the ground 8, i.e., downwards (a material passage opening can also be provided in the front and/or rear blade). In the working direction a at the front, the milling drum case 7 is closed by a front blade 13. The front blade 13 may comprise a hold-down device. The hold-down device can also be arranged as a separate element in front of the front blade 13 in the working direction a. In particular, when the milling drum 9 rotates in the reverse direction of rotation with respect to the travel devices 6, the hold-down device pressing on the ground 8 in front of the milling drum 9 prevents larger clods from breaking out of the ground 8. Laterally, the milling drum case 7 is bounded by side blades 12, which are slid along on the ground 8 next to the milling drum 9 and prevent milled material from escaping laterally from the milling drum case 7. In the working direction a at the rear, the milling drum case 7 is closed by a rear blade 14. The rear blade 14 scrapes off the milled material lying on the ground 8 and ensures that this is transported along with the milling drum case 7 and channeled away from it. In this way, the milling bed is left as clean as possible. In principle, the front blade 13, the side blades 12 and the rear blade 14 can each be designed to be height-adjustable. For the sake of clarity, only one adjustment device 28 for adjusting the height of the rear blade 14 is shown. This comprises, for example, one or a plurality of, in particular double-acting, hydraulic cylinders. By means of the adjusting device 28, the rear blade 14 is designed to be height-adjustable, in particular relative to the machine frame 3 and/or to the milling drum 9 and/or to the ground 8.
[0053] FIGS. 3-9 show the time sequence of milling operations and an obstacle 16 located in the ground 8 to be milled. The obstacle 16 may be, for example, a manhole cover, a manhole or other fixed installation in the ground 8. In particular, the obstacle 16 should not be damaged or destroyed by the milling work. At the same time, the milling drum 9 or its milling tools 11 should also be protected from damage due to a collision with the obstacle 16. FIG. 3 thus shows the situation before the beginning of the milling work. The milling drum 9 is arranged in a raised position above the ground 8. It is then lowered into the ground 8 while rotating and while the road milling machine 1 moves over the ground 8 in the working direction a. The milling drum 9 thus removes the ground 8 and a milling track is created. This situation is shown in FIG. 4. The road milling machine 1 is moved to just in front of the obstacle 16 in the working direction a. FIG. 5 shows the situation in which the road milling machine 1 has been positioned and stopped in front of the obstacle 16. To prevent a collision between the milling drum 9 and the obstacle 16, the milling drum 9 is then raised vertically upwards by at least the specified milling depth of the milling track, as shown in FIG. 6. According to the present invention, the rear blade 14 remains in its working position for the time being and is therefore not moved vertically upwards from the ground 8 at the same time as the milling drum 9. If necessary, the rear blade 14 can be adjusted vertically downwards in relation to the milling drum 9. Next, the road milling machine 1 moves over the obstacle 16 with the milling drum 9 in such a way that the milling drum 9 does not touch the obstacle 16. How exactly the rear blade 14 can be raised out of the milling track in this case is explained in more detail below. The situation of moving over the obstacle 16 with the milling drum 9 raised and the rear blade 14 raised is shown in FIG. 7. FIG. 8, in turn, shows the next work step, in which the milling drum 9 is lowered back into the ground 8 behind the obstacle 16 in the working direction a and mills a new milling track behind the obstacle 16 in the working direction a. This milling work behind the obstacle 16 can then be continued as usual, as shown in FIG. 9. The present invention makes it possible to carry out only minimal finishing work both in front of and behind the obstacle 16 in the working direction a; for example, to remove ground material that has not been milled off or milled material that has been left lying around.
[0054] FIG. 10 shows the enlarged section X from FIG. 5. In the time sequence of the milling work, the road milling machine 1 or the milling drum 9 has been positioned just in front of the obstacle 16. Up to the obstacle 16, the milling drum 9 has cleared a milling track at a milling depth FT. As shown in FIG. 11, the milling drum 9 is now raised vertically out of the milling track by at least the milling depth FT. In addition to the milling depth FT, the milling drum 9 can also be raised by a safety distance, for example 2 cm. This ensures that the milling tools 11 of the milling drum 9 do not come into contact with the obstacle 16. As also shown in FIG. 11, the rear blade 14 is still in its working position. In particular, the lower edge 19 of the rear blade 14 is still in contact with the milling bed ground 27. Starting from the situation in FIG. 11, the raising of the rear blade 14 is controlled in such a way that the lower edge 19 of the rear blade 14 follows one of the trajectories T shown in FIGS. 12-18, described in more detail below.
[0055] FIG. 12 shows a case where the rear blade 14 is raised at the same time as the milling drum 19. The raising of the milling drum 9 creates an excavation area AB in front of the obstacle 16 in the working direction a, the shape of which corresponds substantially to the circumference of the milling drum 9 or its cutting circles, and which runs from the milling bed ground 27 to the unmilled ground 8. The line transverse to the working direction a at which the milling depth FT is still at a maximum, but then begins to decrease in the working direction a, is called the front edge VK of the excavation area AB. As can be seen from a comparison of FIGS. 11 and 12, the front edge VK of the excavation area AB lies directly vertically below the axis of rotation 10 of the milling drum 9 at the position where the milling drum 9 is raised out of the milling track. The distance between the axis of rotation 10 of the milling drum 9 and the rear blade 14 in the working direction a is denoted as x. FIG. 12 now shows the case in which the rear blade 14 is lifted out at the same time as the milling drum 9, i.e., the displacement point V1 at which the rear blade 14 is lifted out of the milling track is at a distance x from the front edge VK of the excavation area AB. In addition, the lower edge 19 of the rear blade 14 is guided along a single-step, right-angled trajectory T.
