Marking underground obstacles

Patent metadata

Field	Value
Publication number	US-10344435-B2
Application number	US-201715412376-A
Country	US
Kind code	B2
Filing date	Jan 23, 2017
Priority date	Jan 23, 2017
Publication date	Jul 9, 2019
Grant date	Jul 9, 2019

Abstract

A method is provided for preparing an area of the ground surface to be milled by a milling machine. Prior to performing any milling operation on the area of the ground surface, a survey vehicle separate from the milling machine is used to traverse the area. The survey vehicle detects the presence of buried obstacles with a sensor and generates a sensor output signal indicative of the presence of the buried obstacle. The sensor output signal is received in a controller which generates a sprayer actuation signal and responds to the sensor output signal. A marking sprayer is actuated in response to the sprayer actuation signal and sprays the ground surface above the obstacle with a visible marking emitted from the sprayer. Subsequently, a milling machine separate from the survey vehicle may be utilized to mill the ground surface and by observation of the visible markings the operator may avoid impacting the milling drum with the buried obstacles.

First claim

What is claimed is:

1. A method of preparing an area of a ground surface to be milled by a milling machine, the method comprising:
a) prior to performing any milling operation on the area of the ground surface, traversing the area with a survey vehicle separate from the milling machine, the survey vehicle including a sensor, a marking sprayer and a controller;
b) detecting the presence of a buried obstacle with the sensor and generating a sensor output signal indicative of the presence of the obstacle;
c) receiving the sensor output signal in the controller and generating a sprayer actuation signal in response to the sensor output signal; and
d) actuating the marking sprayer in response to the sprayer actuation signal and spraying the ground surface above the obstacle with a visible marking emitted from the sprayer, the visible marking including a visible indication of a depth of the obstacle under the ground surface.

2. The method of claim 1 , wherein:
in step (a) the survey vehicle is a non-self-propelled vehicle towed by a self-propelled towing vehicle.

3. The method of claim 2 , wherein:
step (a) is performed at a towing speed of at least 10 km/hr.

4. The method of claim 1 , wherein:
step (a) further comprises towing the survey vehicle at a towing speed of at least 10 km/hr.

5. The method of claim 1 , wherein:
in step (a) the survey vehicle is a manually propelled vehicle.

6. The method of claim 1 , wherein:
step (a) further includes detecting and marking a first portion of a continuous buried obstacle; and
the method further includes following a path of the obstacle with the survey vehicle and marking the entirety of the continuous buried obstacle within the area of the ground surface.

7. The method of claim 1 , wherein the visible indication of depth includes a variable color of the visible marking.

8. The method of claim 1 , wherein the visible indication of depth includes a variable intensity of the visible marking.

9. The method of claim 1 , wherein the visible indication of depth includes a variation in sprayed indicia as the visible indication of depth.

10. The method of claim 1 , wherein the visible indication of depth includes a visible indication of a maximum permissible milling depth that will avoid the buried obstacle.

11. The method of claim 1 , wherein:
in step (a) the sprayer includes an array of spray nozzles distributed across a width of a path traversed by the survey vehicle, and in step (d) one or more selected spray nozzles are actuated to spray the ground surface.

12. The method of claim 11 , wherein:
in step (a) the sensor includes an array of sensor elements distributed across the width of the path traversed by the survey vehicle, each sensor element being associated with at least one of the spray nozzles.

13. The method of claim 1 , wherein:
in step (a) the sprayer includes a spray nozzle movable across a width of a path traversed by the survey vehicle, and in step (d) the spray nozzle is moved to a selected location and actuated to spray the ground surface.

14. The method of claim 1 , further comprising:
prior to step (d), drying the area of the ground surface.

15. The method of claim 1 , wherein:
in step (d) the marking includes waterproof paint.

16. The method of claim 1 , wherein:
in step (a) the area of the ground surface is traversed in a pattern so that substantially the entire area is surveyed and marked prior to performing the milling operation.

17. The method of claim 1 , wherein:
in step (a) the survey vehicle is self-propelled.

18. The method of claim 1 , wherein:
in step (d) the visible marking covers a contour of the buried obstacle.

19. The method of claim 1 , further comprising:
e) milling the ground surface with at least one milling machine separate from the survey vehicle; and
f) during step (e), observing the presence of the visible marking on the ground surface and controlling the milling machine so as to avoid impacting the obstacle with a milling drum of the milling machine.

20. The method of claim 19 , wherein:
in step (f) the observing is performed by a human operator of the milling machine directly observing the ground surface.

21. The method of claim 19 , wherein:
in step (f) the observing is performed by a human operator of the milling machine observing images of the ground surface on a display.

22. The method of claim 19 , wherein:
in step (f) the observing is performed automatically by a visual sensor located on the milling machine, and the controlling of the milling machine is performed automatically in response to signals from the visual sensor.

23. The method of claim 19 , wherein:
in step (f) the controlling of the milling machine includes adjusting a milling depth of the milling drum of the milling machine.

24. The method of claim 19 , wherein:
in step (f) the controlling of the milling machine includes steering the milling machine around the obstacle.

25. The method of claim 19 , wherein:
in step (f) the controlling of the milling machine includes stopping the milling machine.

26. The method of claim 19 , wherein:
step (e) is performed with a plurality of milling machines operating simultaneously or sequentially.

27. A survey vehicle apparatus for surveying an area of a ground surface and marking the ground surface to indicate the presence of buried obstacles, the apparatus comprising:
a vehicle frame;
a plurality of ground engaging units supporting the vehicle frame from the ground surface, all of the ground engaging units being non-powered so that the survey vehicle is non-self-propelled;
a sensor carried by the vehicle frame and configured to detect the presence of the buried obstacles and to generate sensor output signals indicative of the presence of the buried obstacles and indicative of a depth of each of the buried obstacles;
a marking emitter carried by the vehicle frame and configured to emit visible markings onto the ground surface above the buried obstacles, the visible markings including visible indications of the depths of the buried obstacles; and
a controller configured to receive the sensor output signals and to generate actuation signals to actuate the marking emitter.

28. The apparatus of claim 27 , wherein:
the visible indications of depths include a variable color of the visible markings.

29. The apparatus of claim 27 , wherein the visible indications of depths include a variable intensity of the visible markings.

30. The apparatus of claim 27 , wherein the visible indications of depths include a variation in sprayed indicia.

31. The apparatus of claim 27 , wherein the visible indications of depth include a visible indication of a maximum permissible milling depth that will avoid the buried obstacle.

32. The apparatus of claim 27 , wherein:
the marking emitter includes an array of spray nozzles distributed across a width of a path traversed by the survey vehicle apparatus.

33. The apparatus of claim 32 , wherein:
the sensor includes an array of sensor elements distributed across the width of the path traversed by the survey vehicle apparatus, each sensor element being associated with at least one of the spray nozzles.

34. The apparatus of claim 27 , wherein:
the marking emitter

Assignees

• Wirtgen Gmbh

Inventors

• Berning Christian
• Lenz Martin
• Barimani Cyrus

Classifications

• E01C23/22

  by spraying {(E01C23/206 takes precedence)} · CPC title

• E01C23/088 Primary

  Rotary tools, e.g. milling drums {(for forming recesses to receive marking materials E01C23/0946)} · CPC title

• G01V9/00

  Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00 · CPC title

• B05C11/1021

  responsive to presence or shape of target (B05C11/1018 takes precedence) · CPC title

• B05B15/60

  Arrangements for mounting, supporting or holding spraying apparatus · CPC title