Construction machine apparatus and method of milling a ground surface

Technical Field The present invention relates to a construction machine device according to the preamble of claim 1. 1 and the method of milling the ground surface.

2. Background art [0002] An example of the prior art can be found in EP 2 336 424 A2. When milling a large road surface, usually a large milling machine is used, such as a milling machine with a cutting width equal to half the road width, for milling a large majority of the road surface, leaving only the mafic leftover areas that can not be reached by a large milling machine. These residual areas are later milled using a smaller milling machine with greater maneuverability.

[0003] In the course of milling operations, such as milling the surface of the tubing of the surface of another soil, there are often areas of road surface that must be avoided by the milling drum to prevent damage to the milling drum and / or the surface of the road referred to . These areas, the circumvention of which by the milling drum is desirable, may include, for example, manhole covers, drainage grates, hydrant covers and generally any area that would be damaged by the milling drum, or which poses a threat to the milling drum, or which for any other reason does not it has to be milled.

[0004] Therefore, for example, in the process of road milling, when the milling drum reaches the location of the manhole cover, it is desirable to mill the location near the elm cover, then lift the drum and move it over the elm cover, then lower the drum back to the milling machine contact with the road surface.

[0005] The current method of dealing with such obstacles is generally the following:

1. The milling machine operator or the driver and ground operator work as a team. The ground operator goes along, next to the milling machine, and visually checks the occurrence of obstacles, such as the manhole covers on the miller's path. The ground operator marks the location of obstacles by spraying lines on the ground with high visibility paint. The ground operator and the operator's assistant will normally pull the string perpendicular to the milling track at the initial edge and the edge of the obstacle and apply the paint straight lines parallel to the string, transversely outside the machine's side, so that these lines are visible when the obstacle disappears under the milling machine .

2. Next, the ground observer must determine where the location of the cutting edge of the milling drum is located within the drum housing. It should be noted that as the milling depth is increased, the effective cutting length of the milling drum in the feed direction increases and therefore the location of the milling cutter intersection with the road surface moves forward relative to the side plate of the milling drum housing. Typical milling machines have an illustrative diagram shown on each side plate of the milling drum, which indicates where the cutting edge of the drum for various milling depths is. This is indicated in reference

- for various screws or other features near the bottom edge of the side-plate. With this scheme, the ground observer identifies where the leading cutting edge is located within the drum housing.

3. The ground operator will warn the driver of the milling machine when the obstacle is close. Next, the ground operator will give the milling machine driver when he should stop the progressive movement of the mill. This communication is typically carried out using hand signals. The decision of the terrestrial operator regarding the moment of stopping the movement of the progressive milling machine is a subjective assessment, the ground operator first of all having to consider to prevent the milling drum from coming into contact with the obstacle. Due to the uncertainty in this existing procedure, the ground operator will typically instruct the milling operator to stop milling earlier than is actually necessary to prevent contact with an obstacle. This causes the residue area to increase and must be later milled at a higher cost,

4. After receiving the signal to stop, the driver of the milling machine stops the traversing movement of the milling machine and lifts the milling drum. Then, the driver of the milling machine will move forward the milling machine with the raised milling drum until the ground operator does not signal again to the milling machine driver to stop and lower the milling drum back to milling with the ground. This second decision, made by the ground operator, is again subjective and care must be taken to avoid leaving the milling machine too early and hitting the rear edge against the obstacle.

[0006] A number of difficulties arise in the process just described. One of the difficulties is the inability of the observer to actually observe the obstacle to the milling drum, and thus the requirement to make a subjective assessment regarding the moment of lifting and the moment of leaving the milling drum. Another difficulty is communication between the driver of the milling machine and the ground operator, due to noise and other unfavorable conditions in the workplace. Both of these difficulties increase when the milling task is performed at night, which makes it even more difficult for the ground observer to locate the obstacles, and for the ground observer and the milling machine driver to communicate with hand signals.

[0007] As a result of these difficulties there is a lack of consistency in the milling performance of the various operator teams near the obstacles. The final result depends largely on the qualifications and experience of the team of operators. Some teams may be able to repetitively mill a distance of a dozen centimeters from obstacles without hitting the obstacle, other teams may leave as much as 25 centimeters or more of unmachined material on both sides of the obstacle and / or may repeatedly damage the device due to hitting obstacles.

[0008] Therefore, there is a need for an improved system to avoid obstacles or areas that are not to be milled during the operation of a large milling machine.

SUMMARY OF THE INVENTION [0009] In one embodiment, the machine of a building machine comprises a plurality of ground-mounted supports, a machine frame supported on ground-mounted supports and a milling drum supported on a machine frame. A detection system for the location of the milling drum is provided and adapted to determine the location of the drum of the milling drum system in the external arrangement

-3odniesrenia. The position indicator system includes a memory adapted to store information identifying the location of the area to be bypassed in the external reference frame. The position indicator system further comprises a controller adapted to compare the position of the drum with respect to the position of the area to be bypassed and to provide output data corresponding to the proximity of the milling drum relative to the location of the area to be bypassed.

