Self-propelled construction machine and method for controlling a self-propelled construction machine

• US 10,273,642 B2
• Filed: 03/07/2018
• Issued: 04/30/2019
• Est. Priority Date: 08/28/2014
• Status: Active Grant

• Current Assignee: Wirtgen GmbH (Deere & Company)
• Original Assignee: Wirtgen GmbH (Deere & Company)
• Inventors: Berning, Christian, Lenz, Martin, Barimani, Cyrus
• Primary Examiner(s): Bagnell, David J
• Assistant Examiner(s): Goodwin, Michael A
• Application Number:
  US15/914,000
• Publication Number:
  US 20180258595A1
• Time in Patent Office: 419 Days
• Field of Search: 382103
• CPC Class Codes: E01C 23/01 Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports form rails E01C19/50; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs E01C23/07 takes precedence; measuring roughness or irregularity in general G01B
• CPC Class Codes: E01C 23/088 Rotary tools, e.g. milling drums for forming recesses to receive marking materials E01C23/0946
• CPC Class Codes: E01C 23/127 rotary, e.g. rotary hammers

Abstract

The invention relates to a self-propelled construction machine, in particular a road milling machine, which possesses an undercarriage which has front and rear—in the working direction—wheels or travelling gears, a machine frame which is borne by the undercarriage, and a working means. Furthermore, the invention relates to a method for controlling a self-propelled construction machine, in particular a road milling machine. The invention is based on the detection of objects O situated in the ground at a time at which the objects O can be readily detected. The construction machine according to the invention possesses a means for generating predictive object signals which are characteristic of the position of objects which lie in a portion of the ground which lies in the working direction A in front of the working region of the working means. Furthermore, the construction machine has a signal processing means which receives the object signals, which means is configured such that during the advance of the construction machine object signals relating to the working means are obtained from the predictive object signals, these signals being characteristic of the position of the objects in a portion of the ground which relates to the working region of the working means.

Claims

1. A self-propelled construction machine comprising:

a machine frame;

front and rear wheels or travelling gears in a working direction, supporting the machine frame;

a working tool configured to work the ground in a specified working region;

one or more cameras configured to record a portion of the ground which lies in a path of the machine when the machine moves in the working direction and further in front of the working region, and to generate image signals comprising predictive object signals representing a position of objects thereon;

a signal processor connected to the one or more cameras to receive the predictive object signals, and configured to determine current object signals relating to the working region from the predictive object signals, based on a delay which is dependent on the speed of an advance of the construction machine, said current object signals comprising image signals representing the position of the objects in a portion of the ground relating to the working region; and

a display unit connected to the signal processor to receive the current object signals, wherein the portion of the ground relating to the working region is displayed on the display unit after the delay.

2. The construction machine of claim 1, wherein the signal processor is configured to determine the current object signals relating to the working region from the predictive object signals by taking into account a distance covered by the construction machine between:

(a) the portion of the ground lying in the path of the machine when the machine moves in the working direction and further in front of the working region and;

(b) the portion of the ground relating to the working region.

3. The construction machine of claim 1, wherein the path of the machine comprises a curved path, and the signal processor is configured to determine the current object signals accounting for a course of the machine along the curved path and geometric relationships between a field of vision of the one or more cameras and the working region of the working tool.

4. The construction machine of claim 1, wherein the signal processor is further configured to read the predictive object signals into a memory during the advance of the construction machine.

5. The construction machine of claim 4, wherein the signal processor is configured to determine current object signals relating to the working region from the predictive object signals during an advance of the construction machine by:

detecting a location associated with each of the predictive object signals, and

reading the predictive object signals out of the memory once a specified distance has been covered by the machine after the respective location associated with the predictive object signals.

6. The construction machine of claim 4, wherein the signal processor is configured to determine current object signals relating to the working region from the predictive object signals during an advance of the construction machine by:

detecting a time associated with each of the predictive object signals, and

reading the predictive object signals out of the memory once a time interval after the respective time associated with each of the predictive object signals has elapsed.

7. The construction machine of claim 1, wherein one or more of the display and the signal processor are configured to superpose one or more delimiting lines with respect to the working region on the display of the recorded portion of the ground.

8. The construction machine of claim 7, wherein the construction machine is a road milling machine, the working tool being a milling drum which is adjustable in height in relation to the surface of the ground.

9. The construction machine of claim 8, wherein the one or more of the display and the signal processor are configured to account for one or more of geometric dimensions of the milling drum and a milling depth of the milling drum in superposing the one or more delimiting lines with respect to the working region on the display of the recorded portion of the ground.

10. The construction machine of claim 9, wherein the one or more of the display and the signal processor are configured to displace the superposed one or more delimiting lines with respect to changes in the milling depth.

11. The construction machine of claim 1, further comprising a controller connected to the signal processor to receive the determined current object signals, and configured upon receiving at least one of the current object signals relating to the working region to implement a control signal for intervening in the control of one or more of the front and rear wheels or travelling gears, and the working tool, or generating an alarm.

12. A method for controlling a self-propelled construction machine having a working tool for working the ground in a specified working region, the method comprising:

recording images of a portion of the ground which lies in front of the specified working region and in a working direction;

generating predictive object signals representing the position of objects in the recorded images;

obtaining current object signals relating to the working region from the predictive object signals, said current object signals representing a delayed position of the objects in a portion of the ground relating to the working region; and

displaying the recorded images of the portion of the ground on a display after the delay.

13. The method of claim 12, wherein the step of obtaining current object signals relating to the working region from the predictive object signals comprises:

taking into account a distance covered by the construction machine between the portion of the ground in the working direction in front of the working region and the portion of the ground relating to the working region.

14. The method of claim 12, further comprising obtaining the current object signals by accounting for a course of the machine along a curved path and geometric relationships between a field of the recorded images and the working region of the working tool.

15. The method of claim 12, wherein the step of obtaining current object signals relating to the working region from the predictive object signals comprises:

detecting a time associated with each of the predictive object signals, and

reading the predictive object signals out of a memory once a time interval after the respective time associated with each of the predictive object signals has elapsed.

16. The method of claim 12, wherein the step of obtaining current object signals relating to the working region from the predictive object signals comprises:

detecting a location associated with each of the predictive object signals, and

reading the predictive object signals out of memory once a specified distance has been covered by the machine after the respective location associated with the predictive object signals.

17. The method of claim 12, further comprising superimposing one or more delimiting lines with respect to the working region on the display of the recorded portion of the ground.

18. The method of claim 17, wherein the construction machine is a road milling machine, the working tool comprising a milling drum which is adjustable in height in relation to the surface of the ground, and

wherein the step of superimposing one or more delimiting lines with respect to the working region on the display of the recorded portion of the ground comprises accounting for one or more of geometric dimensions of the milling drum and a milling depth of the milling drum.

19. The method of claim 12, further comprising executing an intervention in control of the construction machine or generating an alarm upon receiving a current object signal relating to the working region.