[0056] FIG. 13 shows a case in which the lower edges 19 of the rear blade 14 are raised out at a displacement point V.sub.2, wherein the displacement point V.sub.2 is a distance y away from the front edge VK of the excavation area AB, wherein the distance y is smaller than the distance x. For this purpose, it is necessary that the rear blade 14 remains in the working position after the raising of the milling drum 9 and the road milling machine 1 moves further in the working direction a between the raising of the milling drum 9 and the raising of the rear blade 14, specifically by the difference of the distance x minus the distance y. Only after the road milling machine 1 has moved further in the working direction a, by this difference is the rear blade 14 raised out at the displacement point V.sub.2. This has the advantage that the rear blade 14 still fulfills its function up to the displacement point V.sub.2 and transports the loose milled material accumulated in the milling drum case 17 together with the milling drum case 7. In this way, less milled material remains on the milled bed ground 27 after raising the rear blade 14. Also, in FIG. 13, the lower edge 19 of the rear blade 14 is guided along a single-step, right-angled trajectory T.
[0057] FIG. 14 shows a case in which the rear blade 14 is raised out of the milling track at a displacement point V.sub.3, wherein the displacement point V.sub.3 corresponds to the front edge VK of the excavation area AB. In other words, the distance yin the case of FIG. 14 is zero. Thus, after the milling drum 9 has been raised out of the milling track, the rear blade 14 is kept in working position up to the front edge VK of the excavation area AB and is also only raised out of the milling track at the front edge VK. The rear blade 14 is therefore raised out of the milling track at the same position in the working direction a as the milling drum 9. Since the milling depth FT in the working direction a starts to decrease behind the front edge VK, it is necessary to raise the rear blade 14 at the front edge VK at the latest. The trajectory T along which the lower edge 19 of the rear blade 14 is guided can be adapted in different ways to the geometry of the ramp R in the excavation area AB. The trajectory T shown in FIG. 14 is again single-step and rectangular.
[0058] Further examples of differently shaped trajectories T can be seen in FIGS. 15-18. In fact, FIGS. 15-18 only show cases in which the rear blade 14 is raised out at the displacement point V.sub.3 corresponding to the front edge VK. However, according to the present invention, cases are also included in which the shapes of the trajectories T of FIGS. 15-18 are used starting from a displacement point V.sub.2 at a distance y from the front edge VK of the excavation area AB, and in which the distance y is in particular not zero. For example, FIG. 15 shows a multi-step trajectory T, in this case a two-step trajectory T. Of course, the trajectory T can optionally comprise more steps. Furthermore, in the example shown in FIG. 15, these are right-angled steps, which result from the fact that the vertical height adjustment of the rear blade 14 is carried out free from superimposition with the advancement motion of the road milling machine 1. In other words, the height adjustment of the rear blade 14 is carried out whenever the road milling machine 1 is stationary and does not move in the working direction a. FIG. 16 shows a case in which there is also a multi-step trajectory T, but the individual steps have an obtuse angle. For this purpose, the height adjustment of the rear blade 14 in the vertical direction is superimposed with a movement of the road milling machine 1 in the working direction a, so that an overall trajectory T is produced which is directed inclined forwards and upwards. Again, as in the other exemplary embodiment with a multi-step trajectory T, the height adjustment of the rear blade 14 in the vertical direction is not adjusted in a single movement from the working position through to the raised position, but in an interval-like manner. In particular, between vertical movement sections of the rear blade 14, there are further sections in which the lower edge 19 of the rear blade 14 is moved along with the road milling machine 1 by its advancement only in the working direction a, resulting in the horizontal portions of the trajectory T. FIG. 17 again shows a single-step trajectory T, but this time inclined. The trajectory T according to FIG. 17 thus comprises a single continuous movement of the rear blade 14 in the vertical direction from the working position to the raised position. The vertical adjustment of the rear blade 14 is continuously superimposed by the movement of the road milling machine 1 in the working direction a, so that the inclined movement path results overall. The angle of the inclined trajectory T with respect to a horizontal line, in particular the milling bed ground 27, is selected in such a way that the trajectory T runs from the front edge of the excavation area AB to the end of the excavation area AB opposite the front edge VK in the working direction a. In particular, the angle is selected in such a way that the lower edge 19 of the rear blade 14 abuts the front edge VK and the end of the excavation area AB opposite the front edge VK in the working direction a or hovers above it with a predetermined safety distance. In other words, the trajectory T runs from the front end of the ramp R in the working direction a to the rear end of the ramp R in the working direction a. Finally, FIG. 18 shows a trajectory T with a course adapted to the excavation area AB and the ramp R, respectively. Taking into account the geometry of the milling drum 9 as well as the advancement speed of the road milling machine 1 and, in particular, its acceleration, the lower edge 19 of the rear blade 14 is guided along the trajectory T in such a way that the lower edge 19 follows the surface of the ramp R, either touching it or hovering above it at a predetermined safety distance.
