Monitoring apparatus for a soil-working machine

The invention relates to a monitoring device for a soil cultivation machine, this soil cultivation machine having at least one processing device for the mechanical processing of the soil surface and / or for the production of a soil cover layer. The invention relates in particular to a monitoring device for a floor milling machine, this floor milling machine having at least one milling drum equipped with a plurality of milling cutters. The invention also relates to a soil cultivating machine with at least one such monitoring device.

The nature of a soil surface and / or a soil covering layer produced by a soil cultivation machine allows conclusions to be drawn about the processing operation and / or the state of the soil cultivation machine or its processing device. So z. B. the change in the milling pattern generated by a floor milling machine in the ground surface can be an indication of advanced wear of the milling chisel or even of a chisel breakage. The monitoring of the work result in the case of a soil cultivation machine by recording the created properties of the soil surface and / or the soil cover layer is therefore useful. From the<patcit id="pcit0001" dnum="WO0246533A1"><text>WO 02/46533 A1</text></patcit> For example, the use of a laser control device on a road finisher is known for this purpose, with which the height of a screed is calculated in relation to a reference plane and a target height for the screed is determined and set depending on the calculated height.

In the <patcit id="pcit0002" dnum="DE10203732A1"><text>DE 102 03 732 A1</text></patcit> it is proposed to record and monitor the operating state of a machine component of a floor milling machine that is directly or indirectly involved in the milling process during operation. As soon as a determined characteristic value shows an impermissible deviation from a nominal value, this is indicated to the machine operator, who only then can inspect the milling tools and replace them if necessary. The disadvantage here is that the milling tools resp. The milling pattern generated by the milling drum in the soil structure is not taken into account. In the<patcit id="pcit0003" dnum="DE10203732A1"><text>DE 102 03 732 A1</text></patcit> it is therefore also proposed to optically capture the milled image generated by means of a camera and to display it to the machine operator via a screen device. The operator can check the quality of the generated milling image on the screen device, but this requires constant attention from the machine operator.

One object of the invention is to show possibilities for the optimized operation of a soil cultivating machine of the type mentioned at the beginning.

This object is achieved by a monitoring device and with a floor milling machine according to the independent claims. Such a floor milling machine is z. B. a road milling machine. Preferred developments and refinements are given in the respective dependent claims.

To achieve the object, a monitoring device for a soil cultivating machine is proposed according to independent claim 1. This soil cultivation machine has at least one processing device designed as a milling drum for the mechanical processing of the soil surface, with at least one detection device for the contactless and at least regional detection of a condition of the soil surface generated by the milling drum, in particular the milling image, and with at least one evaluation device for automated evaluation the condition detected by the detection device. The detection means can be continuous or discontinuous, e.g. B. at defined time intervals, record the condition.

When recording, an electronic representation of the real condition is generated in the broadest sense and then fed to the evaluation device, which evaluates this automatically and here z. B. compares with target specifications and / or with previous recordings. A recognized impermissible condition can be displayed to the machine operator and / or transmitted to a control unit of the soil tillage machine, which then z. B., if necessary in cooperation with the monitoring device, initiates suitable countermeasures in order to achieve a desired quality or a quality according to specifications. In the context of the invention, the term "texture" is intended to include in particular the superficial shape and structure and / or the profile of the soil surface and / or top layer produced by the milling drum, specifically the so-called milling pattern produced by the milling drum.

The proposed monitoring device is used, for. B. for monitoring on a soil stabilizer (e.g. soil stabilizer).

The proposed monitoring device can, for. B. also serve for monitoring on a soil recycling machine (z. B. street recycler).

It is preferably provided that the detection device is based on the principle of optical imaging or scanning, or works according to this principle. In particular, it is provided that the detection device has at least one camera and the evaluation device comprises at least one image processing module. It can also be provided that the detection device is based on the principle of scanning by means of laser, infrared, sound, X-rays, radio waves or the like, or works according to one of these principles. Furthermore, it is preferably provided that the detection device is based on the principle of flat imaging, flat scanning and / or linear scanning, or works according to one of these principles. The following explanations also apply analogously in connection with a monitoring device according to the invention for a floor milling machine.