[0010] In another embodiment, a method for milling a ground surface is provided. The method includes the steps of:

a) memorizing controller information, identifying in the external reference system the location of the area to be bypassed;

b) moving a progressive milling machine;

c) determining the position of the drum for the milling drum of the milling machine in the external reference system as the milling machine advances;

d) comparing the position of the drum in the controller with the location of the area to be bypassed; and

e) providing from the controller output data corresponding to the proximity of the drum position relative to the position of the area to be bypassed.

In any of the above embodiments, the output corresponding to the proximity of the drum position with respect to the position of the area to be by-passed may be an indication provided to the milling machine operator.

In any of the above embodiments, the output corresponding to the proximity of the drum position with respect to the position of the area to be bypassed may be a control signal to automatically stop the movement of the progressive milling machine if the drum position lies in a selected range of position of the area to be bypassed.

[0012] In any of the above embodiments, the output corresponding to the proximity of the drum position with respect to the position of the area to be bypassed may be a control signal for automatically lifting the milling drum of the milling machine if the drum position lies in a selected range of position of the area to be bypassed.

[0013] In any of the above embodiments, a terrain rover capable of collecting information identifying the location of the area to be bypassed in the external reference frame may be provided. The rover can be completely separate from the milling machine or can be detachably attached to the milling machine and adapted so that when the rover is attached to the milling machine, it comprises a part of the positioning system of the milling drum. [0014] In any of the above embodiments, the controller may include an input adapted to receive from the terrain rover information identifying the location of the area to be bypassed. This input can be a connector for a memory card, an interface for a wired connection, or an input can be a wireless input.

[0015] In any of the above embodiments, the detection system of the milling drum can be adapted such that the position of the milling drum corresponds to a portion of the milling drum at a height corresponding to the height of the area to be by-passed. This height will be the height of the ground surface that is milled. The intersection of the milling drum with the ground surface at the surface height defines a rectangular area that includes the front cutting line, the rear cutting line and the two side lines of the milling drum. The considered portion of the milling drum can be any of these four lines, depending on the action being performed.

[0016] In any of the above embodiments, the area that is to be circumvented may have any shape. This area can be defined as one side of a straight line. The straight line can be, for example, an initial line for a milling operation or an end line for a milling operation. The area to be circumvented can be a circle. The area to be bypassed may be a polygonal shape defined by the location of many corners.

[0017] In any of the above embodiments, the controller may include a graphic visual display showing the proximity of the milling drum to the position of the area to be bypassed. [0018] In any of the above embodiments, the controller may include an audible warning indicator adapted to provide an acoustic warning to the machine operator if the position of the drum will be within a selected range of position of the area to be bypassed. [0019] In any of the above embodiments, the controller may include a visual warning indicator adapted to provide a visual warning to the machine operator if the position of the drum will be within a selected range of position of the area to be bypassed. [0020] In any of the above embodiments,

[0021] In any of the above embodiments, the positioning system of the milling drum may comprise a sensor or other actuator component belonging to a non-satellite measuring system.

[0022] In any of the above embodiments, the controller may comprise a range selection component adapted to allow the operator to select any space for all areas to be bypassed.

[0023] In any of the above embodiments, the range selection component may be adapted such that the operator may also select individual spacings for any selected area to be bypassed.

In any of the above embodiments, the range selection component may include an automatic summing component such that if the separation between the two areas to be bypassed is smaller than the predetermined multiple of the combined spaces of the two areas, the two areas are combined in one larger area.

[0025] In any of the above embodiments, the controller may include a residue determining component adapted to register a path milled through the milling drum, locations of areas to be bypassed and positions of untreated areas corresponding to locations where the milling drum is raised to bypass areas that are should be avoided. This makes it possible to provide the location of the areas remaining for the slab after passing the device of a large milling machine.

[0026] Numerous objects, features and advantages of the invention will be apparent to those skilled in the art upon reading the following disclosure with the accompanying drawings.

DESCRIPTION OF THE DRAWINGS [0027]

Fig. 1 is a schematic top view of a road section, with numerous obstacles and areas to be circumnavigated on the road, showing the various passages of the milling machine and the place where the milling machine is raised and lowered to pass over the areas to be bypassed.

-5Fig. 2 is a schematic side view of a large road milling machine of the type where the depth of the milling drum is adjusted by lifting and lowering the frame of the machine, which has a milling drum rigidly attached to it and moving with it in vertical movement. Fig. 2 shows a milling drum, cutting at a larger milling depth.

Fig. 2a is a schematic plan view of the surface occupied by the milling drum when it intersects with the ground surface.

Fig. 3 is a schematic side view of the milling machine of Fig. 2, showing a milling drum cutting at a lower milling depth.

Fig. 3A is a schematic top view of the surface occupied by the milling drum of Fig. 3 when it intersects with the surface of the ground. It should be noted that the length of the surface occupied in the direction of travel is smaller in FIG. 3A than in FIG. 2A.

Fig. 4 is a schematic side view of a recyclable or stabilizing construction machine, wherein the milling depth of the milling drum is adjusted by lifting and lowering the milling drum as far as the machine frame.

Fig. 5 is a schematic plan view of the milling machine of Fig. 2 and the position detection system of its milling drum and position indicator system including a separate rover.

