EP3415690B1 - Milling machine and method for operating a milling machine - Google Patents

Description

The invention relates to a milling machine, in particular a road milling machine, a stabilizer, a recycler, a surface miner or the like, with an interchangeable milling drum, different types of milling drums being assignable to the milling machine, and with a control unit for controlling the milling machine, with the control unit Machine parameters of the milling machine are adjustable.

The invention further relates to a milling drum for such a milling machine and a method for operating such a milling machine.

Soil milling machines are used for many different tasks, for example in road and path construction or in the extraction of raw materials in opencast mining.

In road milling, for example, in one possible application it is known to use fine milling to improve the surface structure of traffic routes edit, for example to improve the grip of a road surface or to restore the flatness of the traffic route. The road milling machines are also used to remove entire layers of the road structure by milling. The milled material obtained is then usually loaded and fed into a recycling process for the production of new road construction material.

In so-called cold recycling, road milling machines are used to mill the road material and prepare it on site. For this purpose, the milling material is mixed with binders, for example with foamed bitumen, in order to produce mix that can be reinstalled on site. The mix is then used to rebuild the traffic route.

Another task that can be carried out with floor milling machines is the stabilization of substrates that are not sufficiently stable. If necessary, the existing soil material is crushed or homogenized to a certain degree and mixed with a binder. Water, lime, cement, suspension and the like can be used as binders. A sufficient load-bearing capacity of the subsoil is achieved by adding the binders.

A floor milling machine can be designed to perform various of the tasks described. Due to the different requirements placed on the floor milling machine in the individual processes, it is necessary to use different milling drums for the different tasks. For example, milling drums that are used for fine milling have a significantly higher number of milling tools than milling drums that are used to remove complete layers. In the case of milling drums that are used to stabilize the subsurface, the milling tools are arranged on webs which are used to mix the milling material with the binder. Different milling drum types can also be used for the same or similar tasks, each of which has been optimized for certain areas of application. Furthermore, many milling machines offer the option of using milling drums of different working widths in order to adapt the milling machine to different tasks. Furthermore, it is known that Milling drums can be equipped with different milling tools, in particular different chisels, which have also been optimized for special applications.

In addition to the different milling drums and milling tools used for the various tasks, the machine parameters with which the milling machine is operated must also be adapted to the respective task. The machine parameters to be taken into account are in particular the feed rate of the milling machine, the milling depth and the speed of the milling drum. It may also be necessary to adapt the speed of a drive motor and the power transmitted to the milling drum or the torque transmitted to the milling drum to the respective task. It may be necessary to set machine parameters so that they are in a predetermined relationship to each other. An example of this is the ratio of the feed rate to the milling drum speed during fine milling, which must not exceed a certain threshold value, since otherwise undesirable structures on the surface result.

• Zu verwendende Wassermenge
• Verwendete Breite der Wasserleiste (bei Fräswalzen mit geringerer Breite)
• Zulässige Kurvenradien
• Betrieb der Fräse im Gleichlauf- / Gegenlauffräsen

Additional parameters for operating the road milling machine can specifically depend on the milling drum used, for example:

• Amount of water to use
• Width of the water bar used (for milling drums with a smaller width)
• Permitted curve radii
• Operation of the milling machine in co-rotating / counter-milling

From the DE 10 2014 001 885 A1 a method for optimizing an operational function of a floor milling machine is known. A variable operating parameter of the floor milling machine is varied until an operating function to be optimized assumes its optimal value. A variable operating parameter can be a rotational speed of the milling drum, which is changed until, for example, a feed rate of the milling machine as an operating function reaches its optimal value. The optimization is based on a predefined one Output value of the variable operating parameters. The disadvantage here can be that the initial value of the variable operating parameter is specified in a range that is not suitable for the outstanding milling task. Furthermore, in particular in the case of an optimization process that runs automatically, the variable operating parameter for optimizing the operating function can be adjusted to a range that is not suitable for the milling task. In addition, it is disadvantageous that this method allows the optimum parameters for the operation of the milling machine to be determined and set only during the milling process.

From the US 2015/0300165 A1 a milling drum is known, the releasably attached milling tools are each equipped with a transponder (RFID). The transponders contain data that enable the respective milling tools to be clearly identified. A reader is assigned to the milling machine, which reads the information stored in the transponder and forwards it to a computer. This compares the received data with the data stored in a memory. If the data deviate, a loss of a respective milling tool is assumed. A milling machine can thus determine the number of milling tools available at any time.

From the DE 199 32 396 A1 is known a construction machine with a machine frame in which a milling drum is rotatably mounted. A milling tube can be pushed coaxially onto a roller base body and removed again and thus exchanged. Suitable fasteners are shown. Construction machines with interchangeable milling drums are known from the document.

The EP 2 239 374 A1 shows a paver with a tractor and a programmed or programmable controller. One or more additional mechanical components can optionally be connected to the tractor. It is provided that the additional component has a wirelessly readable identification device and the tractor has a read head suitable for reading out the identification device. At least one identifier of the additional component is stored in the identification device. An optional additional component can thus be identified by means of the identification device and the reading head and a control program of the paver running in the control system can then be adapted. Additional mechanical components can be, for example, screeds, screed extensions, spray modules or other mechanical assemblies. RFID transponders can be used as identification devices, which can be read out by a suitable read head arranged on the tractor or written and read by a read / write head. The identified additional component can be displayed to an operator of the paver.

It is an object of the invention to provide a milling machine which enables simple adjustment of machine parameters suitable for the milling task to be carried out. It is a further object of the invention to provide a milling drum suitable for this and a corresponding method.

The object of the invention relating to the milling machine is achieved in that the milling machine is assigned at least one means which is designed to detect at least one characteristic feature of the milling drum, that the at least one means is connected to the control unit and that the control unit is designed to directly or indirectly derive from the characteristic feature for at least one to specify a value to be set and / or a setting range for the machine parameters suitable for the milling task to be carried out.

The object of the invention relating to the method is achieved in that at least one characteristic feature of the milling drum is detected with means arranged for this purpose on the milling machine and that a value to be set and / or a setting range of at least one machine parameter suitable for the milling task to be carried out as a function of the at least one a characteristic of the milling drum is determined indirectly and directly and displayed and / or automatically set.

