Milling machine with non-contact outrigger height measurement system

Abstract

A milling machine may have a frame, a milling drum attached to the frame, and ground-engaging tracks that support the frame and propel the milling machine in a forward or backward direction. The milling machine may have at least one actuator connecting the frame to at least one of the ground-engaging tracks. The actuator can adjust the height of the frame relative to at least one of the tracks. The milling machine may also have non-contact outrigger height sensors attached to the frame. The sensors can generate signals indicating the height of the frame relative to at least one of the tracks. The milling machine may also have a controller configured to determine the height based on the signals.

Description

Technical Field

[0001] This disclosure generally relates to a milling machine, and more specifically to a milling machine having a non-contact outrigger height measurement system. Background Technology

[0002] Road surfaces typically consist of the top layer of asphalt or concrete on which vehicles travel. Over time, road surfaces may wear down or become damaged, for example, due to the formation of potholes, cracks, and ruts. Damaged road surfaces can, in turn, cause damage to vehicles traveling on them. Damaged road surfaces can be partially repaired by filling potholes, cracks, and / or ruts. However, it is generally desirable to replace worn or damaged road surfaces with entirely new road surfaces. This is typically achieved by removing the asphalt or concrete layer from the road and repaving it with a new layer of asphalt or concrete.

[0003] Milling machines are typically used to remove layers of asphalt or concrete from road surfaces. A typical milling machine consists of a frame supported on wheels or tracks by height-adjustable outriggers, and includes a milling drum attached to the frame. As the milling machine travels over an existing road surface, teeth or cutting tools on the rotating milling drum contact the road surface and tear away the road layers. The milling drum chamber typically surrounds the milling drum to contain the milled material. The milled material is usually conveyed to a nearby vehicle using a conveyor system, which removes the material from the work site. After the milling process, a new layer of asphalt or concrete can be applied to the milled road surface to create a new road surface.

[0004] In another application, it is sometimes desirable to stabilize or rebuild the superstructure of a road or work site. This is typically achieved by removing the superstructure, mixing it with stabilizing components such as cement, ash, lime, etc., and depositing the mixture back onto the top of the road or work site. Milling machines, such as stabilizers or fillers, are commonly used for this purpose. Such milling machines may also include a frame supported on tracks or wheels by height-adjustable outriggers and include a milling drum attached to the frame. The milling drum is enclosed within a chamber. Cutting tools or teeth on the milling drum tear through the ground and push the removed material toward the rear of the chamber. Stabilizing components and / or water are mixed with the milled material, which is then deposited back onto the ground toward the rear of the chamber.

[0005] In the two types of milling machines discussed above, it is typically necessary to position the frame at a desired height and / or orientation relative to the ground surface. For example, it may be necessary to orient the frame at a predetermined tilt relative to the ground surface to achieve a corresponding tilt of the milled surface. It may also be necessary to raise the frame to a desired height to perform maintenance operations. Therefore, it is desirable to accurately determine the height and / or tilt of the frame relative to the ground surface.

[0006] Externally attached sensors, such as ultrasonic sensors, can be used to determine and adjust the height and orientation of the frame. However, ultrasonic sensors may not provide the desired level of accuracy. Furthermore, using such external sensors requires additional and potentially inconvenient steps to connect them to the milling machine and its control system. Proximity sensors located on the outriggers may also be used to position the frame. However, based on the location of the proximity sensor on the machine, it may only position the frame at discrete heights above the ground surface. Therefore, it is desirable to equip the milling machine with a height sensor that can help accurately position the frame relative to the ground surface at any desired height and / or orientation.

[0007] The milling machine and / or non-contact outrigger height sensor disclosed herein solves one or more of the above-mentioned problems and / or other problems in the art. Summary of the Invention

[0008] In one aspect, this disclosure relates to a milling machine. The milling machine may include a frame and a milling drum attached to the frame. The milling machine may also include a plurality of ground-engaging tracks configured to support the frame and propel the milling machine in a forward or backward direction. Furthermore, the milling machine may include at least one actuator for connecting the frame to at least one of the ground-engaging tracks. The at least one actuator may be configured to adjust the height of the frame relative to at least one of the tracks. The milling machine may include a non-contact sensor attached to the frame. The sensor may be configured to generate a signal indicating the height of the frame relative to at least one track. The milling machine may also include a controller configured to determine the height based on the signal.

[0009] On the other hand, this disclosure relates to a milling machine. The milling machine may include a frame. The milling machine may also include a left front track disposed adjacent to the front end of the frame, a right front track disposed adjacent to the front end and spaced apart from the left front track, and a rear track disposed adjacent to the rear end of the frame. Furthermore, the milling machine may include a left front actuator connecting the frame and the left front track, a right front actuator connecting the frame and the right front track, and a rear actuator connecting the frame and the rear track. Each of the left front actuator, right front actuator, and rear actuator may be configured to selectively adjust the height of the frame relative to the left front track, the right front track, and at least one rear track, respectively. The milling machine may include a milling drum connected to the frame and disposed between the front and rear ends. The milling machine may also include an engine configured to rotate the milling drum and propel the left front track, right front track, or rear track in a forward or rearward direction. Additionally, the milling machine may include at least one non-contact sensor attached to the frame. The sensor can be configured to generate at least one signal indicating the height of the frame relative to at least one of the left front track, right front track, and rear track. Additionally, the milling machine may include a controller configured to determine the height of the frame relative to at least one of the left front track, right front track, and rear track based on the at least one signal. Attached Figure Description

[0010] Figure 1 This is an illustration of an exemplary milling machine;

[0011] Figure 2 This is an illustration of another exemplary milling machine;

[0012] Figure 3 It includes non-contact outrigger height sensors. Figure 1 and 2 A partial cross-sectional view of an exemplary support column of a milling machine;

[0013] Figure 4 yes Figure 1 and 2 A schematic diagram of an exemplary non-contact height sensor for a milling machine; and

[0014] Figure 5 Is using Figure 4 An exemplary method for determining the height of a milling machine frame relative to the ground surface using a non-contact outrigger height sensor. Detailed Implementation

[0015] Figure 1 and 2 Exemplary milling machines 10 and 20 are shown respectively. In such... Figure 1In one exemplary embodiment shown, the milling machine 10 may be a cold planer, which may also be referred to as a cold milling machine, a soil ripper, a profile planer, etc. The milling machine 10 may include a frame 22 extending from a first end 24 to a second end 26 disposed opposite to the first end 24. In some exemplary embodiments, the first end 24 may be a front end, while the second end 26 may be a rear end of the frame 22. The frame 22 may have any shape (e.g., rectangular, triangular, square, etc.).

