Milling machine with location indicator system

Patent metadata

Field	Value
Publication number	US-9970164-B2
Application number	US-201615171194-A
Country	US
Kind code	B2
Filing date	Jun 2, 2016
Priority date	May 23, 2013
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A construction machine apparatus includes a plurality of ground engaging supports, a machine frame supported from the ground engaging supports and a milling drum supported from the machine frame. A milling drum location detection system is configured to determine a drum location in an external reference system. A location indicator system includes a memory configured to store information identifying a location of one or more areas to be avoided in the external reference system, and a controller configured to compare the drum location to the location of the one or more areas to be avoided, and to provide an output corresponding to a proximity of the milling drum to the location of the one or more areas to be avoided.

First claim

What is claimed is:

1. A construction machine apparatus, comprising:
a plurality of ground engaging supports;
a machine frame supported from the ground engaging supports;
a milling drum supported from the machine frame; and
a controller configured to provide a control signal, corresponding to a proximity of a determined drum location of the milling drum in an external reference system with respect to a predetermined location of an area to be avoided,
wherein the control signal is operable to automatically avoid contact of the milling drum with the area to be avoided.

2. The apparatus of claim 1 , further comprising a milling drum location detection system in communication with the controller and configured to determine the drum location of the milling drum in the external reference system.

3. The apparatus of claim 2 , wherein the milling drum location detection system comprises a GNSS receiver configured to decode satellite signals from a global navigation satellite system.

4. The apparatus of claim 2 , wherein the milling drum location detection system comprises one or more sensors associated with a non-satellite measuring system.

5. The apparatus of claim 2 , wherein the milling drum location detection system comprises one or more sensors associated with a field rover removably coupled to the machine frame and in communication with the controller.

6. The apparatus of claim 1 , wherein:
the controller is further configured to provide the control signal if the drum location is within a selected range of the location of the area to be avoided.

7. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by stopping advancement of the apparatus.

8. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by raising the milling drum.

9. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by maintaining the milling drum above the area to be avoided while the apparatus is passing over the area to be avoided and then lowering the milling drum as the apparatus is passing over a starting line of a milling operation.

10. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by raising the milling drum as the apparatus is passing over a finish line of a milling operation.

11. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by steering the apparatus.

12. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by shifting the milling drum sideways.

13. The apparatus of claim 1 , wherein:
the controller is further configured such that contact is avoided by moving the apparatus forward with the milling drum raised, until a cutting footprint of the milling drum at a desired milling depth clears the area to be avoided.

14. The apparatus of claim 1 , wherein:
the external reference system includes X, Y and Z coordinates; and
the controller is further configured such that contact is avoided by moving the milling drum in the X and Y coordinates.

15. The apparatus of claim 14 , wherein:
the controller is further configured such that contact is avoided by also moving the milling drum in the Z coordinate.

16. The apparatus of claim 1 , wherein:
the external reference system includes X, Y and Z coordinates; and
the controller is further configured such that contact is avoided by moving the milling drum in the Z coordinate.

17. The apparatus of claim 1 , wherein:
the controller is configured to record a path milled by the milling drum.

18. The apparatus of claim 1 , wherein:
the controller is configured to record locations of un-milled areas corresponding to locations where the milling drum is raised to avoid the areas to be avoided.

19. The apparatus of claim 1 , wherein:
the controller is configured to provide a record of locations of areas remaining to be milled after passage of the apparatus.

20. The apparatus of claim 1 , wherein:
the controller is configured to provide an output corresponding to a proximity of a rearward cutting line of the milling drum to the location of the area to be avoided.

21. The apparatus of claim 20 , wherein:
the controller is configured such that the output corresponds to a cutting footprint of the milling drum at a desired milling depth clearing the location of the area to be avoided.

22. A method of milling a ground surface, the method comprising:
(a) storing information identifying in an external reference system a location of an area to be avoided;
(b) advancing a milling machine;
(c) determining a drum location of a milling drum of the milling machine in the external reference system as the milling machine advances;
(d) providing a control signal corresponding to a proximity of the drum location to the location of the area to be avoided; and
(e) automatically operating the milling machine in response to the control signal so as to avoid contact of the milling drum with the area to be avoided.

23. The method of claim 22 , wherein:
the providing step further comprises providing the control signal if the drum location is within a selected range of the location of the area to be avoided.

24. The method of claim 22 , wherein:
automatically operating the milling machine comprises stopping advancement of the milling machine.

25. The method of claim 22 , wherein:
automatically operating the milling machine comprises raising the milling drum.

26. The method of claim 22 , wherein:
automatically operating the milling machine comprises lowering the milling drum as the milling machine is passing over a starting line of a milling operation.

27. The method of claim 22 , wherein:
automatically operating the milling machine comprises raising the milling drum as the milling machine is passing over a finish line of a milling operation.

28. The method of claim 22 , wherein:
automatically operating the milling machine comprises steering the milling machine around the area to be avoided.

29. The method of claim 22 , wherein:
automatically operating the milling machine comprises shifting the milling drum sideways.

30. The method of claim 22 , wherein:
automatically operating the milling machine comprises moving the milling machine forward with the milling drum raised, until a cutting footprint of the milling drum at a desired milling depth clears the area to be avoided.

31. The method of claim 22 , wherein:
the external reference system includes X, Y and Z coordinates; and
automatically operating the milling machine comprises moving the milling drum in the X and Y coordinates.

32. The method of claim 31 , wherein:
automatically operating the milling machine comprises also moving the milling drum in the Z coordinate.

33. The method of claim 22 , wherein:
the external reference system includes X, Y and Z coordinates; and
the automatically operating the milling machine comprises moving the milling drum in the Z coordinate.

34. The method of claim 22 , further comprising:
recording a path milled by the milling drum.

35. The method of claim 22 , further

Assignees

• Wirtgen Gmbh

Inventors

• Fritz Matthias
• Berning Christian
• Barimani Cyrus
• Lenz Martin

Classifications

• E01C23/088 Primary

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

• E01C19/004

  Devices for guiding or controlling the machines along a predetermined path (for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045) · CPC title

• E01C23/065

  Recycling in place or on the road, i.e. hot or cold reprocessing of paving in situ or on the traffic surface, with or without adding virgin material or lifting of salvaged material; Repairs or resurfacing involving at least partial reprocessing of the existing paving (in situ mixing of hydraulic cement concrete E01C19/025; apparatus for in-plant recycling E01C19/1004, E01C19/1036) · CPC title

• E01C21/00

  Apparatus or processes for surface {soil} stabilisation for road building or like purposes, e.g. mixing local aggregate with binder ({recycling in place or on the road involving soil stabilisation E01C23/065} ; stabilising soil under existing surfacing E01C23/10; soil-conditioning or soil-stabilising materials C09K17/00; soil consolidation in general E02D3/12) · CPC title

• E01C23/127

  rotary, e.g. rotary hammers · CPC title