According to the invention, it is provided that the floor milling machine has at least one milling drum equipped with a large number of milling chisels, at least one detection device for contactless and at least regional detection of the milling image generated by the milling drum or the milling chisels, and (at least) one evaluation device for the automated evaluation of the data generated by the detection device has captured milling image. The detection means can be continuous or discontinuous, e.g. B. at defined time intervals to capture the milling image generated by the milling drum. Here, in the broadest sense, an electronic image (which can also consist of several individual images or an image sequence) is generated from the actually generated milling image and fed to the evaluation device, which evaluates the recorded milling image, particularly with regard to signs of wear and / or failure of the cutting tools. An automated quality assessment of the milled image generated is also possible. A processing module for the acquired data can belong to the acquisition device. The evaluation device can be, for. B. to be a computer device (or the like) with implemented software suitable for the evaluation according to the invention.

This monitoring device is designed for use on a floor milling machine with at least one milling drum, this milling drum being equipped with at least one and preferably with a plurality of, in particular, exchangeable milling chisels or also milling knives. Such ground milling machines for removing a ground surface, in particular for removing the surface or top layer of a road surface, are known from the prior art. During operation or During the milling process, the milling drum rotates, with the milling bits coming into engagement with the soil surface to be machined and at least partially removing it. The milling bits are subject to constant wear. Furthermore, it can, for. B. breakage of a chisel can lead to premature failure of a cutting tool. In both cases, distinctive and especially visible changes in the milling pattern are the result.

According to the invention, the evaluation device is designed to determine the wear and / or the failure of at least one milling cutter based on the comparison of a currently acquired milling image with a milling image acquired earlier. Such an approach is e.g. B. suitable for continuous acquisition of the generated milling image. As an alternative and / or in addition to this, the recorded milling image can, for example, be The target milling pattern or ideal milling pattern stored in a database can be compared.

According to the invention, the milling image actually generated by the milling drum or the milling chisels is advantageously recorded and fed to an evaluation, with precisely this generated milling image ultimately being of decisive interest. Due to the automated evaluation, no manual monitoring is required, so that the machine operator can focus on other processes, such as B. the steering of the milling machine can direct. Furthermore, an objective quality assessment of the generated milling image is possible, independent of the machine operator's subjective criteria.

According to a preferred development, the evaluation device is designed to automatically determine or determine the wear and / or the premature failure of at least one milling cutter on the basis of the recorded milling image. To this extent, the monitoring device can also be referred to as a milling cutter monitoring device. If the wear reaches a critical level or if a milling cutter, e.g. B. due to mechanical damage or a break, the resulting milling pattern changes. This is automatically recognized by the evaluation device based on the evaluation of the recorded milling image and displayed to the machine operator. For this purpose, the monitoring device preferably comprises a display device, such as, for. B. a signal light or a screen device (monitor). Furthermore, the evaluation device can be coupled to the machine control (e.g. via a machine-based CAN bus) and stop the milling machine if impermissible wear on a milling cutter or the failure of at least one milling cutter is detected. It is also conceivable that the feed rate or the milling drum speed is adapted. It is also conceivable that the evaluation device predicts the progressive wear of a milling cutter and the machine operator is informed in advance of an upcoming replacement. A timely replacement can also prevent consequential damage to the milling drum and its chisel holders. In addition, it can also be provided that the recorded milling image and / or the evaluation result are stored in a memory device, B. serves quality assurance. In particular, the formation of an undesirable herringbone pattern can also be monitored and avoided by taking countermeasures.

According to the invention, the evaluation device is designed to determine the exact position of a worn and / or failed milling cutter on the milling drum on the basis of the recorded milling image. The determined position of a cutting tool to be exchanged can be displayed to the machine operator, for example on the display device. This can significantly shorten the downtime of the floor milling machine for maintenance work.

According to a preferred development, it is provided that the detection device is based on the principle of optical scanning of the milling image generated by the milling drum or milling chisel, or works according to this principle. It is preferably provided here that the detection device has at least one camera and that the evaluation device comprises an image processing module (this can also be a software module) which, for B. based on contrast, brightness and / or color differences in the recorded milling image, the wear and / or failure of at least one milling cutter is determined or detected or also predicted. In this way, in particular, increases in material in the milling pattern that can be traced back to a broken chisel can be detected. This procedure can also include a photogrammetric method.

According to a preferred development, it is provided that the detection device is based on the principle of laser scanning of the milling image generated by the milling drum or milling chisels, or works according to this principle. Here, the milling image generated by the milling drum or the milling chisels is scanned, for example, linearly and transversely to the milling direction. Instead of laser scanning, light point scanning (by means of an optical scanning device) or the like can also be provided. As already explained above, the milling image captured by means of laser scanning is fed to the evaluation device, which evaluates the captured milling image in particular with regard to signs of wear and / or failure of the milling tools. In this way, in particular, increases in material in the milling pattern that can be traced back to a broken chisel can be detected. Laser scanning devices (laser scanners) are available on the market as essentially ready-to-install modules. However, the proposed application is not known from the prior art.