The recorded characteristic feature is selected such that the milling task to be carried out and thus a suitable value to be set or a suitable setting range for the at least one machine parameter can be concluded therefrom. The value to be set or the setting range can be derived directly from the feature, or a further parameter can be inferred from the characteristic feature, from which the milling task and the value to be set or the setting range result.

The predetermined value to be set or the predetermined setting range makes it easier for an operator of the milling machine to select suitable machine parameters. Incorrect settings can be avoided. This has a positive effect on the quality of the work result obtained, on the milling performance, on the energy consumption of the milling machine and on the wear of the milling tools.

According to a preferred embodiment of the invention, it can be provided that the means or the control unit is designed to determine the type of milling drum from the characteristic feature and that the control unit is designed to set a value and / or a value for at least one machine parameter Setting range depending on the specific type of milling drum. In the case of a known type of the built-in milling drum, for example a certain type of a standard milling drum, a fine milling drum or a microfine milling drum, the type of milling task to be carried out is sufficiently known to be able to predefine suitable settings of the machine parameters for operating the milling machine.

Reliable detection of the type of milling drum present can be achieved in that the at least one means is designed to detect external features of the milling drum as a characteristic feature of the installed milling drum. External features can be dimensions of the milling drum and the number and arrangement of the milling tools attached. Advantageous at the Evaluation of such external features is that they do not change, or do not change significantly, even after the milling drum has been in operation for a long time and the milling tools are therefore highly worn.

Another approach is to determine the moment of inertia of the milling drum and to infer the type of milling drum.

According to a further embodiment variant of the invention, it can be provided that the at least one means is designed to detect a marking of the milling drum as a characteristic feature of the installed milling drum. The label clearly describes the type of milling drum.

Milling tools adapted to the task are used as parts of the milling drum for various milling tasks. The milling task for which the milling drum is suitable is thus known from the milling tools of a milling drum at hand. It can therefore advantageously be provided that the at least one means is designed to detect the type of at least one milling tool of the milling drum as a characteristic feature of the installed milling drum. The milling tool can in particular be a chisel. To detect the type of the at least one milling tool, a characteristic feature of the milling tool itself can advantageously be determined. The value to be set and / or the setting range of the at least one machine parameter can advantageously be derived indirectly or directly from the determined type of the at least one milling tool as a characteristic feature of the installed milling drum. It is sufficient to determine the type of one of the milling tools provided on the milling drum, as long as no mixed assembly of the milling drum with different milling tools is provided. In such a case, however, several or all of the milling tools can also be detected in order to increase the safety when determining the type of milling tools. If the milling drum is equipped with different milling tools, it can advantageously be provided that the type of several or all milling tools is detected.

In order to recognize the type of the installed milling drum, it can be provided that the milling machine is indirectly or directly associated with a camera and / or a scanner and / or a barcode reader and / or an input device as a means for detecting the characteristic feature of the installed milling drum. With the help of the camera or the scanner, the type of milling drum can be reliably determined on the basis of external features, for example the number and arrangement of milling tools attached to the milling drum or the external dimensions of the milling drum. The exact determination of the type of milling drum can be carried out by a control unit connected to the camera or the scanner and an evaluation software stored therein. A barcode reader can be used to read a barcode attached to the milling drum, which identifies the type of milling drum. A serial designation of the milling drum can be entered directly via the input device, for example, and the type of milling drum can be determined therefrom.

It can preferably be provided that a marking, in particular a sequence of letters and / or number and / or a barcode, is arranged as a characteristic feature in or on the milling drum. The milling drum is clearly described by the marking. It can be recorded by appropriate means. A barcode can thus be read out by a corresponding barcode reader provided on the milling machine. A sequence of letters or numbers used as identification can represent a serial number of the milling drum. This can be read by an operator of the milling machine and entered via the input device. It is also possible for the sequence of letters or numbers to be recorded using a suitable sensor or the camera. All of the variants described enable the type of milling drum installed in the milling machine to be identified quickly and unambiguously, so that a value or setting range for the at least one machine parameter can be specified.

Furthermore, it can be provided that in addition to the milling drum type, the orientation of the milling drum is also recognized. This is particularly advantageous if milling machines are used for both synchronous and counter-milling can be. Here, identical milling drums can be used for both processes. The orientation of the milling drum can be recognized, for example, in that the means for recognizing external features of the milling drum also detect the orientation of the tools on the milling drum. Alternatively, different markings can be attached to the milling drum so that, depending on the orientation of the milling drum, only the marking that contains the current orientation of the milling drum is recorded. If, for example, a marking is recorded on one end of the milling drum, different markings can be attached to the two end sides.

According to a particularly preferred embodiment variant of the invention, it can be provided that the milling machine is assigned a reader for active or passive transponders as a means for detecting the characteristic feature of the installed milling drum, indirectly or directly.

Furthermore, it can be provided that an active or passive transponder is arranged in or on the milling drum and that the identification is stored in the transponder.

In such a transponder, a marking as a characteristic feature of the milling drum, which clearly defines the type of milling drum, can be stored permanently. Such a transponder can be read quickly and without error even under harsh environmental conditions.

According to an advantageous embodiment of the invention, it can be provided that the marking and / or the active or passive transponder is arranged in or on a milling drum tube or in or on a tool holder or in or on a milling tool of the milling drum. The tool holder can in particular be a chisel holder and the milling tool can be a chisel. The marking or the passive transponder can be arranged in such a way that they are arranged securely within the detection area of the means for determining the characteristic feature of the milling drum or during one Revolution of the milling drum reach the detection area. The identification or the transponder can be provided on one of the components, or the identification or transponder can be arranged on several of the components, for example on the milling drum tube and the milling tools. In the latter case, the labels or transponders can contain the same or additional information.

With a rotating milling drum, the marking, for example a barcode, a transponder or the like, can advantageously be used to determine the speed of the milling drum. To do this, you can determine the period in which the indicator is entered.