Fig. 6 is a schematic top view, similar to Fig. 5, of an alternative embodiment of a milling machine, in which the rover can be detachably mounted on the milling machine and can serve as part of the milling drum positioning system of the milling machine. The rover is shown both in the attached position and disconnected.

Fig. 7 is a schematic view of the control and display panel of the milling machines of Figs. 2-6.

Fig. 8 is a schematic view of the rover control and display panel.

DETAILED DESCRIPTION [0028] Now with reference to Figures 2 and 3, an embodiment of a construction machine device 10 is shown in the form of a large milling machine for milling a road. The milling machine 10 comprises a plurality of ground-mounted supports such as front tracks 12A and back tracks 12B and a machine frame 14 supported on supports coupled to soil 12A and 12B.

[0029] The milling drum 16 is supported on the machine frame. The milling depth 18 of the milling drum 16 in the soil, below the ground surface 20, is determined by the extension and retraction of the hydraulic slides 22A and 22B, connected to the tracks 12A and 12B.

[0030] In Fig. 2, the milling depth 18 is shown at a relatively large depth. In Fig. 3, the hydraulic slides 22A and 22B have been extended to raise the milling drum 16 so that the milling depth 18 is reduced.

[0031] Fig. 4 is a schematic side view of a recycler type or soil stabilizer type building machine generally labeled with 24. The building machine 24 comprises a plurality of ground-mounted supports in the form of front and rear wheels 26A and 26B. The machine frame 28 is supported on supports coupled to soil 26A and 26B. The milling drum 30 is supported on the frame 28, on rotatable arms 32, which rotate with respect to the axis of rotation 34. Thus, the milling depth 36 of the drum 30 below the ground surface 38 is controlled by lifting and lowering the drum 30 on the pivot arms 32 via a lifting mechanism 40.

[0032] Fig. 5 schematically shows the milling machine 10 of Figs. 2 and 3, together with the Cartesian system

The reference Cartesian reference system is shown as the coordinate system of measurement {X, Y, Z), independent and external to the milling machine 10. The coordinate system (X, Y, Z) can be selected at random and remains in the same position and orientation as the milling machine 10 moves therein.

[0033] The milling machine 10 comprises a milling drum position detection system generally labeled 42. The task of the milling drum position detection system 42 is to determine the location of the milling machine 10 and thus the position of the milling drum 16 which is carried by the milling machine 10, external reference system (X, Y, Z).

[0034] In one embodiment, the position and orientation of the milling machine 10, and thus the milling drum 16, are determined using a satellite global navigation system (GNSS). In particular, due to the requirements for the accuracy with which the location and orientation are determined, which is preferably used in this satellite global navigation system, which is known as the differential global satellite navigation system (DGNSS). The method for determining the DGNSS orientation is based on the measurement of the position by two DGNSS receivers, which are arranged at different points S1 and S2 on the milling machine 10 as shown in Fig. 5. Alternatively, a single DGNSS or GNSS receiver may be used, and the direction of machine movement can be determined when the machine starts to move forward,

[0035] The milling machine 10 has a driver station 44 (see Fig. 2> from which the machine operator controls the operation of the milling machine 10. The operator can manually guide the milling machine 10 via a steering system 46 that controls the direction of the crawlers 12A and / or 12B. The driver 48 is located on the milling machine 10 and interacts with the positioning system of the milling drum 42 as described further below: The controller 48 forms part of a position indicator 50 that includes a controller 48, memory 52 and a display and insertion station 54 (see FIG. ).

[0036] The GNSS system provides position data in three dimensions, X, Y and Z. The system described below can, however, operate using only the X and Y data to the location of the milling machine on the surface plane of the ground. Elevation data is not needed because, as described below, the vertical position of the milling drum relative to the surface to be milled can easily be determined by other means, and this data is used to determine the vertical position of the milling drum relative to various obstacles or other areas on the surface ground that should be avoided. However, in a more general aspect of the invention, altitude data from the GNSS system or any other locating system can be used in addition to the location information X and Y.

[0037] Instead of a satellite positioning system, the position of the milling machine 10 and various other obstacles and objects discussed below can also be determined using a non-satellite ground-based measuring system, such as for example a total station.

[0038] As described more fully below, the positioning system of the milling drum 42 is adapted to determine the location of the drum of the milling drum system 16 in the external reference frame (X, Y, Z). The position indicator system 50 includes a memory 52 and a display and an insert station 54. The memory 52 is adapted to store information identifying the location of the area to be by-passed in the external reference system (X, Y, Z), where the area to be omitted is, for example, cover manhole or the like. The controller 48 is adapted to compare the position of the drum with respect to the position of the area to be bypassed and to provide output data corresponding to the proximity

- a milling drum 16 relative to the position of the area to be bypassed. This output can be a visual or audible indication provided to the milling machine operator so that the operator can then react to the indication and take appropriate action to avoid the obstacle. This output signal may alternatively be a control signal used to automatically stop the milling machine or to automatically lift the milling drum.

[0039] For example, Fig. 1 schematically shows a top view of a road section 56 whose surface is to be milled in several passes through a milling machine 10. In the example of Fig. 1, the roadway 56 has a width of 58, which will need to be done by a milling machine about five parallel crossings along the length of the roadway to mill the entire width of the road.

