US 11,725,350 B2
Method for controlling the height adjustment of a height adjustable running gear of a self-propelled ground milling machine, in particular a road miller, and ground milling machine
Jonathan Stahl, Boppard (DE)
Assigned to BOMAG GMBH, Boppard (DE)
Filed by BOMAG GMBH, Boppard (DE)
Filed on Aug. 25, 2021, as Appl. No. 17/445,886.
Claims priority of application No. 10 2020 005 204.5 (DE), filed on Aug. 25, 2020.
Prior Publication US 2022/0064879 A1, Mar. 3, 2022
Int. Cl. E01C 23/088 (2006.01); E01C 23/12 (2006.01); B60G 17/019 (2006.01)
CPC E01C 23/088 (2013.01) [E01C 23/127 (2013.01); B60G 17/01908 (2013.01)] 17 Claims
OG exemplary drawing
 
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.