A suitable operation of the milling machine can be ensured in particular in that the control unit is designed, depending on the characteristic feature and / or the type of milling drum determined from the characteristic feature, to set the value or the setting range for a milling depth and / or a Specify milling drum speed and / or a feed rate of the milling machine and / or a drive power transmitted to the milling drum and / or a torque and / or a speed of a motor driving the milling drum as machine parameters of the milling machine. By adjusting this or a part of these machine parameters, the operation of the milling machine can be optimally adapted to the respective milling task and the milling drum used. It can also be provided that the control unit is designed to specify a maximum milling depth and / or a minimum feed speed and / or a maximum feed speed depending on the characteristic feature and / or the type of milling drum determined from the characteristic feature. As a result, the setting range for the milling depth and the feed rate of the milling machine can be clearly limited and specified.

In order to optimize certain milling tasks, certain machine parameters may need to be set depending on the setting of others Machine parameters must be set. In order to take this into account, it can be provided that the control unit is designed to specify values and / or setting ranges to be set for at least two machine parameters as a function of the characteristic feature and / or of the type of milling drum determined from the characteristic feature such that a Ratio of the two machine parameters takes a predetermined value or that the ratio is within a predetermined range. For example, it is necessary that the feed rate of the milling machine and the milling drum speed are in a specific relationship to one another in fine milling in order to avoid undesirable structures on the road surface.

The setting of the machine parameter or parameters required as a function of the detected type of the milling drum can take place in that the control unit is designed to provide the milling machine with the type of the milling drum determined as a function of the characteristic feature and / or of the type determined from the characteristic feature To operate the value of the at least one machine parameter and / or that the control unit is connected to an output device and that the control unit is designed to set the value to be set as a function of the characteristic feature and / or the type of milling drum determined from the characteristic feature or to display the predetermined setting range of the at least one machine parameter to an operator of the milling machine via the output device. Incorrect settings can be reliably avoided by the automatic setting of the machine parameter by the control unit. The display of a suitable value or setting range for at least one machine parameter for an operator of the milling machine makes it easier for the operator to correctly set the machine parameters. The display can take place on a display or via optical or acoustic display means, which signal, for example, when the specified setting range is exceeded or fallen short of, or when the selected setting is within the setting range or corresponds to the value to be set. Furthermore, the control unit can be set up to adjust the at least one machine parameter that can be set by the machine operator To limit dependence on the characteristic feature and / or on the type of milling drum determined from the characteristic feature to an advantageous setting range. The machine operator can therefore no longer set the at least one machine parameter in the entire range of values that can basically be achieved with the machine, but is limited to a range in which optimized operation is dependent on the characteristic feature and / or on the type determined from the characteristic feature the milling drum is possible.

According to a possible embodiment variant of the invention, it can be provided that at least one input means is assigned to the control unit, that at least one material property of the substrate to be milled and / or at least one additive supplied to the milling process can be recorded and fed to the control unit via the input means and that the control unit can be supplied is designed to take into account the at least one material property and / or the at least one additive when specifying the value to be set or the setting range for the at least one machine parameter. In addition to the type of milling task to be carried out and the milling drum used for this purpose, the material properties of the substrate to be processed essentially determine the selection of suitable machine parameters. By taking these material properties into account, the value of the at least one machine parameter to be set can be better adapted to the milling task, or the setting range can be specified more narrowly. For example, an abrasiveness and / or a hardness and / or a material type and / or a material composition and / or a layer structure can be taken into account as material properties when specifying the machine parameter or parameters. Furthermore, the types of material to be removed can be specified with information such as asphalt or concrete with their known material properties and taken into account accordingly. A necessary addition of additives, for example binders such as water, lime, cement or corresponding suspensions, can also have an influence on the optimal values or setting ranges of one or more machine parameters and can therefore be taken into account accordingly. The input means provided can be, for example, the input device, which is also used to enter the type of milling drum act, for example in the form of a keyboard. As an alternative to this, the material properties can also be recorded using suitable sensors which are arranged on the milling machine. Likewise, the additives used can already be stored in the control and taken into account when optimizing the machine parameters.

Optimal operation of the milling machine can be achieved in that the value to be set and / or the predetermined setting range of the at least one machine parameter can be overridden by an operator and / or in that the control unit is designed to override the value to be set and / or the to issue a warning message within the specified setting range. The milling machine can thus be operated with settings of the machine parameter or parameters that differ from the value or setting range to be set. In this way, empirical values of the operator or special features of the milling task at hand can be taken into account when selecting the machine parameters.

In addition, it can be provided that the control unit is designed to identify individual milling drums as a function of the characteristic feature and to record the operating time of the milling drum and / or change intervals for milling tools of the milling drum. The data thus obtained can be used to optimize the load on the milling drum and change intervals for the milling tools, in particular chisels, and thus to prevent damage to the milling drum. For this purpose, it can be provided that the control unit records additional information on the operation of the milling drum (for example, times of chisel changes, number of chisels exchanged, or the like). This additional information can be entered, for example, by the operator using existing control unit input means.

The invention is explained below with reference to an embodiment shown in the drawings.

Fig. 1

in schematischer Darstellung und Seitenansicht eine erste Fräsmaschine in Form einer Straßenfräsmaschine,

Fig. 2

in schematischer Darstellung und Seitenansicht eine zweite Fräsmaschine in Form eines Stabilisierers,

Fig. 3

einen ersten Typ einer Fräswalze mit einer Kamera,

Fig. 4

einen zweiten Typ einer Fräswalze mit einem Transponder,

Fig. 5

in einer vereinfachten schematischen Darstellung einen typischen Aufbau einer Straße,

Fig. 6

schematisch ein Fräsbild, wie es beim Abtragen einer Deckschicht und einer Tragschicht einer Straße von einer Standardfräse erzeugt werden kann,

Fig. 7

schematisch ein Fräsbild einer mit einer Feinfräswalze zum Teil abgetragenen Deckschicht einer Straße,

Fig. 8

in einer seitlichen Schnittdarstellung einen an einem Basisteil befestigten Meißelhalter mit einem Meißel,

Fig. 9

eine schematische Darstellung zur Bestimmung von Maschinenparametern einer Fräsmaschine und

Fig. 10

ein Ablaufdiagramm zur Bestimmung von Maschinenparametern einer Fräsmaschine.