[0040] In Fig. 1 a series of obstacles to be circumnavigated during a milling operation has been identified as OB1, OB2, OB3, OB4, OB5, OB6 and OB7. Each of these objects, or objects that will be avoided, is shown schematically and they are meant to present various types of obstacles or objects that can be encountered during milling operations.

[0041] For example, the OB1 obstruction represents a generally rectangular drainage grate near one of the road edges. Obstruction OB2 is a polygonal or polygonal area of ​​any shape. Obstruction OB3 is another drainage grate with a generally rectangular shape, located near the opposite side of the road 56. Obstacle OB4 represents a circular manhole cover. Obstructions OB5, OB6 and OB7 represent a cluster of objects such as hydrant covers at a small distance from each other, which, as it is described in more detail below, can be treated by the controller 48 as a single area that will omit the obverse, which contains the entire cluster of OB5 objects , OB6 and OB7.

[0042] The obstacles shown are only examples. Other types of milling machine operations may encounter other obstacles. For example, in the open cast mining operation, there are sometimes "hard points" within the mineral deposits he excavates, an irregularly shaped "hard point" can be identified similarly to the obstacle OB2 shown in Fig. 1, and the surface excavator can avoid a "hard point", which can be left for later removal by blasting technique or other techniques.

[0043] Fig. 1 also schematically shows the arrangement of a sequence of millings to be made by a milling machine which are subsequently identified as 1 a, 1 b, 2 a, 2 b, 2 c, 2 d, 3, 4 a, 4 b, 4 c and 5 Hence, in the transcript used, the passages 1a and 1b are aligned with each other and are separated by the meridional area near the obstacle OB1, which must be bypassed. Note that, avoiding the obstruction of OB1, the milling machine operator will lift the milling drum as the milling machine passes over the OB1 and then lower the milling drum to start the milling passage 1b. it is possible for the operator to avoid the machine milling obstacles by passing them, as can be seen in the step at the end of the lower end of the milling cut 5, where the operator of the milling machine directs the milling machine to bypass the obstacle OB2. Depending on the construction of the milling machine, it may be possible for the operator to take other actions to avoid contact of the milling drum with the obstacle; for example, on some machines, the operator may be able to move the milling drum on the side to avoid an obstacle.

It should be noted that when making such transitions, there will also be an initial line and an end line where it is desired to start and finish a milling operation and the area on the other side of the start line or end line can be treated as an area to be omitted during milling operations. For example, a straight line 60 defines a starting line for passage 1 a, passage 3 and

5, and defines the end line for 2d and 4c. At the lower end of FIG. 1, the straight line 62 can be defined as the end line for the passage 5 and as the starting line for the passages 4a and 2a. Accordingly, the area above the line 60 can be identified as obstruction OB8, and the area below the line 62 can be identified as obstruction OB9.

[0046] It should also be noted that Figure 1 shows that the areas associated with each object will include a space between the object, so as to provide a safety margin in avoiding collision between the milling drum 16 and various obstacles. For example, with respect to the obstruction OB1, which is a rectangular shaped drain grate, there is an associated area A1, defined around an obstruction OB1, which provides a distance C1 around the obstacle OB1. The method of determining these spaces to determine the area around each obstacle is described in more detail below.

[0047] There are a number of aspects in the present system that allow the milling machine operator to efficiently mill within a short distance from the various obstacles in the roadway, while avoiding the collision of the milling drum with these obstacles. First, it is necessary to determine the position of the milling drum in the reference system (X, Y, Z). Secondly, it is necessary to know the location of the various areas to be bypassed in the reference system (X, Y, Z). Thirdly, there must be a comparison of the position of the drum with respect to the location of the areas that will endure bypass.

[0048] The final information, indicating the proximity of the milling drum relative to the various areas to be bypassed, is passed to the milling machine operator, so that the operator can then react in the right way to raise or lower the milling drum at the right moment, or to steer the milling machine so that to bypass obstructions or, alternatively, a control signal is generated to automatically stop the milling machine and / or automatically lift the milling drum. Determining the position of the milling drum 16 in the reference system (X, Y, Z) is performed by the previously mentioned position detection system of the milling drum 42. As shown schematically in FIG. 5, two sensors DGNSS, S1 and S2 located on the machine milling 10, they receive signals from the satellite system and can determine their position in the X, Y plane, as shown schematically in Fig. 5. Thus the position of the sensor S1 is determined by the coordinates XS1 and YS1, as indicated in Fig. 5. Similarly, the coordinates of the receiver S2 are arranged at points XS2 and YS2. Knowing the position of the two sensors S1 and S2, it is possible to determine the position of any point on the milling machine 10. In the milling machine 10 of the type shown in Figures 2 and 3, where the milling drum 16 is fixed in relation to the frame 14 of the milling machine 10, the position of the milling drum 16 is therefore known based on the position of the sensors S1 and S2 and the geometry of the milling machine 10 and the position of the milling drum 16 on the machine. 5. Similarly, the coordinates of the S2 receiver are arranged at points XS2 and YS2. Knowing the position of the two sensors S1 and S2, it is possible to determine the position of any point on the milling machine 10. In the milling machine 10 of the type shown in Figures 2 and 3, where the milling drum 16 is fixed in relation to the frame 14 of the milling machine 10, the position of the milling drum 16 is therefore known based on the position of the sensors S1 and S2 and the geometry of the milling machine 10 and the position of the milling drum 16 on the machine. 5. Similarly, the coordinates of the S2 receiver are arranged at points XS2 and YS2. Knowing the position of the two sensors S1 and S2, it is possible to determine the position of any point on the milling machine 10. In the milling machine 10 of the type shown in Figures 2 and 3, where the milling drum 16 is fixed in relation to the frame 14 of the milling machine 10, the position of the milling drum 16 is therefore known based on the position of the sensors S1 and S2 and the geometry of the milling machine 10 and the position of the milling drum 16 on the machine.

