Self-propelled construction machine and method for controlling a self-propelled construction machine

Abstract

The invention relates to a self-propelled construction machine, in particular a road milling machine, which possesses an undercarriage which has front and rear—in the working direction—wheels or travelling gears, a machine frame which is borne by the undercarriage, and a working means. Furthermore, the invention relates to a method for controlling a self-propelled construction machine, in particular a road milling machine. The invention is based on the detection of objects O situated in the ground at a time at which the objects O can be readily detected. The construction machine according to the invention possesses a means for generating predictive object signals which are characteristic of the position of objects which lie in a portion of the ground which lies in the working direction A in front of the working region of the working means. Furthermore, the construction machine has a signal processing means which receives the object signals, which means is configured such that during the advance of the construction machine object signals relating to the working means are obtained from the predictive object signals, these signals being characteristic of the position of the objects in a portion of the ground which relates to the working region of the working means.

Claims

1. A method of accounting for objects present in a ground surface across which a road milling machine travels, the road milling machine comprising a milling drum configured to work the ground surface in a rectangular working region, a machine frame supporting the milling drum and itself supported by a plurality of crawler tracks and one or more lifting columns, wherein the lifting columns are adjustable to raise or lower the milling drum to set a milling depth, and wherein the working region is determined at least in part by geometric dimensions of the milling drum and the milling depth thereof, the method comprising: receiving and reading into a memory predictive object signals representing a position of one or more objects lying in a path of the road milling machine when the machine moves in a working direction and further in front of the working region; and determining current object signals relating to the working region from the predictive object signals, said current object signals representing the position of the one or more objects in a portion of the ground relating to the working region after an appropriate delay, wherein the determined current object signals are provided to a display unit such that the representative position of the one or more objects in the portion of the ground relating to the working region is displayed on the display unit after the delay.

2. The method of claim 1, comprising determining the current object signals relating to the working region from the predictive object signals by taking into account a distance covered by the road milling machine between: (a) the portion of the ground lying in the path of the road milling machine when the road milling machine moves in the working direction and further in front of the working region and; (b) the portion of the ground relating to the working region.

3. The method of claim 1, comprising determining the current object signals relating to the working region from the predictive object signals by taking into account a time delay as the appropriate delay, being dependent on a speed of the road milling machine between: (a) the portion of the ground lying in the path of the road milling machine when the road milling machine moves in the working direction and further in front of the working region and; (b) the portion of the ground relating to the working region.

4. The method of claim 1, comprising: reading the predictive object signals out of the memory as current object signals once a specified distance has been covered by the road milling machine after a location associated with the predictive object signals.

5. The method of claim 4, wherein the specified distance is dependent on the determined speed of the road milling machine between: (a) the portion of the ground lying in the path of the road milling machine when the road milling machine moves in the working direction and further in front of the working region and; (b) the portion of the ground relating to the working region.

6. The method of claim 4, wherein the path of the road milling machine comprises a curved path, and the distance covered is determined further accounting for a course of the machine along the curved path.

7. The method of claim 1, comprising: reading the predictive object signals into the memory in association with respective times during an advance of the road milling machine; reading the predictive object signals out of the memory as current object signals once a time interval after the respective time associated with each of the predictive object signals has elapsed.

8. The method of claim 7, wherein the time interval is dependent at least in part on a determined speed of the road milling machine.

9. The method of claim 7, wherein the time interval is dependent on the determined speed of the road milling machine between: (a) the portion of the ground lying in the path of the road milling machine when the road milling machine moves in the working direction and further in front of the working region and; (b) the portion of the ground relating to the working region.

10. The method of claim 1, further comprising superimposing one or more delimiting lines with respect to the display of the portion of the ground relating to the working region.

11. The method of claim 10, comprising displacing the superimposed one or more delimiting lines with respect to changes in the milling depth.