Show it:

Fig. 1

a schematic representation and side view of a first milling machine in the form of a road milling machine,

Fig. 2

a schematic representation and side view of a second milling machine in the form of a stabilizer,

Fig. 3

a first type of milling drum with a camera,

Fig. 4

a second type of milling drum with a transponder,

Fig. 5

a simplified structure of a typical structure of a road,

Fig. 6

schematically a milling pattern, such as can be generated by a standard milling machine when a top layer and a base layer are removed from a road,

Fig. 7

schematically a milling image of a top layer of a road partially removed with a fine milling drum,

Fig. 8

a side sectional view of a chisel holder attached to a base part with a chisel,

Fig. 9

a schematic representation for determining machine parameters of a milling machine and

Fig. 10

a flowchart for determining machine parameters of a milling machine.

Figure 1 shows a schematic representation and side view of a first milling machine 10 in the form of a road milling machine. A machine frame 12 is supported by four lifting columns 16.1, 16.2 adjustable in height by running gear 11.1, 11.2, for example chain drives. Starting from a control center 13, the first milling machine 10 can be operated via a control 17 arranged in the control center 13. In a concealed milling drum box, a milling drum 15, likewise concealed and shown in dashed lines in the illustration, is rotatably mounted. A conveyor 14 serves to remove the milled material.

In use, the machine frame 12 is moved over the surface to be processed at a feed rate entered via the control 17. Bear on the rotating milling drum 15 arranged and in the Figures 3 and 4 Chisel 20 shown the underground. The height position and the speed of the milling drum 15 can be set by the controller 17. The milling depth is set via the height position of the milling drum 15. Depending on the machine type, the height position of the milling drum can be adjusted using the height-adjustable lifting columns 16.1, 16.2. Alternatively, the milling drum 15, such as the one shown in FIG Figure 2 shown second milling machine 50, be adjustable in height relative to the machine frame 12.

Figure 2 shows a schematic representation and side view of a second milling machine 50 in the form of a stabilizer. The second milling machine 50 is moved by means of front and rear wheels 51.1, 51.2. The front and rear wheels 51.1, 51.2 are on the chassis 52 via front and rear lifting columns 57.1, 57.2 attached so that the working height of the chassis 52 and thus the roller housing 56 can be adjusted. A machine control station 53 is attached to the chassis 52. The motor 54 arranged within the chassis 52 drives the milling drum 15 via a drive unit 54.1. The milling drum 15 itself is mounted in a drum housing 56, to which a front and a rear drum flap 56.1, 56.2 is assigned. The roller flaps 56.1, 56.2 are each designed to be adjustable by means of an attached hydraulic system. The height of the milling drum 15 can be adjusted via a hydraulic height adjustment 55 along an adjustment path 55.4 shown by a double arrow. For this purpose, the movement of a hydraulic cylinder 55.1 is transmitted to the milling drum 15 via a rotatably mounted deflection lever 55.2 and an adjusting rod 55.3 arranged thereon. The milling depth can be adjusted using the height adjustment.

In the Figure 3 A first type of milling drum 15 with a camera 31 and a light source 30 is shown more clearly. Only an end section of the milling drum 15 is shown in the axial extent. A large number of chisel holders 22 (tool holders) are fastened on the surface of a milling drum tube 15.1 of the milling drum 15. A chisel 20 is held in each bit holder 22 as a milling tool. The chisel 20 has a chisel tip 21 made of a hard material, in particular of hard metal. In the present example, the chisel holders 22 are welded directly onto the milling drum 15. However, it is also conceivable to use swap holder systems, such as these closer Figure 4 are described. Inside the in Figure 3 Milling drum tube 15.1 shown, a serial number 35 and a barcode 34 are attached. The barcode 34 represents the serial number 35 in encrypted form.

The chisels 20 are arranged at comparatively large intervals on the milling drum tube 15.1. Such a milling drum 15 is provided as a standard milling drum, for example for removing entire road layers.

Figure 4 shows a second type of milling drum 15 with a transponder 32. Here, too, only an end section of the milling drum 15 is shown in axial extension. The transponder 32 is protected in the interior of the milling drum tube 15.1 arranged. A reader 33 for reading the transponder 32 is shown schematically. The reader 33 is advantageously arranged on the milling machine 10, 50 such that it is in radio contact with the transponder 32 at least temporarily during one revolution of the milling drum 15. A unique identifier, for example a serial number, is stored in the transponder 32, which uniquely defines the type of the milling drum 15. If there is radio contact between the reading device and the transponder only in certain positions of the milling drum, the device can also be used to precisely determine the milling drum speed.

To fasten the chisel 20 to the milling drum tube 15.1, a base part 23 is welded onto the milling drum tube 15.1. The chisel holder 22 is detachably fastened in the base part 23 for receiving an exchangeable chisel 20.

In the illustration shown, the surface of the milling drum tube 15.1 is only partially covered with base parts 23, chisel holders 22 and associated chisels 20 for a better overview. In fact, the entire surface of the milling drum tube 15.1 is equipped with base parts 23, chisel holders 22 and chisels 20.

Opposite the in Figure 3 shown milling drum 15, the chisels 20 are only slightly spaced in the present embodiment. The milling drum 15 is a fine milling drum for targeted structuring and for restoring the flatness of a road surface.

Figure 5 shows a simplified schematic representation of an exemplary structure of a road 40. This consists of a substructure 41 and an asphalt layer consisting of a base layer 42 and a final cover layer 43.

Figure 6 shows schematically a milling image as it can be generated by the removal of the cover layer 43 and base layer 42 of a road 40 by a standard milling machine. In the substructure 41, rough milling grooves 44 caused by the milling process are clearly visible.

In Figure 7 is a schematic representation of a milling image of a covering layer 43 of the road 40 which has been partially removed with a fine milling drum. In the area of the milling track, the cover layer 43 has a structure in the form of fine milling grooves 44.

In the Figure 1 The first milling machine 10 shown can be used for various tasks. Thus, the road milling machine shown can be used for fine milling road surfaces, in which only the surface or parts of the surface of the top layer 43 of the road 40 are removed, as shown in FIG Figure 7 is shown. As a result, the surface structure of the road 40 can be changed or the flatness can be restored. For fine milling, the first milling machine 10 is equipped with a fine milling machine, as exemplified in FIG Figure 4 shown, equipped.