[0016] Frame 22 can be supported on one or more propulsion devices. For example, such as Figure 1 As shown, frame 22 can be supported on propulsion devices 28, 30, 32, and 34. Propulsion devices 28, 30, 32, and 34 can be equipped with electric or hydraulic motors, which can provide movement to propel the machine 10 forward or backward. Figure 1 In one exemplary embodiment shown, the propulsion devices 28, 30, 32, and 34 may be in the form of tracks, which may include, for example, sprockets, idler wheels, and / or one or more rollers capable of supporting continuous tracks. However, it is contemplated that the propulsion devices 28, 30, 32, and 34 of the milling machine 10 may be in the form of wheels (see [link to documentation]). Figure 2 In this disclosure, the terms track and wheel will be used interchangeably, and the other of the two terms will be included.

[0017] Tracks 28 and 30 can be positioned adjacent to the first end 24 of frame 22, and tracks 32 and 34 can be positioned adjacent to the second end 26 of frame 22. Track 28 can be spaced apart from track 30 along the width direction of frame 22. Similarly, track 32 can be spaced apart from track 34 along the width direction of frame 22. Figure 1 In one exemplary embodiment shown, track 28 may be the left front track, track 30 may be the right front track, track 32 may be the left rear track, and track 34 may be the right rear track. Some or all of the propulsion devices 28, 30, 32, and 34 may also be steerable, thereby allowing the machine 10 to turn right or left during forward or backward movement on the ground surface 64. Although Figure 1 The milling machine 10 is shown to include four tracks 28, 30, 32, 34, but it is envisioned that in some exemplary embodiments, the milling machine 10 may have only one rear track 32 or 34, which may be positioned substantially centered along the width of the frame 22.

[0018] Frame 22 can be connected to tracks 28, 30, 32, 34 via one or more outrigger posts 36, 38, 40, 42. For example, as Figure 1As shown, frame 22 can be connected to the left front track 28 via outrigger posts 36 and to the right front track 30 via outrigger posts 38. Similarly, frame 22 can be connected to the left rear track 32 via outrigger posts 40 and to the right rear track 34 via outrigger posts 42. One or more of outrigger posts 36, 38, 40, and 42 can be height-adjustable, such that the height of frame 22 relative to one or more of tracks 28, 30, 32, and 34 can be increased or decreased by adjusting the length of one or more outrigger posts 36, 38, 40, and 42, respectively. It should be understood that adjusting the height of frame 22 relative to one or more of tracks 28, 30, 32, and 34 will also adjust the height of frame 22 relative to the ground surface 64 on which tracks 28, 30, 32, and 34 can be supported.

[0019] Machine 10 may include a milling drum 50, which may be attached to frame 22 between front end 24 and rear end 26. Milling drum 50 may include cutting tools 52 (or teeth 52) configured to cut and tear a predetermined thickness of road or ground. The height of milling drum 50 relative to ground surface 64 can be adjusted by adjusting the height of one or more outriggers 36, 38, 40, 42. When milling drum 50 rotates, the teeth 52 of milling drum 50 may contact the ground or road surface, thereby tearing or cutting the ground or road surface. Milling drum 50 may be enclosed within a drum chamber 54, which may facilitate the containment of material removed from the ground or road surface by the teeth 52. Machine 10 may include one or more conveyors 56, 58, which may facilitate the transport of material removed by milling drum 50 to adjacent vehicles, such as dump trucks.

[0020] The milling machine 10 may include an engine 60 attachable to the frame 22. The engine 60 may be any suitable type of internal combustion engine, such as a gasoline, diesel, natural gas, or hybrid engine. However, it is contemplated that in some exemplary embodiments, the engine 60 may be electrically driven. The engine 60 may be configured to deliver rotational power output to one or more hydraulic electric motors associated with propulsion devices 28, 30, 32, 34, to the milling drum 50, and to one or more transmitters 56, 58. The engine 60 may also be configured to deliver electricity to operate one or more other components or accessory devices associated with the milling machine 10 (e.g., pumps, fans, motors, generators, belt drives, transmissions, etc.).

[0021] The milling machine 10 may include an operator platform 62 attachable to the frame 22. In some exemplary embodiments, the operator platform 62 may be in the form of an open platform, which may or may not include a roof. In other exemplary embodiments, the operator platform 62 may be in the form of a partially or completely enclosed cabin. Figure 1As shown, the operator platform 62 may be located at a height “H” above the ground surface 64. In some exemplary embodiments, the height H may be between approximately 2 feet and 10 feet above the ground surface 64. The operator platform 62 may include one or more controllers 66, which may be used by an operator to operate and / or control the milling machine 10. The controller 66 may include one or more input devices 66, which may take the form of buttons, switches, sliders, joysticks, rollers, touch screens, or other input / output or interface devices. The milling machine 10 may include a display 68 located in the operator platform 62. The display 68 may be configured to display information, data, and / or measurements obtained from one or more sensors of the milling machine 10. The display 68 may also be configured to display diagnostic results, errors, and / or alarms. The display 68 may be a cathode ray tube (CRT) monitor, a liquid crystal display (LCD), a light-emitting diode (LED) display, a touch screen display, or any other type of display.