12. The method of claim 1, wherein the path of the road milling machine comprises a curved path, the method further comprising determining the current object signals accounting for a course of the machine along the curved path.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Below, embodiments of the invention will be explained in greater detail with reference to the drawings, in which:

(2) FIG. 1A is an embodiment of a road milling machine in a side view,

(3) FIG. 1B is the road milling machine of FIG. 1A in a plan view,

(4) FIG. 2 shows the road surface which is to be worked with the road milling machine,

(5) FIG. 3A to 3C show the field of vision of the camera system of the image recording unit of the means for generating predictive object signals, the milling drum and the display unit of the road milling machine in a simplified schematic view at a time at which a manhole cover is lying in the field of vision of the camera,

(6) FIG. 4A to 4C show the field of vision of the camera system, the milling drum and the display unit at a time at which the manhole cover is leaving the field of vision of the image recording unit,

(7) FIG. 5A to 5C show the field of vision of the camera system, the milling drum and the display unit at a time at which a storm drain is lying in the field of vision of the image recording unit,

(8) FIG. 6A to 6C show the field of vision of the camera system, the milling drum and the display unit at a time at which another manhole cover is entering the field of vision of the image recording unit,

(9) FIG. 7A to 7C show the field of vision of the camera system, the milling drum and the display unit at a time at which the other manhole cover has left the field of vision of the image recording unit,

(10) FIG. 8 is a block diagram with those components of the construction machine which are relevant to the invention,

(11) FIGS. 9A and 9B show the field of vision of the camera system at two successive times of a further embodiment, in which the image recorded by the camera is displayed on the display unit.

DETAILED DESCRIPTION

(12) FIGS. 1A and 18 show a side view and a plan view of a road milling machine as an example of a self-propelled construction machine. Since road milling machines as such are prior art, only those components which are relevant to the invention will be described here.

(13) The road milling machine 1 has a machine frame 2 which is borne by an undercarriage 3. The undercarriage 3 has two front and two rear crawler tracks 4A, 4B which are fastened to front and rear lifting columns 5A, 5B. However, only one front or rear travelling gear may also be provided. The working direction (direction of travel) of the road milling machine is marked with an arrow A.

(14) The crawler tracks 4A, 4B and lifting columns 5A, 5B form the drive means for the road milling machine for performing translatory and/or rotary movements on the ground. The machine frame 2 can be moved in terms of height and inclination relative to the ground by raising and lowering the lifting columns 5A, 5B. The road milling machine can be moved forwards and backwards using the crawler tracks 4A, 4B.

(15) The road milling machine 1 possesses a working means for altering the ground. In this case, it is a milling means 6 with a milling drum 21 equipped with milling implements (FIGS. 3 to 7), which drum cannot however be recognised in FIGS. 1A and 18. The milled material is carried away using a conveying means F.

(16) The road surface to be altered with a road milling machine is illustrated in FIG. 2. On the ground there runs a road 8 which is delimited laterally by curbstones 7. In this embodiment, the project is to mill off the surface of the road. In so doing it should be taken into account that certain objects O are located in the road, for example manhole covers in the middle of the road surface and storm drains at the side of the road surface. FIG. 2 shows two manhole covers 9, 10 and a storm drain 11 which, although passed over by the road milling machine, are not to be detected by the milling drum thereof. The view in FIG. 2 does not correspond to the field of view of the operator of the machine. The operator of the machine in the driving position of the construction machine cannot see the objects O in the road, since they are located directly in front of the construction machine or beneath the machine. The operator of the machine cannot recognise the manhole cover in particular when the milling drum is only a short way in front of the manhole cover, i.e. exactly at the time at which the operator of the machine has to raise the milling drum. This region can however also not be monitored using a camera owing to the milled material in the milling-drum housing flying around.

(17) Since the operator of the machine cannot recognise the manhole covers 9, 10, in practice lateral markings are applied level with the manhole covers, these being designated M.sub.1 and M.sub.2 in FIG. 2. These markings are intended to enable the operator of the machine or another person to recognise the position of the manhole covers, so that the milling drum can be raised in good time. Such markings are however not necessary with the construction machine according to the invention.

(18) The construction machine has a central control unit 12 for controlling the drive means for the travelling gears 4A, 4B and the lifting columns 5A, 5B (FIG. 8). Furthermore, the road miller possesses a means 13 for generating predictive object signals and a signal processing means 14, which are connected together via a data line 15. The signal processing means 14 is connected to the control unit 12 via a data line 28. The means 13 for generating predictive object signals possesses an image recording unit 16, which has a camera system 17 arranged on the machine frame 2 with which a portion of the ground to be worked, i.e. the road surface 8 with the manhole covers 9, 10 and storm drains 11, is recorded. Furthermore, the road miller possesses a display unit 18, for example an LC display, which is connected to the signal processing means 14 via a data line 19.