[0050] Next, in order to know the milling depth 18, it is necessary to know the vertical position of the milling drum 16 with respect to the surface 20 that is being milled. The milling depth 18 can be determined in many known methods, many of which are shown in detail and described in the patent No. US 8 246 270 to Berning et al. And provided to the assignee of the present invention. [0051] As previously noted, an important part of the milling drum is the trace of the intersection of the milling drum with the ground surface. As can be seen in FIGS. 2A and 3A, the trace is generally rectangular in shape and comprises a front cutting line 64, a rear cutting line 65 and two side lines 67 and 69.

A special spot on the subject milling drum 16, when displacing in the forward direction, is the front cutting line 64, on which the milling teeth 16A of the milling drum 16 intersect the milled surface 20. An important part in the situation when the milling drum is lowered back to milling contact with the ground, there is also a rear cutting line 65. The essential parts in the machine,

Which can move the milling drum laterally, there are also lateral lines 67 and 69. Since the obstacles are generally distributed in the plane of the ground surface, it is most important to cut the milling drum with the ground surface.

[0053] When comparing Figs. 2 and 3, it should be noted that as the milling depth 18 changes, the position of the front cutting line 64 and rear cutting line is changed relative to the positions of the sensors S1 and S2 on the frame 14 of the milling machine. The cutting trace of the milling drum on the ground surface has a rectangular shape, as can be seen in Figs. 2A and 3A, and the cutting length of the rectangle in the direction of travel, represented by side lines 67 and 69 increases with increasing milling depth.

Knowing the location of the sensors S1 and S2 in the coordinate system (X, Y, Z) and knowing the geometry of the milling machine 10 and the value of the milling depth 18, the controller 48 can determine the position of the front cutting line 64 and back cutting line of the milling drum in the coordinate system ( X, Y, Z). The positioning system of the milling drum 42 and the driver 48 therefore determine the location of the drum for the milling drum 16. The position of the drum will move in the coordinate system (X, Y, Z) as the milling machine 10 moves in the coordinate system (X, Y, Z) ).

Identifying the position of obstacles [0055] Another aspect of the invention is to identify in the reference system (X, Y, Z) the positions of various obstacles or areas to bypass and enter this information into the memory 52 of the controller 48. One of the preferred methods of collecting this information is to use the rover 66, which is ideally shown in FIGS. 5 and 6. The rover 66 comprises a rod 68. The lower end 70 of this rod is placed in a location on the ground surface 20 for which the DGNSS coordinates are to be determined. The DGNSS receiver S66 is located at the upper end of the rod 68 and can be connected to the control unit of the rover 72 via an electrical connection 74. Optionally, the rover control assembly can be incorporated as a separate hand control unit 72 'connected by wireless connection 76 to the receiver S66,

[0056] The rover control assembly 72 is shown schematically in Figure 8 and includes a rover position determination component 78 that receives signals from the DGNSS receiver S66 to determine position data for defining the rover position 66 relative to the independent reference system (X, Y, WITH). The terrain rover 66 may also include a radio 80 for communicating with the DGNSS base station and a battery 82 for supplying power.

[0057] The rover 66 may also be adapted for use with any other suitable positioning technologies. For example, the DGNSS S66 receiver can be replaced with a prism to be used with a total station. Other satellite location technologies may also be used.

[0058] The rover control assembly 72 includes an input system 84, such as a keyboard or touch screen, that allows the rover operator to enter various parameters associated with the data stored by the rover.

The input circuit 84 may include a point selector 83, an object identification selector 85, an object shape selector 87, and an object spacing selector 89. Each selector includes a set of switch keys and an associated display window. The read button 81 can instruct the rover to read the coordinates through the S66 sensor. The memorisation button 91 can enter selected values.

[0060] The point selector 83 may associate a point identifier, such as P1, for reading. Selector

Object identification 85 may allow selection of object identifiers, such as OB1, OB2 etc., for an object to which the point is to be associated. The shape selector 87 allows the operator to identify the shape of the object, such as "LINE", "CIRCLE", "MULTI", etc. The space selector 89 allows entering a space value around the object, if desired. The display screen 93 can display the test points and the associated object.