According to a preferred development, it is provided that the detection device is based on the principle of sound wave scanning of the milling image generated by the milling drum or the milling chisels, or works according to this principle. The further processing of the recorded milling image takes place as explained above. In this sound wave scanning it can be, for. B. be an ultrasonic wave scanning. Sound wave scanning devices (sound wave scanners) are available on the market as essentially ready-to-install modules. However, the proposed application is not known from the prior art.

According to an equally preferred development, it is provided that the detection device is based on the principle of radio wave scanning of the milling image generated by the milling drum or the milling chisels or works according to this principle. The further processing of the recorded milling image takes place as explained above. In this radio wave scan, it can be, for. B. be a radio wave scan. Radio wave scanning devices, such as radio wave scanners in particular, are available on the market as essentially ready-to-install modules. However, the proposed application is not known from the prior art.

In a preferred embodiment, it is provided that the detection device and the evaluation device are also designed to detect the profile and in particular the cover profile of a floor structure. This can in particular be the cover profile of a road cross-section at a specific point on the route. If necessary, the course of this cover profile can also be determined in the course direction (e.g. in the longitudinal direction of the street). This can take place independently of the acquisition and evaluation of a generated milling image. The so-called roof slope of a street cross-section is of particular interest here. The determined cover profile can be displayed to the machine operator on the display device and / or stored in the memory device.

Furthermore, protection is also claimed for a floor milling machine according to the further independent claim, which has at least one monitoring device according to the invention according to the preceding explanations. Such a soil cultivation machine can be a soil stabilizing machine, a soil recycling machine or, in particular, a road milling machine. It is preferably provided that such a floor milling machine is designed in such a way that in the event of a deterioration recognized by the monitoring device

(z. B. significant deviation from a setpoint) of the milling pattern is automatically adjusted via a control unit of the feed and / or the milling drum speed, which z. B. can be carried out in a control loop. Above all, this can also be used to avoid undesirable herringbone patterns during fine milling and / or milling with small milling depths. The coupling between the monitoring device according to the invention and the control unit takes place, for. B. via a machine-internal CAN bus.

The invention is explained in more detail below with reference to the figures, by way of example and in a non-limiting manner. They show schematically:<dl id="dl0001"><dt>Fig. 1</dt><dd>a floor milling machine in the milling process in a side view;</dd><dt>Fig. 2</dt><dd>one with the floor milling machine of the <figref idref="f0001">Fig. 1</figref> generated milling image in a perspective view;</dd><dt>Fig. 3</dt><dd>a monitoring device according to the invention in a block diagram; and</dd></dl>

<figref idref="f0002">Fig. 4</figref> the use of a monitoring device according to the invention for determining the cover profile of a road cross-section in a sectional view.

<figref idref="f0001">Fig. 1</figref> shows a ground milling machine 200, known per se, with a milling drum 210 (see e.g. <patcit id="pcit0004" dnum="DE10203732A1"><text>DE 102 03 732 A1</text></patcit>). The milling drum 210 is used to remove a soil surface, a so-called milling pattern being generated in the soil structure S (for example in a road surface) through the removal. The floor milling machine 200 moves in the feed direction V relative to the floor structure S, the floor surface of the floor structure S being removed or milled at a defined height by means of the milling drum 210 rotating in the direction R and the milling chisels 220 arranged on it. The milling pattern generated by the material removal is denoted by 100. According to the invention, the generated milling image 100 can be detected contactlessly with at least one detection device 11 arranged behind the milling drum 210 with respect to the feed direction or milling direction V and evaluated automatically by means of an evaluation device, as explained in more detail below.

<figref idref="f0001">Fig. 2</figref> shows an example of the milling pattern 100 generated by the milling drum 210. The milling pattern 100 has a milling longitudinal direction L which corresponds to the feed direction or milling direction V of the milling drum 210 in the milling process. In the longitudinal direction L, the milling pattern 100 has a multiplicity of parallel-oriented grooves or furrows 110 which have been made in the soil structure S by means of the milling drum 210 and, more precisely, by means of the milling chisels 220 or milling knives arranged thereon.