[0022] The milling machine 10 may also include a controller 70, which is configured to receive inputs, data, and / or signals from one or more input devices 66 and / or other sensors associated with the milling machine 10, and to control the operation of one or more components (e.g., engine 60, milling drum 50, propellers 28, 30, 32, 34, transmitters 56, 58, etc.). The controller 70 may include or be associated with one or more processors, memory devices 72, and / or communication devices. The controller 70 may embody a single microprocessor or multiple microprocessors, digital signal processors (DSPs), application-specific integrated circuit devices (ASICs), etc. Many commercially available microprocessors may be configured to perform the functions of the controller 70. Various other known circuits may be associated with the controller 70, including power supply circuits, signal conditioning circuits, and communication circuits. The controller 70 may also include one or more internal timers configured to monitor the time at which the controller 70 may receive signals from one or more sensors or the time at which the controller 70 may issue command signals to one or more components of the milling machine 10.

[0023] One or more memory devices 72 associated with controller 70 may store, for example, data and / or one or more control routines or instructions. The one or more memory devices 72 may be embodied in a non-transitory computer-readable medium, such as a random access memory (RAM) device, a NOR or NAND flash memory device, and a read-only memory (ROM) device, CD-ROM, hard disk, floppy disk drive, optical media, solid-state storage media, etc. Controller 70 may receive one or more input signals from one or more input devices 66 and may execute routines or instructions stored in one or more memory devices 72 to generate one or more command signals and deliver them to one or more of the propulsion systems 28, 30, 32, 34, engine 60, milling drum 50, transmitters 56, 58, or other components of milling machine 10.

[0024] Figure 2 Another exemplary embodiment of the milling machine is shown. Figure 2 In one exemplary embodiment shown, the milling machine 20 can be a soil filler, also known as a soil stabilizer, filler machine, road filler, etc. Like the milling machine 10, the milling machine 20 may include a frame 22 and wheel-type propulsion devices 28, 30, 32. Figure 2 (Not visible in the center), 34, and support columns 36, 38, 40, 42. In some exemplary embodiments, one or more support columns 36, 38, 40, 42 may be height-adjustable, such that the height of the frame 22 relative to one or more of the wheels 28, 30, 32, 34 can be increased or decreased by adjusting the length of one or more support columns 36, 38, 40, 42 respectively. Figure 2 As shown, outrigger column 36 connects frame 22 to left front wheel 28, outrigger column 38 connects frame 22 to right front wheel 30, and outrigger column 40 connects frame 22 to left rear wheel 32. Figure 2 (Not visible in the middle), and the outrigger column 42 connects the frame 22 to the right rear wheel 34. Although the milling machine 20 is already... Figure 2 The milling machine 20 is shown as including wheels 28, 30, 32, and 34, but it is contemplated that the milling machine 20 may instead include tracks 28, 30, 32, and 34. One or more of the wheels 28, 30, 32, and 34 may be steerable, thereby allowing the milling machine 20 to turn to the right or left during forward or backward movement on the ground surface 64.

[0025] The milling drum 50 of the milling machine 20 can be located between the first end 24 and the second end 26. In such a case... Figure 2 In one exemplary embodiment shown, the milling drum 50 of the milling machine 20 may not be directly attached to the frame 22. Instead, as shown... Figure 2As shown, the milling drum 50 of the milling machine 20 can be attached to the frame 22 via an arm 74. The arm 74 may include a pair of arms disposed on either side of the milling machine 20 (in... Figure 2 (Only one of them is visible in the image). Arm 74 may be pivotally attached to frame 22 and may be configured to rotate relative to frame 22. One or more actuators may be connected between frame 22 and arm 74 and may be configured to move arm 74 relative to frame 22. Thus, unlike milling machine 10, the milling drum 50 of milling machine 20 may move relative to frame 22. However, it is contemplated that in other exemplary embodiments, milling drum 50 may be directly attached to frame 22 of machine 20 in a manner similar to that described above for machine 10.

[0026] The milling drum 50 of the milling machine 20 may include cutting tools 52 (or teeth 52). The height of the milling drum 50 above the ground surface can be adjusted by rotating the arm 74 relative to the frame 22 and / or by adjusting one or more of the outriggers 36, 38, 40, 42. As the milling drum 50 rotates, the teeth 52 may contact and tear or cut the ground or road surface. The milling drum 50 may be enclosed within a drum chamber 54, which may facilitate the containment of material removed from the ground or road surface by the teeth 52. Rotation of the milling drum 50 may cause the removed material to shift from the adjacent front end 76 of the drum chamber 54 toward the rear end 78 of the drum chamber 54. Stabilizing components such as ash, lime, cement, water, etc., may be mixed with the removed material, and the reconstituted mixture of milled material and stabilizing components may be deposited on the ground surface 64 near the rear end 78 of the drum chamber 54.

[0027] Similar to milling machine 10, milling machine 20 may also include an engine 60, an operator platform 62, one or more control or input devices 66, a display 68, and a controller 70, all of which may have similar structural and functional characteristics as discussed above with respect to milling machine 10. Furthermore, it should be understood that, as used in this disclosure, the terms "front" and "back" are relative terms, which may be determined based on the direction of travel of milling machine 10 or 20. Similarly, it should be understood that, as used in this disclosure, "left" and "right" are relative terms, which may be determined based on the direction of travel facing milling machine 10 or 20.

[0028] Figure 3This is a partial cross-sectional view of exemplary outrigger posts 36, 38, 40, 42 for a milling machine 10 or 20. Outrigger post 36 may include a first (or upper) section 80 and a second (or lower) section 82. An actuator 88 may be disposed inside or outside the outrigger post 36. The first section 80 may be attached to a frame 22. In one exemplary embodiment, the first section 80 may be rigidly attached to the frame 22. The first section 80 may extend from the frame 22 toward the track 28. In some exemplary embodiments, the first section 80 may also extend into the frame 22 in a direction away from the track 28. Figure 3 As shown, the edge 84 of the first segment 80 may have a height "H1" relative to the frame 22. The second segment 82 may be attached to the track 28 and may extend from the track 28 toward the frame 22. Figure 3 As shown, the edge 86 of the second section 82 may have a height "H2" relative to the track 28. Figure 3 As shown, track 28 may have a height “H3” relative to ground surface 64. Heights H1, H2, and H3 may be fixed and may be determined based on the geometry of machine 10 or 20.