(19) FIGS. 3A to 3C show a simplified schematic view of the field of vision 20 of the camera system 17 of the image recording unit 16 of the means for generating predictive object signals 13 (FIG. 3A), the milling drum 21 (FIG. 3B) and the display unit 18 (FIG. 3C) of the road milling machine 1. The field of vision of the camera system lies in a region which cannot be seen by the operator of the machine. The image recorded by the camera system is not displayed to the operator of the machine on the display unit.

(20) The camera system may be a stereo camera system, or a camera system with only one camera. If the curvature of the ground surface is to be disregarded and/or only two-dimensional objects are taken into account, however, a camera system with only one camera is sufficient. Below, the camera system will therefore be referred to only as “camera”.

(21) The milling drum 21 has a rectangular working region 22 which is determined by the geometric dimensions of the cylindrical drum body. The working region 22 is delimited by a front—in the working direction—delimiting line 22A, a rear delimiting line 22B and lateral delimiting lines 22C, 22D. These lines mark the region at which the milling picks of the milling drum 21 penetrate into the surface of the ground. The working region 22 of the milling drum 21 is therefore understood to be a ground portion.

(22) The milling drum 21 can be raised or lowered in relation to the ground surface by extending or retracting the lifting columns 5A, 5B in order to be able to set the milling depth. If the milling depth is changed, the rectangular working region 22 of the milling drum 21 will also change. A reduction in the milling depth results in a reduction in the distance between the front and rear delimiting lines 22A, 22B, whereas an increase in the milling depth results in an increase in the distance between the front and rear delimiting lines 22A, 22B. Since the milling depth relative to the ground and the geometric dimensions of the milling drum are known, the working region 22 of the milling drum 21 can be calculated.

(23) The camera 17 detects a portion of the ground which cannot be seen by the operator of the machine in the driving position. In the field of vision 20 of the camera 17 there lies a portion of the ground to be altered which is passed over by the milling machine, which moves in the working direction A at a specified speed of advance v. The rectangular field of vision 20 of the camera 17 is delimited by a front and a rear delimiting line 20A, 20B and lateral delimiting lines 20C, 20D. The longitudinal axis 20E of the field of vision 20 lies in the working direction A at a specified distance x in front of the axis of rotation 21E of the milling drum 21 or of the longitudinal axis of the rectangular working region 22. This distance x is dependent on the arrangement and the angle of view (orientation) of the camera 17 on the machine frame 2 and on the arrangement of the milling drum 21 on the machine frame 2. The distance x1 or x2 between the longitudinal axis 20E of the field of vision 20 of the camera 17 and the front or rear delimiting line 22A, 22B respectively of the milling drum 21 is dependent not only on the arrangement and the angle of view of the camera 17 and the arrangement of the milling drum 21, but also on the geometric dimensions (diameter) of the milling drum 21 and the milling depth.

(24) The longitudinal axis 20E of the field of vision 20 represents a reference line across which the objects O move while the construction machine advances. The outline of the objects O, for example the circular outline 9′ of the manhole cover 9 moving towards the reference line 20E, contacts the line 20E, thereupon intersects the line at two intersection points, then contacts the line again at one point and finally leaves the field of vision 20 of the camera 17. FIGS. 3A to 3C show the manhole cover 9 at a time at which the manhole cover 9 is lying in the field of vision 20 of the camera 17.

(25) The display unit 18 does not show the live image of the camera, but a recorded image (video), i.e. the image recorded by the camera with a time delay. The image segment 23 displayed on the display unit 18 is again delimited by front and rear delimiting lines 23A, 23B and also lateral delimiting lines 23C, 23D. In the present embodiment, the rectangular image segment 23 of the display unit 18 corresponds exactly to the field of vision 20 of the camera 17 in its geometric dimensions (FIG. 3C). The image segment 23 may however also be a reduced or enlarged segment if the display unit 18 has a zoom function. On the display unit 18, the working region 22 of the milling drum 21 is marked by its front and rear and also lateral delimiting lines 22A, 22B, 22C, 22D (FIG. 3B). The distance between the delimiting lines 22A, 22B, 22C, 22D is dependent on the dimensions of the milling drum 21 and the set milling depth. A change in the milling depth therefore leads to displacement of the front and rear delimiting lines 22A and 22B, which are superposed on the image which is recorded by the image recording unit and is displayed on the display unit 18 with a time delay.

(26) The display unit 18 lies in the field of vision of the operator of the machine, so that the operator of the machine can recognise on the display unit when the object O, for example the manhole cover 9, is moving towards the milling drum 21.