[0059] FIG. 19 shows a top view of the milling drum case 7 as shown in FIG. 2. In operation of the milling drum 9, it mills off the ground 8 in the working direction a, creating the milling track 29. The milling track 29 is created over the entire milling width FB of the milling drum 9. The milling width FB corresponds substantially to the extension of the milling drum 9 along the axis of rotation 10. In the exemplary embodiment shown, a sensor device 17 is arranged in the working direction a in front of the milling drum 9 and also in front of the milling drum case 7, which sensor device is designed to detect obstacles 16 in the ground 8 and in particular within the milling width FB. For this purpose, the sensor device 17 is designed in such a way that it has a detection range EB that covers the entire milling width FB. FIG. 20 shows an embodiment in which the sensor device 17 comprises a plurality of individual sensors. Each of the individual sensors has a detection range EB that is smaller than the milling width FB. Overall, however, the sensor device 17 is again designed in such a way that the entirety of the detection ranges EB of all the sensors of the sensor device 17 cover the entire milling width FB. The sensor device 17 can additionally be designed to detect or determine the extension E of the obstacle 16 in the working direction a. This is shown in FIG. 19, for example, using a round obstacle 16, such as a manhole cover. In FIG. 20, this is shown in the case of non-circular, for example rectangular, obstacles 16, such as installation shafts. The extension E of the obstacle 16 is always related to the working direction a, as can be seen in particular from FIG. 20. It runs from the front edge of the obstacle 16 in the working direction a to the rear edge of the obstacle 16 in the working direction a. If this extension E and thus the edges of the obstacle 16 are taken into account in the control of the road milling machine 1 as described above, it can be efficiently prevented that the milling drum 9 comes into contact with the obstacle 16.
[0060] FIG. 21 shows the influence of the milling depth on the position at which the milling drum 9 must be raised out of the milling track 29 to avoid contact between the obstacle 16 and the milling drum 9. In particular, two different positions of milling drums 9 are shown with dashed lines, which milling drums are at different milling depths FT.sub.1 and FT.sub.2, wherein the milling depth FT.sub.1 is greater than the milling depth FT.sub.2. The different milling depths FT.sub.1, FT.sub.2 result in different distances A.sub.1, A.sub.2 between the respective axis of rotation 10 of the milling drums 9 and the obstacle 16, in which the milling drum 9 must be raised out of the milling track 29. In particular, the milling drum 9 can be raised out of the milling track 29 at a smaller distance A.sub.2 in front of the obstacle 16 at a lower milling depth FT.sub.2 than at a higher milling depth FT.sub.1. The road milling machine 1 can therefore move closer to the obstacle 16 at a lower milling depth FT than at a higher milling depth FT. This parameter, together with the geometry of the milling drum 9, is therefore taken into account by the control device 18 when it automatically determines the position for raising the milling drum 9.
[0061] FIG. 22 shows a flow diagram of the method 20 for controlling the road milling machine 1 when there is an obstacle 16 located in the ground 8 to be milled. The method 20 starts with the milling 21 of the ground 8 at a predetermined milling depth FT in the working direction a during the completely normal operation of the road milling machine 1. This is followed by advancing 22 the road milling machine 1 towards the obstacle 16 located in the ground 8. This can either be carried out by the operator or, for example, can also be carried out automatically by the control device 18, in particular if a sensor device 17 is provided which can detect the obstacle 16 located in the ground 8. The road milling machine 1 is positioned in front of the obstacle 16. Next, the raising 23 of the milling drum 9 and the rear blade 14 out of the ground 8 takes place in front of the obstacle 16. Here, according to the present invention, it is provided that the raising 23 of the milling drum 9 is carried out before the raising 23′ of the rear blade 14 out of the ground 8, and that the road milling machine 1 continues to move in the working direction a between the raising 23 of the milling drum 9 and the raising 23 of the rear blade 14. This shortens the distance y between the front edge VK of the excavation area AB and the displacement point V.sub.2/3 of the rear blade 14. Subsequently, the obstacle 16 is moved over 24, wherein the milling drum 9 remains out of contact with the obstacle 16. Finally, lowering 25 of the milling drum 9 and the rear blade 14 to the predetermined milling depth FT in the working direction a takes place behind the obstacle 16, such that the milling process can be continued. The raising 23, 23′, moving over 24 and lowering 25 can all be carried out automatically by the control device 18. For example, this can be triggered by a single control command from the operator or, alternatively, also by the detection of the obstacle 16 by the sensor device 17. The method 20 described herein relieves the operator of the road milling machine of repetitive control operations when there are obstacles 16 during operation. At the same time, less milled material is left in the milling bed, such that the finishing work required is reduced by the method 20 according to the present invention. Therefore, overall, the milling process of the road milling machine 1 can be made more economical and efficient.