[0029] In such Figure 3 In one exemplary embodiment shown, the first segment 80 and the second segment 82 may be hollow cylindrical tubes. However, it is conceivable that the first segment 80 and the second segment 82 may have other non-cylindrical shapes. The first segment 80 and the second segment 82 may be configured to be slidably movable relative to each other. Figure 3 In the exemplary embodiments shown, the second segment 82 may have a smaller cross-section than the first segment 80 and may be received within the first segment 80. However, it is contemplated that in other exemplary embodiments, the first segment 80 may have a smaller cross-section than the second segment 82 and may be received within the second segment 82. The first segment 80 and the second segment 82 may form a variable-height enclosure, and the actuator 88 may be located within the variable-height enclosure. However, it is also contemplated that in some exemplary embodiments, the actuator 88 may be located outside the enclosure formed by the first segment 80 and the second segment 82.

[0030] Actuator 88 connects frame 22 to track 28. Actuator 88 may include cylinder 90, piston 92, and rod 94. Cylinder 90 extends from frame end 100 connected to frame 22 to track end 102, the track end being disposed between frame 22 and track 28. Piston 92 is slidably disposed within cylinder 90 and may divide cylinder 90 into a front end chamber 96 and a rod end chamber 98. That is, piston 92 is configured to slide within cylinder 90 from adjacent frame end 100 to adjacent track end 102. Front end chamber 96 is disposed closer to frame end 100 of cylinder 90, and rod end chamber 98 is disposed closer to track end 102 of cylinder 90. Rod 94 may be connected to piston 92 at one end. Rod 94 extends from piston 92 through track end 102 of cylinder 90 and may be directly or indirectly connected to track 28 at opposite ends of rod 94. Figure 3 In one exemplary embodiment shown, rod 94 may be connected to yoke 104, which in turn may be connected to track 28. In some exemplary embodiments, yoke 104 may be fixedly attached to the second section 82 of outrigger post 36. In other exemplary embodiments, yoke 104 may be part of track 28 and may be movably attached to the second section 82. It is also contemplated in some embodiments that yoke 104 may not be attached to the second section 82.

[0031] Actuator 88 may be a single-acting or double-acting hydraulic actuator. For example, one or both of the front chamber 96 and the rod end chamber 98 of actuator 88 may be configured to receive and retain hydraulic fluid. One or both of the front chamber 96 and the rod end chamber 98 may be connected to a reservoir 140, which is configured to store hydraulic fluid via one or more fluid conduits 142. One or more control valves 144 may be disposed in one or more fluid conduits 142 and configured to control the flow rate or volume of hydraulic fluid from reservoir 140 to actuator 88 (or vice versa). In an exemplary embodiment, separate fluid conduits 142 may connect the front chamber 96 and the rod end chamber 98 to reservoir 140, and separate control valves 144 may be disposed on corresponding separate fluid conduits 142. Control valves 144 may be multi-position or proportional valves having valve elements movable to regulate the flow of hydraulic fluid through fluid conduits 142. In the flow-through position, control valve 144 allows hydraulic fluid to flow through fluid conduit 142, substantially unrestricted by control valve 144. In contrast, in the flow-blocking position, control valve 144 completely blocks the flow of hydraulic fluid through fluid conduit 142. The valve element of control valve 144 can also be selectively moved to various positions between the flow-through and flow-blocking positions to achieve variable flow rates of hydraulic fluid in fluid conduit 142. Controller 70 of machine 10 or 20 can be configured to adjust the position of the valve element of control valve 144 to control the flow rate or flow volume of hydraulic fluid flowing through fluid conduit 142. In some exemplary embodiments, the valve element in control valve 144 can be a solenoid operable from the flow-blocking position to the flow-through position.

[0032] Filling the front chamber 96 with hydraulic fluid and / or emptying the rod end chamber 98 with hydraulic fluid allows the piston 92 to slide within the cylinder 90 in the direction indicated by arrow "A" from the frame end 100 toward the track end 102. Movement of the piston in direction A results in an increase in the length of the actuator 88, thereby allowing the first section 80 and the second section 82 to slide relative to each other, thus increasing the height of the outrigger column 36, and consequently also increasing the height of the frame 22 relative to the track 28 or the height of the frame 22 relative to the ground surface 64. Similarly, emptying the front chamber 96 with hydraulic fluid and / or filling the rod end chamber 98 with hydraulic fluid allows the piston 92 to slide within the cylinder 90 in the direction indicated by arrow "B" from the track end 102 toward the frame end 100. Movement of the piston in direction B reduces the length of the actuator 88, thereby reducing the height of the outrigger column 36, which in turn reduces the height of the frame 22 relative to the ground surface 64. Although Figure 3The actuator 88 (left front actuator 88) is shown as associated with the left front outrigger column 36, but it is contemplated that the milling machine 10 or 20 may include one or more of the following: a right front actuator 88 associated with the right front outrigger column 38 and the left rear track 30; a left rear actuator 88 associated with the left rear outrigger column 40 and the left rear track 32; and / or a right rear actuator 88 associated with the right rear outrigger column 42 and the right rear track 34.

[0033] The outrigger column 36 may include one or more non-contact outrigger height sensors 110, 120. Figure 4 Schematic diagrams of exemplary non-contact outrigger height sensors 110 and 120 are shown. For example, sensors 110 and 120 may include a transmitter 130, a receiver 132, a processor 134, and a memory 136. The processor 134 and memory 136 may have structural and functional characteristics similar to those of the controller 70 and memory device 72 described above. It is contemplated that in some exemplary embodiments, sensors 110 and 120 may not include the processor 134 and / or memory 136, and instead, the controller 70 and memory device 72 of machine 10 or 20 may respectively perform the functions of the processor 134 and memory 136.