In a further application, the first milling machine 10 can be used to remove the top layer 43 and / or the base layer 42 of the road 40. The removed material of the top layer 43 and the base layer 42 can be milled separately or together and recycled in a separate recycling plant and then reused for road construction. To remove the road layers, a standard milling drum, as exemplified in Figure 3 is shown, installed in the first milling machine 10.

Alternatively, the milling machines 10, 50 can be designed to reprocess the milled material obtained on site as part of a cold recycling process and to apply it to the substructure 41 as a renewed road surface. Appropriate binders, for example bituminous binders, are added to the milled material and are mixed with the milled material during the milling process. The milled material prepared in this way can then be transferred in the first milling machine 10 with the conveying device 14 to a road paver, for example, and used to build up a new road surface. Alternatively, the milling material can remain in the milling track in both milling machines 10, 50 directly behind the milling drum 15 and, if appropriate, with appropriate devices on the respective one Milling machine 10, 50 are precompressed. The final compaction of the renewed road surface is carried out by the following single drum rollers.

In a further application, a stabilizer corresponding to the second milling machine 50 for stabilizing, for example the substructure 41 of FIG Figure 5 road 40, shown in a highly simplified manner, can be used before application of the base and cover layers 42, 43. For this purpose, the subsurface is milled off by the milling drum 15 and mixed with binders, for example water, lime, cement or corresponding suspensions. Possibly. this also involves crushing and homogenizing the existing, milled soil material. The mixture obtained in this way usually remains in the milling track and is then optionally compacted using roller rollers, in order, for example, to form a stable substructure 41 for the base layer 42 and the top layer 43 of the road 40.

The milling machines 10, 50 are equipped with different milling drums 15 for the various milling tasks that can be carried out. For the removal of entire road layers, such as, for example, the joint removal of the base layer 42 and the top layer 43, milling drums 15 are corresponding or similar to that in FIG Figure 3 shown standard milling drum used. For fine milling, fine milling drums are made accordingly or similar Figure 4 used, which compared to that in Figure 3 standard milling drum shown have a significantly higher number of milling tools. In the case of milling drums 15 for stabilizing the substructure 41, on the other hand, the milling tools are arranged on webs which ensure thorough mixing of the milling material. Different milling drums 15, which are each optimized for certain areas of application, can also be installed in the milling machine 10, 50 for identical or similar tasks. Furthermore, the milling machine 10, 50 can be equipped with milling drums 15 of different working widths, as a result of which the milling machine 10, 50 can be adapted to different tasks.

Depending on the milling task to be carried out, the milling machine 10, 50 must be operated with different machine parameters. In particular, the feed rate, the milling drum speed and the milling depth are the same adapt the respective task. Further machine parameters to be adapted are the speed of a motor driving the milling drum 15, the power transmitted to the milling drum 15 or the torque transmitted to the milling drum 15.

According to the present invention, it is provided that the milling machine 10, 50 has means for detecting characteristic features of the milling drum 15 used in the milling machine 10, 50. With the help of these characteristic features, the type of milling drum 15 present can then be clearly determined, for example. Suitable machine parameters for operating the milling machine 10, 50 are specified as a function of the type of milling drum 15 determined in this way or directly from the characteristic features. For example, in the case of a large number of chisels 20 lying close together, as a possible external characteristic feature of the milling drum 15, it can be concluded that the milling drum 15 in question is used for fine milling work, whereas a comparatively small number of chisels 20 can be assumed to be a coarser milling task . Even with a known type of milling drum 15, the milling task for which the milling machine 10, 50 is to be used is sufficiently known. The machine parameters can thus be adapted to the particular milling task and the milling drum 15 present. For this purpose, a control unit 60, as shown in FIG Figure 9 is shown, one or more machine parameters are set or an operator of the milling machine 10, 50 is displayed. Likewise, the operating person can be given setting ranges for one or more machine parameters within which an optimal operation of the milling machine 10, 50 is possible for the milling task at hand. The operator can then set the machine parameter or parameters within the specified setting ranges. It is preferably provided that the predefined setting ranges merely represent a recommendation, so that in the decision of the operating person, settings outside of the predefined setting ranges can also be made. For this purpose, it can be provided that data are stored in the control unit 60, the certain characteristic features of the milling drum or certain types of milling drums, preferred machine parameters, preferred setting ranges for Assign machine parameters or preferred ratios of machine parameters to each other.

When specifying the machine parameter or parameters, properties of the milling machine 10, 50 itself are preferably taken into account. For example, limitations of the machine parameters to be specified, for example a maximum possible milling depth, a maximum feed speed or a maximum drive power, are also taken into account when the machine parameters are specified. For the same milling drums 15, different values or setting ranges for the machine parameter (s) can be specified for different milling machines 10, 50. As a result, different milling machines 10, 50 can be optimally adapted to the milling task and the present milling drum 15.

If it is recognized in a possible application that a milling drum 15 for fine milling is installed in the milling machine 10, then a limited setting range for the milling depth can be specified as a machine parameter by specifying a maximum milling depth. This makes it possible to avoid using fine milling drums for deeper milling work, since this does not enable satisfactory work, leads to increased wear on the milling drum 15 and entails the risk of damage to the milling drum 15 and the milling machine 10, 50. Furthermore, when the fine milling drum is recognized, a comparatively high value or setting range can be specified as a machine parameter for the milling drum speed, so as to produce a uniform surface structure. The maximum predetermined speed of the milling drum 15 can be defined as the upper limit value of the speed range that seems suitable for fine milling with the milling drum 15 present. However, it can also be limited by the maximum rotational speed of the milling drum 15 that can be set in the present milling machine 10, 50. In addition to the speed of the milling drum 15, a value or setting range to be set for the feed speed of the milling machine 10, 50 can be specified as a further machine parameter such that the ratio between the Feed speed and the milling drum speed does not exceed a certain threshold. This can prevent undesired structures from appearing on the surface to be machined.