(27) FIGS. 4A to 4C show the field of vision 20 of the camera 17, the milling drum 21 and the display unit 18 at a time at which the manhole cover 9 is leaving the field of vision 20 of the camera 17, the manhole cover 9 not yet being displayed on the display unit 18; FIG. 5A to 5C show the field of vision 20 of the camera 17 and the display unit 18 at a time at which a storm drain 11 has entered the field of vision 20 of the camera 17, the manhole cover 9 however still not yet being displayed on the display unit 18; FIG. 6A to 6C show the field of vision 20 of the camera 17 and the display unit 18 at a time at which the second manhole cover 10 is entering the field of vision 20 of the camera 17 and the front edge of the first manhole cover 9 previously recorded is reaching the front delimiting line 22A of the working region 22; and FIG. 7A to 7C show the field of vision 20 of the camera 17 and the display unit 18 at a time at which the second manhole cover 10 has left the field of vision 20 of the camera 17 and the rear edge of the first manhole cover 9 has just passed over the rear delimiting line 22B.

(28) The times at which the outline 9′, 10′ of the manhole cover 9, 10 touches the front and rear delimiting line 22A, 22B of the working region 22 of the milling drum 21, i.e. when the milling drum 21 moves across the manhole cover 9, 10 or the storm drain 11, are crucial for controlling the road milling machine 1. The milling drum 21 has to be raised if the outline 9′, 10′ of the manhole cover 9, 10 is at a specified safety distance in front of the front delimiting line 22A (FIG. 6C), and has to be lowered if the outline 9′, 10′ is at a specified safety distance behind the front delimiting line 22A (FIG. 7C).

(29) In the present embodiment, the predictive object signals are image signals of the image recording unit 16. The image signals are image data of a digital camera 17 which records the relevant portion of the ground. The image data may be displayed as a sequence of individual images at successive times, or as a continuous sequence of images (video). The signal processing means 14 in this embodiment has a memory unit 24 into which the predictive image signals are read in succession and are read out again as current image signals once a time interval has elapsed. The object signals therefore represent time-coded signals. These image signals are displayed on the display unit 18 as images which show the current position of the object O, for example the manhole cover 9, 10, in relation to the milling drum 21. The length of this time interval is calculated from the quotient of the specified distance between the front or rear delimiting line 20A or 20B respectively of the field of vision 20 and the front or rear delimiting line 23A or 23B respectively of the image segment 23 and the speed of advance v at which the construction machine moves in the working direction A if the recorded and displayed image segment are on the same scale. This distance corresponds to the distance x between the longitudinal axis 20E of the field of vision and the axis of rotation 21E of the milling drum.

(30) An alternative embodiment provides for the image recording unit in each case to record an image when the construction machine has covered a specified stretch or distance in the working direction A. This stretch should be as small as possible, for example only one or a few centimetres or even millimetres, so that the sequence of images can be detected with sufficient resolution on the entire stretch which is to be covered. In order to detect this stretch, the construction machine possesses a stretch counter (“step counter”). The image recording unit 18 consequently records a sequence of images which are associated with the stretch covered by the construction machine (number of “steps”). For example, the image recording unit 18 in each case records an image when the construction machine has moved by one centimetre in the working direction A on the stretch. The object signals therefore represent path-coded image signals, or image signals provided with a path-stretch mark. The path-coded image signals are displayed on the display unit 18 each time when the construction machine, once the image has been recorded, has covered a specified total stretch which corresponds to the distance x between the longitudinal axis 20E of the field of vision 20 and the axis of rotation 21E of the milling drum. The image recorded at a particular time, i.e. at a particular location of the stretch (path-stretch mark) at which the construction machine is located, is therefore not displayed on the display unit 18 until the construction machine has covered a certain total stretch which corresponds to a particular number of “steps”, for example 100 “steps” of 1 cm each. For example, the number of revolutions of the drive means which drives the travelling gears, for example the drive shafts or drive wheels, etc., may be detected in order to determine the total stretch covered by the construction machine.

(31) FIG. 6C shows how the outline 9′ of the manhole cover 9 reaches the front delimiting line 22A of the working region 22 of the milling drum 21, so the operator of the machine has to raise the milling drum 21, whereas FIG. 7C shows how the outline 9′ of the manhole cover 9 leaves the rear delimiting line 22B of the working region 22 of the milling drum 21, so the operator of the machine can lower the milling drum 21. The operator of the machine can accurately estimate on the display unit 18, optionally taking into account a safety distance, the time at which he has to intervene in the machine control.