[0034] Transmitter 130 can be configured to transmit a transmitter signal, which may include light, sound waves, or other types of electromagnetic radiation. For example, the transmitter signal emitted by transmitter 130 may include visible light, infrared, near-infrared, ultraviolet, or a laser beam. Alternatively, the transmitter signal may include ultrasound, radio waves, microwaves, or one of several wavelengths. Figure 3 In one exemplary embodiment shown, the non-contact outrigger height sensor 110 can be attached to the frame adjacent to the outrigger post 36. For example... Figure 3 As shown, the outrigger height sensor 110 can be positioned on the frame 22 such that the transmitter 130 can emit a collimated beam (e.g., light) toward the second (or lower) segment 82. Figure 3 In one exemplary embodiment shown, transmitter 130 can emit a beam substantially perpendicular to the frame. As used in this disclosure, the term should be interpreted generally to cover normal machining and manufacturing tolerances. For example, substantially perpendicular should be interpreted to cover an angle of 90 ± 5° relative to frame 22. The beam emitted by transmitter 130 can interact with the edge 86 of the second segment 82 and can be reflected by the edge 86 and / or other portions of the second segment 82. In some exemplary embodiments, one or more targets 138 can be attached to the upper segment 80, the lower segment 82, the actuator 88, and / or the track 28. One or more targets 138 can also reflect the beam emitted by transmitter 130.

[0035] The receiver 132 of the outrigger height sensor 110 can receive and detect at least a portion of a reflected emitter signal. For example, the receiver 132 can detect a portion of light, sound waves, radio waves, microwaves, etc., reflected by one or more of the track 28, upper section 80 or lower section 82, actuator 88, and / or one or more targets 138. The receiver 132 can generate a signal indicating the characteristics (e.g., wavelength, amplitude, frequency, phase, time, energy, or power) of the detected portion of the reflected emitter signal. For example, the portion of the reflected emitter signal detected by the receiver 132 may have different wavelengths, amplitudes, frequencies, phases, times, energy content, or power based on the height “h” from the edge 86 of the frame 22. The receiver 132 can transmit the generated signal to the controller 70 and / or processor 134.

[0036] In one exemplary embodiment, sensors 110, 120 may be configured to determine a height h and transmit a signal indicating the height h to controller 70. For example, processor 134 associated with outrigger height sensors 110 or 120 may determine the height h based on one or more characteristics (e.g., wavelength, amplitude, frequency, phase, time, energy, or power) of a detected portion of a reflected transmitter signal received by receiver 132. The correlation between height h and one or more characteristics, in the form of a graph, chart, lookup table, mathematical algorithm, etc., may be stored in memory 136. Processor 134 of outrigger height sensors 110 or 120 may use the correlation stored in memory 136 to determine the height h. Processor 134 of outrigger height sensors 110 or 120 may also be configured to generate one or more signals indicating the determined height h and transmit one or more signals to controller 70.

[0037] In other exemplary embodiments, the controller 70 may be configured to determine the height h of the edge 86 of the second segment 82 relative to the frame 22 based on characteristics of a detected portion of the reflected transmitter signal embodied in the signal emitted by the receiver 132. In these exemplary embodiments, the correlation between the height h and one or more characteristics of the reflected transmitter signal may be stored in the memory device 72. The controller 70 or the machine 10 or 20 may use the correlation stored in the memory device 72 to determine the height h. The controller 70 may also determine the height of the frame 22 relative to the track 28 or relative to the ground surface 64 based on the determined height h and known heights H2 and H3. For example, the controller 70 may determine the height of the frame 22 relative to the track 28 as h + H2 (see example...). Figure 3 ), and / or the height of frame 22 relative to ground surface 64 is determined as h + H2 + H3 (see example Figure 3However, it is conceivable that the controller 70 can use other mathematical operations or algorithms to determine the height of the frame 22 relative to the ground surface 64 based on the determined height h and the known machine heights H2 and H3.

[0038] like Figure 3 As shown in the exemplary embodiments, the outrigger height sensor 120 can be positioned on the frame at a predetermined distance from the outrigger post 36. For example, in some embodiments, the outrigger height sensor 120 can be attached to the frame 22 between the outrigger post 36 and the drum 50. That is, the outrigger height sensor 120 can be spaced apart from the outrigger post 36 (and actuator 88) and the drum 50. The transmitter 130 of the outrigger height sensor 120 can transmit a beam (e.g., light, sound, radio waves, etc.) tilted relative to the frame 22 at an angle “θ”. The angle θ can be, for example, between about 10° and about 80°. As used in this disclosure, the term “about” should be interpreted to cover normal machining and manufacturing tolerances. For example, about 10° should be interpreted to include an angle of 10 ± 5°. Similarly, about 80° should be interpreted to include an angle of 80° ± 5°. Processor 134 or controller 70 can determine the distance "D" between outrigger height sensor 120 and track 28 based on, for example, the correlation between distance D and one or more characteristics (e.g., wavelength, amplitude, frequency, phase, time, energy, or power) of a portion of the reflected transmitter signal received by receiver 132 of outrigger height sensor 120. Processor 134 and / or controller 70 can then determine the height "h1" of frame 22 relative to track 28 based on a known trigonometric relationship between height, distance D, and angle θ. It is also contemplated that processor 134 and / or controller 70 can determine the height using distance D and one or more of other mathematical operations, mathematical algorithms, correlations, etc., stored in memory 136 and / or memory device 72. Processor 134 and / or controller 70 can also determine the height of frame 22 relative to ground surface 64 based on the determined height h1 and a known height H3 of track 28 above ground surface 64. For example, processor 134 and / or controller 70 can determine the height of frame 22 above ground surface 64 as h1 + H3. When the processor 134 determines the height of the frame, the processor 134 of the outrigger height sensor 120 can transmit a signal indicating the determined height to the controller 70.