In the event of wear and / or failure of one or more milling chisels, the milling pattern 100 that is generated changes. In the event of wear, the furrow depth can be reduced and / or the furrow cross-sectional shape can be changed. A chisel breakage can lead to a so-called increase in material (cf.<patcit id="pcit0005" dnum="DE10203732A1"><text>DE 102 03 732 A1</text></patcit>), as the soil material in the area of ​​the damaged milling cutter is no longer sufficiently removed. Both are undesirable. According to the invention, it is therefore proposed that the milling image 100 generated by the milling drum 210 be recorded without contact and that the recorded milling image be automatically evaluated with regard to the wear and / or the failure of at least one milling cutter 220. According to a further aspect of the invention, the quality of the generated milling image 100 can also be assessed automatically.

The acquisition of the generated milling image 100 can, for. B. take place by means of at least one optical detection device to which in particular at least one camera 11a belongs. By means of this camera 11a, the milled image 100 is generated following its introduction into the soil structure S in a z. B. rectangular area 120 is detected. This detection can take place continuously or discontinuously, as already explained above. The detection width in the transverse direction b is designated by B. The camera 11a is arranged on the ground milling machine 200 with respect to the direction of movement V behind the milling drum 210 in such a way that it can optically capture the detection area 120. A central and orthogonal arrangement with respect to the detection area 120 is not absolutely necessary here. The milling image captured by the camera 11a is sent to an evaluation device 12 (cf.<figref idref="f0002">Fig. 3</figref>), as explained in more detail below.

As an alternative and / or in addition, the generated milling image 100 can also be recorded by means of at least one laser scanning device 11 b, which the generated milling image 100 following its introduction into the soil structure S z. B. repeatedly in the transverse direction b or transversely to the longitudinal direction L scans linearly, which in<figref idref="f0001">Fig. 2</figref> is indicated by lines 130 and 130 '. The preceding explanations relating to the camera 11a apply analogously to the fastening of the laser scanning device 11b to the floor milling machine 200.

<figref idref="f0002">Fig. 3</figref> shows schematically a monitoring device according to the invention, denoted overall by 10. The monitoring device 10 includes a detection device 11 which, for. B. a camera 11a and / or a laser scanning device (laser scanner) 11b. In connection with the in<figref idref="f0001">Fig. 1</figref> The ground milling machine 200 shown, the milling image captured by the capture device 11 is subsequently or simultaneously transferred to an evaluation device 12. The evaluation device 12 is in particular a computer or a microprocessor device. It may be necessary to prepare the milling image captured by the capture device 11 before it is passed on to an evaluation device 12. The evaluation device 12 evaluates the recorded milling image. It can be provided here that the recorded milling image is compared with a milling image that was recorded and temporarily stored beforehand or with a milling image stored in a storage device 14. In the automated evaluation in the evaluation device 12, impermissible wear of one or more milling tools or even a failure (broken tool) can be automatically recognized, possibly even predicted, and displayed to the machine operator via a display device 13. According to the invention, the machine operator is also shown where the relevant milling chisel 220 is located on the milling drum 210. The machine operator can now shut down the floor milling machine 200 and replace the defective milling chisel 220 or the complete milling drum 210. Possibly. A coupling of the evaluation device 12 with a control unit 20 of the floor milling machine 200 can also be provided, whereby it is possible, for. B. is possible to use the floor milling machine 200 in the event of impermissible deterioration of the milling pattern 100 generated, for example. due to excessive chisel wear or a chisel breakage, automatically shut down or change their operating parameters in a suitable manner.

An automated evaluation with regard to the quality of the generated milling image 100 is preferably also possible in the evaluation device 12. The recorded milling image and / or the result of the evaluation can e.g. B. are stored in the memory device 14 for quality assurance.

According to a preferred development, the monitoring device 10 according to the invention can also be used to determine and / or monitor the profile and in particular the cover profile of a floor structure S and in particular the cover profile of a road cross-section. this shows<figref idref="f0002">Fig. 4</figref>. The cover profile P of the floor structure S, which deviates from a horizontal H, is spread over the detection width B (in the transverse direction b; cf.<figref idref="f0001">Fig. 2</figref>) detected in a preferred manner by a laser scanning device 11b and evaluated in the evaluation device 12. The determined cover profile P can be displayed to the machine operator on the display device 13 and / or stored in the memory device 14. Optionally, a z. B. by milling (e.g. with the in<figref idref="f0001">Fig. 1</figref> The profile P generated and monitored with the monitoring device 10 can also be adapted in a control loop to a target specification.