CPC E01C 23/088 (2013.01) [E01C 23/127 (2013.01); B60G 17/01908 (2013.01)] | 17 Claims |
1. A method to control height adjustment of a height-adjustable running gear of a self-propelled ground milling machine, wherein the ground milling machine has
a machine frame;
front and rear traction devices, wherein at least one of the traction devices is connected to the machine frame by at least one height-adjustable lifting device;
a milling drum mounted on the machine frame;
a frame tilt sensor arranged on the machine frame and configured to detect tilt of the machine frame in a working direction;
at least one ground-contact-element tilt sensor, arranged on a ground contact element, which is adjustable relative to the machine frame, and configured to detect tilt of the ground contact element in the working direction;
a control unit which is configured to control the at least one height-adjustable lifting device depending on tilt data determined by the frame tilt sensor and the at least one ground-contact-element tilt sensor; and
the method comprising:
a) determining and monitoring a tilt of the machine frame and/or a change in the tilt of the machine frame in the working direction, and determining and monitoring a tilt of the ground contact element and/or a change in the tilt of the ground contact element in the working direction; and/or
b) determining and monitoring a tilt difference between the tilt of the machine frame and/or the change in the tilt of the machine frame in the working direction, and the tilt of the ground contact element and/or the change in the tilt of the ground contact element in the working direction; and
c) controlling a height adjustment of the at least one height-adjustable lifting device depending on the determined and monitored tilts and/or changes in the tilts of the machine frame and the ground contact element and/or depending on the tilt difference; and
on a basis of at least one operating parameter of the ground milling machine and the determined and monitored tilt and/or change in tilt and/or tilt difference, the control unit carries out a plausibility check to ascertain whether or not the change in tilt and/or the tilt difference is associated with a milling process; and
wherein the ground milling machine comprises a ground condition sensor for a spatial detection of a ground condition as the at least one operating parameter, wherein the ground condition sensor sends data determined thereby to the control unit by a data line, and wherein the control unit is configured so as to control height adjustment of the at least one height-adjustable lifting device by also taking account of the data of the ground condition sensor.
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