If a milling drum 15 for the removal of entire layers of the road structure is recognized, then a high power transmitted to the milling drum 15 can be specified as a machine parameter. This can also be done as an individual value to be set or as a preferred setting range. Furthermore, a value to be set or a setting range with a comparatively low milling drum speed is specified for such a milling drum 15 and thus the task. In this way, for example, the wear on the chisels 20 and the chisel holders 22 can be kept low.

According to a possible embodiment variant of the invention, it can be provided that in addition to the type of milling drum 15 used, at least one material property of the substrate to be milled and / or an additive added to the milling process is taken into account when specifying the value to be set or the setting range of the at least one machine parameter . The at least one material property of the substrate to be milled can be entered, for example, by an operator of the milling machine 10, 50. As an alternative to this, the milling machine 10 can have suitable sensors with which the relevant material properties can be recorded. The additives can be materials for preparing the worn road surface or for stabilizing the subsoil. These can be specified, for example, by the operator of the milling machine 10, 50.

The built-in milling drum type can be recognized in different ways. One possibility is visual recognition based on external characteristic features of the milling drum 15 by means of a camera 31, as shown in FIG Figure 3 is shown symbolically. A light source 30 is advantageously assigned to the camera 31, so that there is also sufficient brightness in the roller housing 56 for the camera 31 to hold the milling drum 15. The detection of the The type of milling drum 15 used on the basis of the camera recordings can be made, for example, by suitable evaluation software, which is advantageously stored in a control unit 60 connected to the camera 31. The evaluation software can evaluate characteristic features of the milling drum 15, such as the number and / or the arrangement of the chisels 20 or the outer dimensions of the milling drum 15. As an alternative or in addition to this, a scanner can also be arranged in the region of the milling drum 15, which, for example, detects the number, the arrangement and / or the contour of the chisel 20 and, in cooperation with suitable evaluation software, recognizes the type of the milling drum 15 from this.

Active or passive transponders 32, for example RFID transponders, can preferably be attached to the milling drums 15, as shown in FIG Figure 4 is shown. A suitable identification of the milling drum 15 is stored in the transponders 32. The marking represents a characteristic feature of the milling drum 15, on the basis of which the type of the milling drum 15 can be clearly determined. Suitable reading devices 33 are then arranged on the milling machines 10, 50 with which the transponders 32 can be read out. The data obtained in this way are forwarded to a control unit 60 which, depending on the data, recognizes the type of milling drum 15 and specifies the associated machine parameters as a value or setting range to be set.

According to a further embodiment variant, it can be provided that 15 barcodes 34 are attached to the milling drums, as shown in FIG Figure 3 is shown. The barcodes 34 represent a characteristic feature for unambiguously identifying the respective milling drum 15. At least one suitable barcode reader is then attached to the milling machine 10, 50 and connected to the control unit 60. This determines the type of milling drum 15 as a function of the identification determined via the barcode reader and then specifies the value to be set or the setting range of the relevant machine parameter or parameters. Further forms of identification, for example sequences of numbers or letters, which clearly indicate the type of the milling drum 15 can also be attached to the milling drum 15. Such an identifier can be used by an operator of the Milling machine 10, 50 read and fed to the control unit 60 via an input unit, for example in the form of a keyboard. As an alternative to this, the identifier can also be obtained via the in Figure 3 shown camera 31 or another sensor system detected and forwarded to the control unit 60. The identifier can be, for example, a serial number 35 of the milling drum 15, as shown in FIG Figure 3 is shown.

The milling drum 15 can advantageously be identified such that it can be read out when the milling drum 15 rotates. For example, a bar code 34 can be guided past a bar code scanner by the rotation of the milling drum 15 and can be read out in the process. It is also conceivable that the milling machine is assigned a proximity switch, the detection area of which is directed, for example, to the end face of the milling drum tube 15.1 or to another area of the milling drum tube 15.1 which is guided past the proximity switch by the rotation of the milling drum 15. Elevations and depressions can then be provided on the milling drum tube 15.1, so that the proximity switch switches or does not switch depending on the position of the milling drum 15. The marking on the milling drum can thus be coded and read out via the switching impulses of the proximity switch. The detection can then take place, for example, at a known rotational speed of the milling drum, or the marking has "start / stop" identifiers, the start identifier marking the start and the stop identifier the end of the marking, for example a serial number of the milling drum 15 . For example, by detecting repeated start and / or stop signals and determining the time between these signals, the speed of the roller can also be determined.

In a further embodiment of the invention, it is provided that specifications for setting certain machine parameters are stored on or in the milling drum 15 and read out by suitable reading means and fed to the control unit 60. Values or setting ranges of the respective machine parameters to be set can be stored, for example, in active or passive transponders 32 or in the form of bar codes 34.

Figure 8 shows a side sectional view of a chisel holder 22 fastened to a base part 23 with a chisel 20 as a milling tool.

The chisel tip 21 is preferably firmly attached to a chisel head 20.1 of the chisel 20. Opposite the chisel tip 21, the chisel head 20.1 merges into a chisel shank 20.2. The cylindrical chisel shaft 20.2 can be rotated about its longitudinal axis via an adapter sleeve 20.3 and is axially blocked in a chisel receptacle 22.1 of the chisel holder 22. A wear washer 24 is arranged between the bit head 20.1 and the bit holder 22. The chisel holder 22 has a plug-in attachment 22.2 which is inserted into a shank receptacle 23.1 of the base part 23 and is clamped there by means of a clamping screw 23.2. The base part 23 itself is fastened, preferably welded, to a milling drum tube 15.1 (not shown).

A transponder 32 is arranged in the area of the chisel shank 20.2. The transponder 32 can be designed as an active or passive transponder 32. A label is stored in it, which indicates the type of chisel 20 as the inserted milling tool. Different chisels 20 are provided for different milling tasks. If the type of chisel 20 is known, the milling task to be carried out can be concluded and the machine parameter (s) for operating the milling machine 10, 50 can be specified accordingly.