[0039] Although the distance D is Figure 3 The distance D is shown and discussed above relative to track 28, but it is contemplated that the distance D may also be determined relative to any other desired position on the outrigger post 36, either separately or alternatively. For example, as... Figure 3As shown, the outrigger post 36 may include one or more targets 138 attached to the second segment 82 at a known height above the track 28. The outrigger height sensor 120 may be configured to determine the distance D between the sensor 120 and one or more targets 138 based, for example, reflected beams generated when a beam emitted by the transmitter 130 of the outrigger height sensor 120 interacts with one or more targets 138. Although in Figure 3 The target 138 is shown as attached to the lower section 82, but it is envisioned that one or more targets may additionally or alternatively be attached to the upper section 80, actuator 88 and / or track 28.

[0040] In some exemplary embodiments, the non-contact outrigger height sensors 110, 120 may include one or more single-beam LiDAR sensors, multi-beam LiDAR sensors, multi-layer LiDAR sensors, ultrasonic sensors, RADAR sensors, etc. It is conceivable that each of the outrigger posts 36, 38, 40, 42 may include the same type of sensor (e.g., LiDAR, RADAR, ultrasonic, etc.), or one or more outrigger posts 36, 38, 40, 42 may include sensors of different types from each other. In some exemplary embodiments of machine 10 or 20, at least one non-contact outrigger height sensor 110 or 120 may be associated with each of the outrigger posts 36, 38, 40, or 42. Such outrigger height sensors 110, 120 may embody a single-beam LiDAR sensor, which may be configured to emit a single beam (e.g., laser, infrared, near-infrared, ultraviolet, etc.) toward the edge 86 of the second segment 82 or a target 138 attached to each outrigger post 36, 38, 40, or 42.

[0041] In other exemplary embodiments of machine 10 or 20, outrigger height sensor 120 may be configured to detect the height of one or more outrigger posts 36, 38, 40, 42. For example, outrigger height sensor 120 may be located between outrigger posts 36, 38 or between outrigger posts 40, 42, and may be a multi-beam LiDAR sensor. The transmitter 130 of the multi-beam LiDAR outrigger height sensor 120 may be configured to emit two emitter signals (e.g., laser, visible light, infrared, near-infrared, ultraviolet, etc. beams) toward a second segment 82 associated with outrigger posts 36, 38 or 40, 42. The receiver 132 of outrigger height sensor 120 may be configured to detect, for example, reflected beams from, for example, tracks 28, 30 or 32, 34, the upper segment 80 or lower segment 82 of outrigger posts 36, 38 or 40, 42, or one or more targets 138 associated with outrigger posts 36, 38 or 40, 42. The controller 70 or processor 134 can be configured to determine the height h of the frame 22 relative to the tracks 28, 30 or 32, 34 or relative to the ground surface 64 of the adjacent outrigger posts 36, 38 or 40, 42 based on the characteristics of the reflected beam (e.g., wavelength, amplitude, frequency, phase, time, energy or power).

[0042] In some exemplary embodiments, the controller 70 may also determine the average height of the frame 22 relative to the ground surface 64 by means of a defined height of the average frame 22 relative to the ground surface 64 of the adjacent outriggers 36, 38 or 40, 42. Although the multi-beam LiDAR sensor 120 has been discussed above as emitting two transmitter signals, it is contemplated that the multi-beam LiDAR sensor 120 may emit two or more transmitter signals, thereby enabling a single sensor 120 to detect the height of the frame 22 relative to one or more of the tracks 28, 30, 32, 34 and / or relative to the ground surface 64 of one or more of the adjacent outriggers 36, 38, 40, 42. It is also contemplated that in some exemplary embodiments, the multi-beam LiDAR sensor 120 may additionally or alternatively be positioned between the outriggers 36, 40 and / or 38, 42 on the left and / or right sides of the machine 10, 20.

[0043] In some further exemplary embodiments, one or more of the outrigger height sensors 110 and 120 may embody a multilayer LiDAR sensor. Thus, for example, the transmitter 130 of the outrigger height sensor 110 or 120 may emit multiple emitter signals (e.g., laser, infrared, near-infrared, or ultraviolet beams). The receiver 132 of the multilayer LiDAR outrigger height sensor 120 may be configured to detect reflected beams from the edge 86, the track 28 or one or more targets 138, and the ground surface 64. The multilayer LiDAR sensor 120 may be configured to simultaneously determine the height of the frame 22 relative to both the track 28 and the ground surface 64.

[0044] In some exemplary embodiments, the non-contact outrigger height sensors 110, 120 may include one or more ultrasonic sensors or RADAR sensors. When the outrigger height sensors 110, 120 are ultrasonic sensors, the transmitter 130 associated with the outrigger height sensors 110, 120 may emit sound waves (e.g., ultrasonic waves). The receiver 132 associated with the outrigger height sensors 110, 120 may detect characteristics of the reflected sound waves, such as amplitude, frequency, phase, or power, and may determine the distance h of the frame 22 relative to the track 28 or the ground surface 64 based on the detected characteristics.

[0045] In other exemplary embodiments, the non-contact outrigger height sensors 110, 120 may include one or more RADAR sensors. When the outrigger height sensors 110, 120 are RADAR sensors, a transmitter 130 associated with the outrigger height sensors 110, 120 may emit radio waves or microwaves. A receiver 132 associated with the outrigger height sensors 110, 120 may detect characteristics of the reflected radio waves or microwaves, such as amplitude, frequency, phase, or power. The controller 70 and / or processor 134 may determine the height of the frame 22 relative to the track 28 or the ground surface 64 based on the detected characteristics.