[0061] The rover operator 66 may use the rover to collect information identifying the location of the various obstacles or areas surrounding the obstacles to be bypassed as follows. In the example shown in Fig. 8, the rover operator 66 can identify the location of the starting line 60 by placing the lower end 70 of the rover 66 at P1 and recording the position of P1 in the reference system {X, Y, Z), and then placing the rover at point P2 and saving the position of point P2 in the reference system {X, Y, Z). Then, through the input system 84, the rover operator indicates that a straight line should be drawn between points P1 and P2 and that the milling machine has to bypass the entire area above the straight line, as seen in Fig. 1, which is identified as obstruction OB8.

[0062] It should be noted that any manipulation of the data, such as just described for identifying the straight line 60, can be performed either on the rover control unit 72 or on the 48 milling machine control unit 10. It should be understood that the rover control assembly 72 and the control unit of the milling machine 48 may be redundant or complementary and may be used together as desired.

[0063] As another example, to identify the obstacle OB1 position, the rover 66 can be positioned at points P3, P4, P5 and P6 that are the horns of the four-sided obstacle OB1. After identifying the location of the corners, the rover operator may indicate via selector 87 that obstruction OB1 is defined as a four-sided polygon defined by these four corners.

[0064] As can be seen in Fig. 1, when the milling machine 10 approaches the OB1 obstacle during passage 1 a, it is desirable for a distance C1 to be set around the obstacle OB1. The size of the distance C1 can be selected either by the rover operator 66 and input by the selector switch 89 of the input train 84 of the rover controller 72, or can be entered by the milling machine operator 10 by using the milling machine controller 48.

[0065] As noted previously, the mill machine controller may include a display and an input system 54, shown schematically in more detail in Figure 7. The display and input system 54 may include a display screen 86 that includes a graphical optical display showing the proximity of the milling drum 16 relative to each other. position of different areas, such as A4, which should be bypassed.

[0066] In addition, the display and the insertion station 54 may include other visual and acoustic means that provide the milling machine operator with an indication of the proximity of the milling drum 16 relative to the area to be bypassed. For example, as seen in the upper right-hand corner of Figure 7, the display and insertion station 54 may include a series of colored lights, including a red lamp 88, a yellow lamp 90, and a green lamp 92. Thus, lighting the green indicator may indicate that there are no obstacles near the drum, the illuminated yellow lamp 90 may indicate that the drum is approaching an obstacle, and the red light 88 may indicate that the drum has reached an area that will pass bypass and that it is necessary to stop milling and lift the drum.

[0067] For example, the view shown on the display screen 86 in Fig. 7 schematically depicts three consecutive locations 16.1, 16.2 and 16.3 of the milling drum 16 as the milling machine moves

Along the milling transition 4a visible in FIG. 1 and approaching the OB4 manhole cover.

In the first position 16.1, the green light 92 can be highlighted, due to the large distance of the nearest OB4 obstacle from the drum 16. As the drum 16 moves to position 16.2, the yellow light 90 can illuminate. When the drum reaches position 16.3 , where the front cutting edge 64 of the drum 16 touches the area A4 to be bypassed, the red indicator light 88 may illuminate. The display and input station 54 may also include an audible alarm device 95 which is a loudspeaker that can emit a series of intermittent sounds with gradually increasing intensity as the drum 16 moves closer to the obstacle and reaches closer to this obstacle.

The display and input station 54 may include a set of input elements similar to those described above for the rover entry station 84. Thus, the insert station 54 may include a point selector 94, an object selector 96, a shape selector 98, a gap selector 100 and a button storing 102, which all operate in a similar manner to that described above for similar functions of the rover input station 84.

[0071] By using the rover input layout 84, or entry system 54, spacings such as the distance C1 dia OB1 obstacles can be set, which in turn define the limits of the area A1 around the obstacle

OB1.

[0072] As another example, to identify an obstruction OB2, the obstacle OB2 can be determined by means of a rover 66 by placing the lower end 70 of the rover 66 at points P7 to P11 and then defining the obstruction OB2 as a vane shape defined by these corners. Next, the distance C2 dia of OB 2 obstacle is entered into the system, which gives the definition of the pentagonal area A2 around the obstacle OB2.

[0073] Turning to circular obstacle OB4, its position can be identified in a number of ways. One way to identify the position of the wheel is to identify the position of the center point P12 using the rover 66. Then you can manually measure the radius R of the wheel and enter into the controller rover 72 with instructions to define the obstacle OB4 position as a circle with center at point P12 and radius R. Alternatively, the radius can be determined using a rover to identify one additional point on the circumference of the circular object. The location of the OB4 circular obstacle can also be determined by placing the minimum rover at three points P13, P14 and P15, instructing the driver that three points P13, P14 and P15 are circumferential and that the controller 72 can determine the position of the entire wheel.

[0074] Obstructions OB5, OB6 and OB7 show another possibility of the present system in which a group of closely aggregated objects can be treated collectively and a single area A5-7 surrounding the three objects can be defined.

[0075] First, the location of each OB5, OB6 and OB7 objects with the help of the rover 66 would be done in the manner described previously for objects with similar shapes. Then, you can enter a space for each OB5 OB6 ÷ OB7 object into the system. Driver 66 or controller 48 software can compare positions of areas A5, A6 and A7 that would be individually defined around each of these objects, based on the assigned spacing, and if it is determined that these gaps overlap, or that the gaps between objects lie in certain limits

At the same time, the software can define a single area A5-7 surrounding all three obstacles. This feature can be described as the automatic summing component of the gap selection component, so that if the distance between the two areas to be bypassed is smaller than the predetermined several times the combined spacing of the two regions, the two areas are combined into one larger area.