In addition or as an alternative to the chisel 20, the chisel holder 22 and / or the base part 23 can also be identified. Furthermore, an additional identification of the milling drum tube 15.1 can be provided. The at least one machine parameter can be set as a function of a combined evaluation of the markings. For example, the type of milling task, for example fine milling, can be determined on the basis of the marking of the milling tool, in the present case the chisel 20. The marking of the milling drum tube 15.1 can indicate, among other things, the axial length of the milling drum tube 15.1. For the milling task determined on the basis of the type of milling tool (fine milling), it is now possible for different lengths of time Milling drum tubes 15.1 different values or ranges of values can be specified for the at least one machine parameter.

Figure 9 shows a schematic representation for determining machine parameters of the milling machine 10, 50. The outer contour and identifications in the form of a bar code 34 and a transponder 32 are provided as characteristic features of the milling drum 15. The outer contour is captured using a camera 31. The transponder 32 is read out with the aid of a reading device 33 and the barcode 34 is detected and decoded by means of a barcode reader 36. In the present case, these three options are provided for recording characteristic features of the milling drum 15, but it is conceivable to record additional features additionally or alternatively or only a part of the features listed.

The reader 33, the camera 31 and the barcode reader 36 are connected to a block 65 to form the characteristic feature. The characteristic feature is forwarded to the control unit 60. The control unit 60 is also connected to a database 62 and an input unit 61. The control unit 60 forms a machine parameter set 63 for the milling machine 10, 50 from the characteristic feature or features. In the present case, the machine parameter set 63 comprises a maximum milling depth 63.1, a minimum milling depth 63.2, a maximum feed 63.3 and a minimum feed 63.4 within which the milling machine 10, 50 is to be operated with the detected milling drum. The machine parameter set 63 is output to a machine operator by means of an output device, in the present case in the form of a display.

The control unit 60 described is thus designed as a computer system. This does not include at least one processor, a computer-readable storage medium, the database 62, the input unit 61 and the output unit 64. The input unit 61 can be designed as a keyboard or as another user interface and enables an operator to enter instructions. The output unit 64 can be designed as a display or in the form of another optical or acoustic display. The processor can act as a single controller, which has all of the functionality described comprises, be executed or several controllers can be provided, on which the described functionality is divided.

In the present sense, a computer-readable storage medium is understood to mean any form of a non-volatile storage medium which contains a computer program product in the form of software that can be executed by the processor, computer instructions or program modules. When executed, these can provide data or otherwise cause the computer system to implement an instruction or operate in a specific manner as defined herein. It can further be provided that more than one type of storage medium is used in combination in order to execute software, computer instructions or program modules executable by the processor from a first storage medium in which the software, the computer instructions or the program modules are initially stored To direct the microprocessor.

The storage media as used here cannot be restrictive of transmission media or data storage. The data stores can be equivalent to volatile and non-volatile, removable and non-removable media. These can be in the form of dynamic memory, ASICs (Application Specific Integrated Circuits), memory chips, optical or magnetic memory (CD), flash memory, or any other medium which is suitable for storing data in a form suitable for processors his. Unless otherwise stated, they can be arranged on a single computer platform or distributed over several such platforms.

Transmission media can contain all concrete media which are suitable for software, computer instructions or program modules executable by the processor to be read out and executed by a processor. Cables, lines, fiber optics or known wireless media can be used for this without restriction.

In a further embodiment it can be provided that the processor does not represent or require a computer system. It can be implemented separately or otherwise configured independently within a machine, such as in a general purpose processor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate) Array) or in other programmable logic devices, a logic gate (discrete gate) or logic transistor circuit, discrete hardware components, or any combination thereof, which is designed or programmed to perform or bring about the functions described. The general purpose processor can be a microprocessor or, alternatively, a microcontroller, a state machine, or a combination thereof.

The processor can also be implemented as a combination of computing devices, for example as a combination of a DSP with a microprocessor, a plurality of microprocessors, one or more microprocessors in connection with a DSP core, or any other such combination

Depending on the design, certain actions, sequences or functions of each of the algorithms described in relation to the controller can take place in a different order, they can be added or connected or omitted (for example if not all of the described functions are required for the execution of the algorithm ). In addition, in certain implementations, actions, sequences or functions can be carried out simultaneously, for example by multi-threated processing, interrupted processing, or by several processors or processor cores or any other parallel architecture.

According to the in Figure 9 In the illustration shown, the control unit 60 is supplied with characteristic features of the milling drum 15. These can be an identifier, which was read out by means of the barcode reader 36 or the reader 33 of the transponder 32, or external features of the milling drum 15, as recorded by the camera 31. The control unit 60 is designed to use the supplied characteristic features to determine the type of built-in milling drum 15 to recognize. For this purpose, it compares the characteristic features with data stored in the database 62. Alternatively, the type of milling drum 15 can also be entered via the input unit 61. If the type of milling drum 15 is known, the control unit 60 determines suitable machine parameters or ranges of suitable machine parameters within which the milling machine 10, 50 can be operated optimally with the milling drum 15 present. In the exemplary embodiment shown, these are displayed to a machine operator by means of the output device 64. In the present case, the machine operator receives specifications regarding suitable areas for the feed and the milling depth. In this way, he can set the corresponding machine parameters. It is also conceivable that the machine parameters are forwarded directly to a machine controller and are automatically set by the latter for the operation of the milling machine 10, 50.

Figure 10 shows a flowchart 70 for determining machine parameters of a milling machine 10, 50. The flowchart has five blocks 71, 72, 73, 74, 75 and the database 62. In the first block 71, the sensor values, for example those in FIG Figure 9 shown camera 31, the barcode reader 36 or the reader 33 for the transponder 32. In the second block 72, the characteristic feature of the milling drum 15 is determined therefrom. In an optional step, the milling drum type can be determined in a third block 73 from the characteristic feature previously recorded. In the fourth block, the machine parameter or parameters suitable for operating the milling machine 10, 50 are then determined directly from the characteristic feature or from the milling drum type. These can be concrete values or ranges of values. Data from the database 62 can be used to determine the machine parameters from the characteristic feature or the milling drum type. The machine parameters or the machine parameter areas are then output in a fifth block 75.