[0046] In some exemplary embodiments, the non-contact outrigger height sensors 110, 120 may include one or more imaging devices. For example, sensors 110, 120 may include one or more single or stereo cameras. It is also contemplated that when sensors 110, 120 are imaging devices, they may include one or more of processor 134 and memory 136. In these embodiments, sensors 110, 120 may be configured to acquire 2D or 3D images of the frame 22, one or more tracks 28, 30, 32, 34, one or more outrigger posts 36, 38, 40, and 42, and / or the ground surface 64. The controller 70 and / or processor 134 associated with sensors 110, 120 may execute one or more image processing algorithms (e.g., photogrammetry, segmentation, edge detection, projection, convolution, extrapolation, etc.) stored on, for example, memory devices 72 and / or memory 136. The controller 70 and / or processor 134 can perform image processing to detect shapes or structures, such as frame 22, one or more tracks 28, 30, 32, 34, one or more outriggers 36, 38, 40, and 42, and / or ground surface 64, in a received 2D or 3D image. The controller 70 and / or processor 134 can also be configured to determine the distance of frame 22 relative to one or more tracks 28, 30, 32, 34 in the 2D or 3D image based on, for example, the image processing algorithms discussed above. Furthermore, the controller 70 and / or processor 134 can be configured to determine the height of frame 22 relative to one or more tracks 28, 30, 32, 34, and / or ground surface 64 based on the determined distance, scale, or magnification of the 2D or 3D image and the known geometric dimensions (e.g., H1, H2, and H3) of machine 10 or 20. Although heights h1, H2, and H3 are shown relative to the upper edge 106 of the yoke 104, it is contemplated that in some exemplary embodiments, heights h1, H2, and H3 may instead be measured relative to the upper surface 108 of the track 28.

[0047] The method of determining the height of the frame 22 of the milling machine 10 or 20 using one or more non-contact outrigger height sensors 110, 120 will be described in more detail below.

[0048] Industrial applicability

[0049] The controller 70 of this disclosure and one or more of the non-contact outrigger height sensors 110, 120 can be used on a milling machine 10 or 20 to determine the height of the frame 22 of the milling machine 10 or 20 relative to one or more of the tracks 28, 30, 32, 34 and / or the ground surface 64. Specifically, a transmitter 130 associated with one or more sensors 110, 120 can emit a transmitter signal that can be reflected by one or more tracks 28, 30, 32, 34, one or more outrigger posts 36, 38, 40, 42, one or more actuators 88 and / or a target 138 attached to one or more tracks 28, 30, 32, 34, outrigger posts 36, 38, 40, 42 and / or actuators 88. A receiver 132 associated with one or more outrigger height sensors 110, 120 can detect the reflected transmitter signal, including various characteristics of the reflected transmitter signal (e.g., wavelength, amplitude, frequency, phase, time, energy or power, etc.). The controller 70 and / or processor 134 associated with sensors 110 and 120 can determine the height of frame 22 relative to one or more of tracks 28, 30, 32, 34 and / or relative to ground surface 64 based on signals generated by receiver 132.

[0050] Figure 5 An exemplary method 500 is shown for determining the height of the frame 22 of a milling machine 10 or 20 relative to one or more of the tracks 28, 30, 32, 34 and / or the ground surface 64 using one or more non-contact outrigger height sensors 110, 120. For illustrative purposes, the sequence and arrangement of the steps of method 500 are provided. As will be appreciated from this disclosure, method 500 can be modified by, for example, adding, combining, removing, and / or rearranging the steps of method 500. Method 500 can be executed by controller 70. Although method 500 is described below with reference to tracks 28 and outrigger posts 36, method 500 and its following description and as... Figure 5 The steps shown also apply to track 30 and outrigger 38; track 32 and outrigger 40; and track 34 and outrigger 42.

[0051] Method 500 may include the step of raising or lowering the frame 22 relative to the ground surface 64 (step 502). An operator may perform actions such as raising the frame to a maintenance height for performing maintenance operations or positioning the frame 22 at a desired height and inclination relative to the ground surface before initiating milling operations. The controller 70 may receive signals from one or more input devices 66 instructing the operator to raise or lower the frame 22 of the milling machine 10 or 20. The controller 70 may cause one or more pumps associated with the milling machine 10 or 20 to pump hydraulic fluid into or out of one or more front chambers 96 of the actuator 88 associated with one or more outrigger columns 36, 38, 40, or 42 to increase or decrease the height of the frame 22 adjacent to one or more tracks 28, 30, 32, and / or 34.

[0052] Method 500 may include determining the height of frame 22 relative to tracks 28, 30, 32, 34 and / or ground surface 64 (step 504). Controller 70 may cause transmitter 130 of outrigger height sensors 110, 120 to emit one or more transmitter signals. Receiver 132 associated with transmitter 130 may detect at least a portion of reflected transmitter signals generated when the emitted transmitter signals are reflected by one or more of tracks 28, 30, 32, 34, outrigger posts 36, 38, 40, 42, one or more actuators 88, and / or ground surface 64. Receiver 132 may generate a signal indicative of one or more characteristics of the reflected transmitter signal (e.g., wavelength, amplitude, phase, energy, or power). Controller 70 and / or processor 134 may determine the height of frame 22 relative to one or more tracks 28, 30, 32, 34 and / or the ground surface 64 adjacent to one or more outrigger posts 36, 38, 40, 42 based on the signal generated by receiver 132. For example, as described above, the controller 70 and / or processor 134 may depend on the correlation between height h and one or more characteristics stored in memory device 72 and / or memory 136.

[0053] Method 500 may include the step of determining a height error (step 506). Controller 70 may compare the determined height of frame 22 with the desired height. For example, controller 70 may subtract the determined height h from the desired height to determine the height error.

[0054] Method 500 may include the step of determining whether the height error exceeds a threshold (step 508). When controller 70 determines that the height error exceeds or is approximately equal to the threshold (step 508: Yes), controller 70 may return to step 502. However, when controller 70 determines that the height error is less than the threshold (step 508: No), controller 70 may proceed to step 510.