[0076] The gap selectors 89 or 100 may be described as range selection components or gap selection components. The distance selection component as described previously is adapted so that the machine operator can assign individual distances to each obstacle or each area to be bypassed. The space selection component can also be adapted so that the operator can select a default distance that is applied to all obstacles, unless the specific obstacle is selected for the selected obstacle, individual spacing.

Data transfer [0077] After collecting the data identifying the positions of the various obstacles by means of the rover 66, these data should be transferred to the controller 48 of the milling machine 10. This can take place in several ways.

[0078] One way of transmitting information from the rover 66 to the controller 48 is to output data at the output of the rover 104 to a memory card or other carrier. Such a memory card or other medium can then be transferred to the input connector 106 of the milling machine controller 48 to enter data into the controller 48, where it will be stored in memory 52. ​​Alternatively, the rover controller 72 can communicate with the milling machine controller 48 by wireless 76.

[0079] As shown in Fig. 6, the terrain rover 66 can also be adapted to be detachably connected to the milling machine 10 via the docking unit 108, so that the sensor 66 of the rover 66 actually functions as a second sensor S2 of the milling machine 10, and the rover control unit 72 may act as a control unit of the milling machine 48, or complete its operation.

Comparison of positions - Setting of spacing - Communication with the operator [0080] After saving the data identifying the position of the various obstacles in the milling machine controller 48, the milling machine controller 48 can compare the position of the drum 16 with the positions of the various areas that pass bypass around the obstacles that have been identified.

[0081] As previously stated with reference to Fig. 7, the display and insert station 54 provides various means for conveying information to the milling machine operator 10 regarding the proximity of the milling drum 16 relative to the position of the various areas such as area A4 to be bypassed. Various visual and audible signals may be provided as previously described as the milling drum 16 approaches the area to be bypassed. The operator of the milling drum at the right time will then lift the milling drum so as to avoid areas to be bypassed, and then lower the milling drum 16 back into the milling contact with the ground surface 20 after passing the area to be bypassed.

[0082] Optionally, the controller 48 may be adapted to generate a control signal capable of automatically stopping the movement of the advanced milling machine and / or automatically lifting the milling drum if the drum position is within a selected range of the area to be bypassed.

[0083] As stated previously, a comparative comparison is the comparison of the position of the front line

Cutting the 64 milling drum with the positions of the areas around the various obstacles that are defined in two dimensions on the ground surface to be milled. Thus, the position of the milling drum is defined to correspond to that part of the milling drum, i.e. the front cutting edge 64, which is at a height corresponding to the height of the area to be bypassed, all being at ground level 20 .

[0084] After the milling drum has been lifted and when it has been lowered again to the milling contact with the ground, care should also be taken to avoid hitting the obstacle with the rear cutting edge 65 of the milling drum during the lowering process. The positioning of the rear cutting line 65 is performed in the same manner as described above for determining the cutting of the front cutting line 64. The location of the milling drum in X and Y coordinates must be known and the milling depth of the milling drum must be known. Since it will generally be desirable to restore the milling drum to the same milling depth it took before the drum is lifted to pass over the obstacle, the milling machine can be moved forward until the cutting trace of the milling drum at the desired milling depth leaves the area,

[0085] There are a number of issues to consider when setting a gap around any particular obstacle that must be circumvented. Partially this refers to the accuracy with which positions in the external reference system (X, Y, Z) can be determined. If, for example, the DGNSS system is used and the accuracy of the measured movements is expected to be within 1 inch, a 1 inch or possibly 2 inch spacing can be selected.

[0086] If a less accurate positioning system such as GNSS is used, the gap must be selected according to the expected position data accuracy. If, for example, the expected accuracy of the GNSS system is between 2 and 4 inches, then a gap of 5 inches can be selected around each obstacle.

[0087] Depending on the nature of the obstacle or area to be bypassed, different spacing may also be used. For example, if the area to be bypassed is simply one side of the start line 60, so that there is actually no obstacle that could be hit by the milling drum, which could damage the milling drum, then a gap of zero can be used. On the other hand, if the obstruction is a manhole made of fiberglass, which could be damaged simply by vibrations of the ground in the vicinity of the manhole cover, a much larger distance, such as 10 inches, can be selected, so that in addition to avoiding the physical contact of the milling drum with an obstacle,

[0088] Furthermore, it should be noted that there are obstacles that actually protrude above the surface that is being milled. This can occur, for example, when a large amount of material is removed from the surface by milling and the milling operation is performed in two passes. Therefore, if, for example, it is desired to mill 20 inches from the road surface, the first machine can make the first pass and mill 10 inches of surface, followed by a second milling machine, an additional 10 inches. Alternatively, one machine can make two consecutive transitions. The first machine would initially encounter various obstacles in the event that these obstacles would be substantially in the plane of the road surface. However, the second milling machine or the second pass of one machine,

- they would be 10 inches above the surface that is currently being milled by the second machine. This situation can be compensated by the controller 48 by increasing the gaps around the obstacles or simply by treating the milling drum of the second milling machine as milling at a depth of 20 inches below the initial ground surface.