(32) The construction machine possesses an actuation means 25 which is connected to the control unit 12 of the construction machine via a control line 26. The actuation means 25 has an operating element 27 which the operator of the machine actuates if the outline of the manhole cover reaches the front delimiting line of the milling drum or leaves the rear delimiting line of the milling drum, taking into account a safety distance. The actuation means 25 then generates a control signal which the control unit 12 receives, so that the control unit 12 for example controls the lifting columns 5A, 5B in such a way that the milling drum 21 is raised or lowered.

(33) The objects O and the milling drum 21 may be visualised on the display unit 18 for example also by hatching and/or coloured highlighting. The safety distance which is to be complied with may also be visualised for example by additional lines and/or hatching and/or coloured highlighting. A further display unit which shows the image recorded by the camera may also be provided.

(34) FIGS. 3 to 7 show the case in which the construction machine covers a straight stretch. It is sufficient in practice to consider this case since the distance x between the longitudinal axis 20E of the field of vision 20 and the longitudinal axis 21E of the milling drum 21 is relatively small, so that any curvature can be disregarded on this stretch. However, even in the event that the construction machine is moving on any path curve whatsoever, the current object signals relating to the working region of the working means can be ascertained exactly using the known calculation methods, since the geometric relationships between the field of vision of the image recording unit and the working region of the working means are known. The course of the path curve covered by the construction machine may for example be ascertained from the stretch covered by the construction machine and the steering angles set at particular path-stretch marks. The course of the path curve in turn yields the turning and also the lateral displacement of the object between the time of recording and display of the image, which may however be ignored in practice since any curvature can be disregarded on the relevant stretch.

(35) Below, a simplified embodiment of the invention which differs from the above embodiment in that the current conditions are not displayed on the display unit 18 is described with reference to FIG. 9A to 9B. With this embodiment, the live image currently recorded by the camera 17 is displayed on the display unit 18. The display unit 18 thus receives not the current, but the predictive, image signals of the camera 17. The representation on the display unit 18 does not otherwise differ from the representation of the above embodiment. The method of operation also corresponds to the above embodiment.

(36) FIGS. 9A and 9B show the rectangular field of vision 20 of the camera 17, which is delimited by the front and rear delimiting lines 20A, 20B and also the lateral delimiting lines 20C, 20D. On the display unit 18, the working region 22 of the milling drum 21, which however does not correspond to the current conditions, is marked by the front and rear and also lateral delimiting lines 22A, 22B, 22C, 22D, which are superimposed on the camera image. These delimiting lines 22A, 22B, 22C, 22D are again displaced as a function of the geometric dimensions of the milling drum 21 used in each case and also the set milling depth. FIG. 9A shows the time at which the delimiting line 9′ of the manhole cover 9 reaches the front delimiting line 22A of the working region 22 of the milling drum 21, whereas FIG. 9B shows the time at which the delimiting line 9′ of the manhole cover 9 leaves the rear delimiting line 22B of the working region 22 of the milling drum 21. With the actuation of the operating element 27 at the time at which the manhole cover 9 reaches the front delimiting line 22A of the working region 22 of the milling drum 21, i.e. is at a specified safety distance in the working direction A in front of the front delimiting line 22A, the operator of the machine generates a first predictive object signal, and with the actuation of the operating element 27 at the time at which the manhole cover leaves the rear delimiting line 22B, i.e. is at a specified safety distance behind the rear delimiting line 22A, the operator of the machine generates a second predictive object signal. These object signals are then received by the control unit 12 with the specified time delay as control signals, so that the control unit raises or lowers the milling drum 21 at the right time or simply only stops the machine. Alternatively, the control signal may also trigger only a visual and/or acoustic and/or tactile alarm, to which the operator of the machine has to react accordingly. The time delay is again the quotient of the distance x between the longitudinal axis 20E of the field of vision 20 and the longitudinal axis 21E of the milling drum 21 and the speed of advance v of the construction machine. Instead of a time delay, the control can also be based on the stretch which has to be covered by the construction machine until the axis of rotation 21E of the milling drum 21 has reached the longitudinal axis 20E of the ground portion which has been previously recorded by the camera.