[0055] Method 500 may include the step of stopping the frame raising or lowering operation (step 510). Controller 70 may cause one or more pumps associated with the milling machine 10 or 20 to stop pumping hydraulic fluid to or out of one or more of the front chambers 96 of the actuators 88 associated with one or more outrigger columns 36, 38, 40, or 42. Additionally or alternatively, controller 70 may cause the valve element of control valve 144 to move to a flow-blocking position, thereby preventing hydraulic fluid from flowing into or out of the front chambers 96 of the actuators 88. Stopping the hydraulic fluid flow in this manner may also stop the extension or retraction of the actuators 88 associated with one or more outrigger columns 36, 38, 40, 42. This, in turn, may stop the raising or lowering of the frame 22.

[0056] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed milling machine and non-contact outrigger height sensor. Other embodiments will be apparent to those skilled in the art in light of the specification and practice of the disclosed milling machine and non-contact outrigger height sensor. The specification and examples are intended to be illustrative only, and the true scope is indicated by the following claims and their equivalents.

Claims

1. A milling machine, comprising: frame; A milling drum, which is attached to the frame; Multiple ground-jointing tracks, the multiple ground-jointing tracks being configured to support the frame and propel the milling machine in a forward or backward direction; At least one actuator connects the frame to at least one track among the ground-jointing tracks, the at least one actuator being configured to adjust the height of the frame relative to the at least one track among the plurality of ground-jointing tracks; A non-contact sensor attached to the frame, the non-contact sensor being configured to generate a signal indicating the height of the frame relative to the at least one track; The non-contact sensor includes: A transmitter attached to the frame and configured to emit a transmitter signal toward at least one of the ground-engaging tracks, the transmitter signal comprising a beam of one of laser, visible light, ultraviolet light, infrared light, or near-infrared light; Receiver, the receiver being attached to the frame and configured to: Detect at least a portion of the reflected emitter signal; and A signal indicating the height of the frame relative to the at least one track is generated based on at least one characteristic of the portion of the reflected transmitter signal; and A controller configured to determine the height based on the signal.

2. The milling machine of claim 1, further comprising a support leg for connecting the frame to the at least one track, the support leg comprising: Connected to the upper section of the frame; A lower section that is slidably movable relative to the upper section and connected to the at least one track; as well as The at least one actuator.

3. The milling machine according to claim 2, wherein The receiver is configured to detect a portion of the reflected transmitter signal reflected from at least one of the edge of the lower section, the at least one track, or a target attached to the lower section or the at least one track.

4. The milling machine of claim 2, wherein the transmitter is attached to the frame adjacent to the at least one actuator and configured to transmit the transmitter signal substantially perpendicular to the frame.

5. The milling machine according to claim 2, wherein The sensor is attached to the frame at a predetermined distance from the at least one actuator, and The transmitter is configured to transmit a signal from the transmitter that is generally tilted relative to the frame.

6. The milling machine according to claim 1, wherein the sensor is one of a single-beam LiDAR sensor, a multi-beam LiDAR sensor, a multi-layer LiDAR sensor, or a RADAR sensor.

7. The milling machine according to claim 1, wherein The sensor includes an imaging device configured to acquire images of the at least one actuator and the at least one track, and The controller is configured to determine the height based on the image.

8. The milling machine according to claim 7, wherein the imaging device is one of a monocular camera or a stereo camera.

9. The milling machine according to claim 8, wherein the controller is further configured to: Perform image processing on the image, and The height of the frame relative to the at least one track is determined based on the image processing.

10. A milling machine, comprising: frame; A left front track, wherein the left front track is disposed adjacent to the front end of the frame; The right front track is disposed adjacent to the front end and spaced apart from the left front track; A rear track, wherein the rear track is disposed adjacent to the rear end of the frame; A left front actuator, the left front actuator being connected to the frame and the left front track; A right front actuator, the right front actuator being connected to the frame and the right front track; A rear actuator, connected to the frame and the rear track, wherein each of the left front actuator, the right front actuator, and the rear actuator is configured to selectively adjust the height of the frame relative to the left front track, the right front track, and the rear track, respectively. A milling drum, which is connected to the frame and disposed between the front end and the rear end; An engine configured to rotate the milling drum and propel the left front track, the right front track, and the rear track in a forward or backward direction; At least one non-contact sensor is attached to the frame and configured to generate at least one signal indicating the height of the frame relative to at least one of the left front track, the right front track, and the rear track; wherein, The non-contact sensor includes: A transmitter attached to the frame and configured to emit a transmitter signal toward at least one of the left front track, right front track, and rear track, the transmitter signal comprising a beam of one of laser, visible light, ultraviolet light, infrared light, or near-infrared light. Receiver, the receiver being attached to the frame and configured to: Detect at least a portion of the reflected emitter signal; and A signal indicating the height of the frame relative to the at least one track is generated based on at least one characteristic of the portion of the reflected transmitter signal; and A controller configured to determine the height of the frame relative to at least one of the left front track, the right front track, and the rear track based on the at least one signal.

11. The milling machine according to claim 10, further comprising: The frame is connected to the left front outrigger column of the left front track; The frame is connected to the right front outrigger column of the right front track; The frame is connected to the rear outrigger column of the rear track, and each of the left front outrigger column, the right front outrigger column and the rear outrigger column surrounds a corresponding actuator of the left front actuator, the right front actuator and the rear actuator.

12. The milling machine according to claim 11, wherein each of the left front support column, the right front support column, and the rear support column comprises: Attached to the upper section of the frame. The lower section is slidably movable relative to the upper section, and is attached to a corresponding actuator among the left front actuator, the right front actuator, and the rear actuator.

13. The milling machine according to claim 12, further comprising: The receiver is attached to the frame adjacent to the transmitter and is configured to detect at least a portion of the transmitter signal reflected from at least one of the edge of the lower section, the left front track, the right front track, or the rear track, or from at least one of the targets attached to the lower section or the left front track, the right front track, or the rear track.

14. The milling machine of claim 13, wherein the transmitter comprises a laser transmitter, and the transmitter signal comprises a laser beam.

Images