Operation of the System [0089] Referring to Figure 1, the general operation of the system and its use by the milling machine operator will now be described, starting with the milling cut 1 a that starts from the start line 60.

[0090] The first area to be bypassed is defined as the area OB8 above the starting line 60 in figure 1. Thus, the milling machine operator lowers the milling drum to the ground to start machining on the start line 60. The machine moves in the direction of the arrow 110 The machine moves in a progressive movement until the area A1 surrounding the obstacle OB1 is reached. Then, the progress of the milling machine is stopped and the milling drum is raised. Then the machine moves forward and the raised milling drum passes over the area A1 to the position where the rear cutting line 65 (at the desired depth of cut) will be outside the area A1. Then, the milling drum is lowered again to make a milling contact with the ground surface 20 to start the second milling passage 1b. It should be noted

The milling transition 1b continues in the direction of the arrow until the position of the front cutting edge 64 of the milling drum 16 reaches the point P20 crossing the outer boundary of the area A2, at which point the operator lifts the milling drum again. Then, because the milling machine is close to the end line 62, the milling machine will leave the entire area A2 and the milling machine will be recycled and start the milling step 2a from bottom to top, as shown in the bottom right corner of Figure 1. The milling operation will be continued until the milling machine reaches the area A3 around the obstacle OB3 and then the milling drum is lifted and moved over the area A3, after which it will be lowered to start the milling step 2b. The milling transition 2b will continue until when the leading cutting edge of the drum 64 reaches the border of the A4 area, the milling drum will be raised again and the milling machine will move forward, after which it will lower the milling drum to start the milling step 2c. The passage 2c will continue until the milling drum reaches area A5-7, at which point the milling drum will be raised again, then lowered to perform the 2d milling step, which ends when the milling drum reaches the start / end line 60 The milling drum is raised again and the milling machine returns, after which starts the third passage 3, starting at the starting line 60 and continued until the milling drum cuts the area A2 again at point P21. The milling drum is then raised, and the milling machine reverses again and starts passage 4a. The drum is lifted at the end of the passage 4a to move again over the area A4, after which the passage 4b ​​is made. The milling drum is lifted again to go over area A5-7 and then lowered again to complete step 4c.

[0092] Once the milling drum reaches the start / stop line 60 again, the milling drum is raised and the milling machine returns again and starts the passage number 5. it should be noted that during the passage 5, when the milling machine is near the area A2 , the driver can see the profile

- A2 region on the display screen 86 and may use its own subjective judgment to direct around the area A2, as indicated by the unevenness in the milling passage 5 shown in Fig. 1. [0093] It should be noted that after the milling passes 1 5 described above, there is a number of unseached areas left near various areas A1, A2, A3, A4 and A5-7 which have been circumvented. The unfragmented areas are much larger than the actual areas to be bypassed, because the large milling machine mills essentially along straight lines and the entire milling drum passes over the obstacle, leaving the entire width of the milling drum that is not milled. These non-milled areas must be later milled by a smaller milling machine with greater maneuverability, which can mill up to the limits of various obstacles. Another feature of the system described here is that the controller 48 will contain all the data necessary to create a record of these un-milled areas.

[0094] The position of the roadway may be entered into the controller 48. As previously described, the locations of each obstacle are entered into the system. Then the controller can track and record the position of each milling path by using DGNSS sensors S1 and S2, which can monitor the continuous path of the milling machine movement. The controller 48 may also record data indicating when the milling drum is lifted from the milling contact and then lowered again to the milling contact. With this information, the controller 48 can identify all non-milled areas and can also identify the location of the obstacles within these unseparated areas. This information can then be used to generate milling instructions, that could automatically run a smaller milling machine for re-milling different unprocessed areas around each obstacle. This controller capability can be described as a residue determination component, adapted to record the path milled by the milling drum, the locations of the areas to be bypassed and the locations of the untreated areas corresponding to the locations where the milling drum is raised to avoid areas that should be by-passed, such that it is ensured that the positions of the areas to be re-milled after passing the machine of the milling machine are recorded.

[0095] The present system also provides methods for milling the ground surface. Such a method includes the steps of:

a) storing in the controller 48 identification information in the external reference system (X, Y, Z) the position of one or more areas to be bypassed;

b) displacing the advanced milling machine 10;

c) determining the position of the drum for the milling drum 16 of the milling machine 10 in the external reference system (X, Y, Z) as the milling machine 10 advances;

d) comparing in the controller 48 the position of the drum for the milling drum 16 with the positions of the various areas to be bypassed; and

e) providing from the controller 48 output data corresponding to the proximity of the drum position relative to the position of the areas to be bypassed.

[0096] Thus, it can be seen that the device and the methods of the job easily achieve the said goals and advantages, as well as those that are appropriate for them. While certain preferred embodiments of the invention have been shown and described for the purposes of the present disclosure, those skilled in the art can make numerous changes to the system and construction of parts and steps, which variations are within the scope of the present invention as defined by the appended claims.