Claims (20)

1. A milling machine (10, 50), particularly a road milling machine, a stabiliser, a recycler, a surface miner or the like, have a replaceable milling drum (15), wherein various types of milling drum (15) can be associated with the milling machine (10, 50), and having a control unit (60) for controlling the milling machine (10, 50), wherein the machine parameters of the milling machine (10, 50) can be set by means of the control unit (60),
   characterised in that,
   at least one means which is designed to detect at least one characteristic feature of the milling drum (15) is associated with the milling machine (10, 50), that the at least one means is connected to the control unit (60) and that the control unit (60) is designed to specify a value to be set and/or a setting range indirectly or directly according to the characteristic feature for at least one machine parameter suitable for the milling task to be carried out.
2. The milling machine (10, 50) according to claim 1,
   characterised in that,
   the means or the control unit (60) is also designed to determine the type of milling drum (15) from the characteristic feature and in that the control unit (60) is also designed to specify a value to be set and/or a setting range for at least one machine parameter according to the determined type of milling drum (15).
3. The milling machine (10, 50) according to claim 1 or 2,
   characterised in that,
   the at least one means is also designed to detect external features of the milling drum (15) as a characteristic feature of the installed milling drum (15).
4. The milling machine (10, 50) according to one of claims 1 to 3,
   characterised in that,
   the at least one means is also designed to detect an identifier of the milling drum (15) as a characteristic feature of the installed milling drum (15).
5. The milling machine (10, 50) according to one of claims 1 to 4,
   characterised in that,
   the at least one means is also designed to detect the type of at least of one milling tool of the milling drum (15) as a characteristic feature of the installed milling drum (15).
6. The milling machine (10, 50) according to one of claims 1 to 5,
   characterised in that,
   a camera (31) and/or a scanner and/or a barcode reader and/or an input device is indirectly or directly associated with the milling machine (10, 50) as a means for detecting the characteristic feature of the installed milling drum (15).
7. The milling machine (10, 50) according to one of claims 1 to 6,
   characterised in that,
   an identifier, in particular a letter sequence and/or number sequence and/or a barcode, as a characteristic feature is arranged in or on the milling drum (15).
8. The milling machine (10, 50) according to one of claims 1 to 7,
   characterised in that,
   a reader for active or for passive transponders is indirectly or directly associated with the milling machine (10, 50) as a means for detecting the characteristic feature of the installed milling drum (15).
9. The milling machine (10, 50) according to one of claims 1 to 8,
   characterised in that,
   an active or passive transponder is arranged in or on the milling drum (15) and in that the identifier is saved in the transponder.
10. The milling machine (10, 50) according to one of claims 1 to 9,
    characterised in that,
    the identifier and/or the active or passive transponder is arranged in or on a milling drum tube (15.1) or in or on a tool holder or in or on a milling tool of the milling drum (15).
11. The milling machine (10, 50) according to one of claims 1 to 10,
    characterised in that,
    the control unit (60) is also designed, according to the characteristic feature and/or the type of the milling drum (15) determined from the characteristic feature, to specify the value to be set or the setting range for a milling depth and/or a milling drum rotational speed and/or an advancing speed of the milling machine (10, 50) and/or a drive power transferred to the milling drum (15) and/or a torque transferred to the milling drum (15) and/or a rotational speed of a motor driving the milling drum (15) as machine parameters of the milling machine (10, 50).
12. The milling machine (10, 50) according to one of claims 1 to 11,
    characterised in that,
    the control unit (60) is also designed to operate the milling machine (10, 50) with the value of the at least one machine parameter which is specified according to the characteristic feature and/or the type of the milling drum (15) determined from the characteristic feature and/or in that the control unit (60) is connected to an output device and in that the control unit (60) is also designed to display to the operator of the milling machine (10, 50) via the output device the value to be set or the predefined setting range of the at least one machine parameter specified according to the characteristic feature and/or the type of milling drum (15) determined from the characteristic feature.
13. The milling machine (10, 50) according to one of claims 1 to 12,
    characterised in that,
    at least one input means is associated with the control unit (60), in that at least one material property of the substrate to be milled and/or at least one additive supplied to the milling process can be detected via the input means and fed to the control unit (60), and that the control unit (60) is also designed to take into consideration the at least one material property and/or the at least one additive when specifying the value to be set or the setting range for the at least one machine parameter.
14. The milling machine (10, 50) according to one of claims 1 to 13,
    characterised in that,
    according to the characteristic feature, the control unit (60) is also designed to recognise individual milling drums (15) and to detect the service life and/or change intervals for milling tools of the milling drum (15).
15. A method for operating a milling machine (10, 50), in particular a road milling machine, a stabiliser, a recycler, a surface miner or the like, wherein the milling machine (10, 50) is operated with differently set machine parameters and with different milling drums (15) according to the milling task to be carried out,
    characterised in that,
    at least one characteristic feature of the milling drum (15) is detected by means arranged for this purpose on the milling machine (10, 50) and that a value to be set and/or a setting range of at least one machine parameter suitable for the milling task to be carried out is ascertained indirectly or directly according to the at least one characteristic feature of the milling drum (15) and displayed and/or set automatically.
16. The method according to claim 15,
    characterised in that,
    the type of milling drum (15) used is detected on the basis of the characteristic feature and in that the value to be set and/or the setting range of the at least one machine parameter is ascertained according to at least the type of the used milling drum (15) and displayed and/or automatically set.
17. The method according to claim 15 or 16,
    characterised in that,
    that an external feature of the milling drum (15), in particular an external shape and/or at least an external dimension and/or a number and/or arrangement of milling tools, is detected as a characteristic feature of the installed milling drum (15).
18. The method according to one of claims 15 to 17,
    characterised in that,
    an identifier of the milling drum (15) is detected as a characteristic feature of the installed milling drum (15).
19. The method according to one of claims 15 to 18,
    characterised in that,
    the value to be set or the setting range for a milling depth and/or for a milling drum rotational speed and/or for an advancing speed and/or for a drive power transferred to the milling drum (15) and/or for a torque transferred to the milling drum (15) and/or for a rotational speed of a motor driving the milling drum is ascertained as a machine parameter of the milling machine (10, 50) according to the characteristic feature and/or the type of milling drum (15).
20. The method according to one of claims 15 to 19,
    characterised in that,
    when specifying the value to be set and/or the setting range of the at least one machine parameter, at least one material property of the substrate to be milled and/or at least one additive supplied to the milling process is taken into consideration.

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