Machine, system and method for duty cycle automation

Abstract

A milling machine, system, and method for implementing a return cut operation and / or an exit cut operation control the legs of the milling machine, the rotor of the milling machine, and the front and rear doors of the mixing chamber of the milling machine in accordance with settings for each of the return cut operation and the exit cut operation. Such control can be based on signals from one or more sensors of the milling machine configured to sense various position-related features of the milling machine, and can be performed in response to control inputs at an operator control interface of the milling machine.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to automation of working machines, and more particularly to automation of returning to and / or exiting from a cutting operation of a milling machine. BACKGROUND

[0002] Conventionally, an operator of a milling machine (e.g., a rotary mixer or a cold planer) can perform repetitive tasks per pass. Such repetitive tasks can primarily occur in a setup phase (i.e., returning to a cutting or milling operation) and a completion phase (i.e., exiting from a cutting or milling operation). Depending on operator-related conditions (e.g., experience, fatigue, or forgetfulness), some tasks can be inadvertently missed from the setup or completion phase.

[0003] U.S. Patent No. 9,797,100 (“the ‘100 patent”) describes a milling machine configured to operate in a travel mode and a work mode. According to the ‘100 patent, when the travel mode is actuated, the rotor is raised to a predetermined position, the front door and the rear door of the mixing chamber are closed, and the frame is raised to a predetermined height. The ‘100 patent also describes that in the work mode, the frame is lowered to a predetermined height, the rotor is lowered to a predetermined position, and the front door and the rear door of the mixing chamber are opened to a predetermined position. SUMMARY

[0004] In one aspect, the present disclosure describes a method. The method can be implemented in a milling machine, such as a rotary mixer, and can include automatically lowering, under control of a controller, a frame of the rotary mixer to a cutting height in response to an operator control input, automatically lowering, using the controller, a rotor of the rotary mixer to a rotor cutting height independent of the lowering of the frame in response to the operator control input, and automatically moving a rear door of a mixing chamber of the rotary mixer to a rear door cutting position in response to the operator control input, wherein in the rear door cutting position, the rear door is at least partially open and in a locked state or a floating state. In the locked state, the rear door can be open by a pre-set amount, and in the floating state, the rear door can provide a pre-set downward pressure.

[0005] In another aspect, the present disclosure implements or provides a milling machine. The milling machine can include: an operator control interface; a frame; a milling chamber having a front door, a rear door opposite the front door, and a pair of opposing side panels between the front door and the rear door; a rotor disposed at least partially in the milling chamber; a plurality of sensors disposed about the frame; and a controller configured to control the plurality of legs, the rotor, the front door, and the rear door of the milling machine according to settings of each of an automatic return cutting operation and an automatic exit cutting operation stored in memory accessible to the controller. For the automatic return cutting operation, the controller can control the plurality of legs, the rotor, the front door, and the rear door of the milling machine according to a first plurality of settings to return to a first previously set operator setting corresponding to an immediately preceding previous cutting operation to perform a next cutting operation. For the automatic exit cutting operation, the controller can control the plurality of legs, the rotor, the front door, and the rear door of the milling machine according to a second plurality of settings to exit a current cutting operation according to a second previously set operator setting. The controller can be configured to control each of the automatic return cutting operation and the automatic exit cutting operation in response to respective single control inputs at the operator control interface and based on signals from the plurality of sensors.

[0006] In yet another aspect, a non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a computer, cause the computer to perform a method can be provided or implemented. The method can include: controlling a rotor of a milling machine to raise toward a stowed or travel position as part of an exit cutting operation; and controlling a configuration of respective states of a front door and a rear door of a mixing chamber of the milling machine to fill a material void associated with the raised rotor based on a direction of travel of the milling machine as the rotor is raised toward the stowed or travel position as part of the exit cutting operation. The front door can be controlled to open and the rear door can be set to a float state when the milling machine is moving forward, and the rear door can be controlled to open and the front door can be set to a float state when the milling machine is moving rearward. In the float state, the rear door or the front door can provide a pre-set downward pressure.

[0007] Other features and aspects of the present disclosure will become apparent from the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 is a side perspective view of a milling machine according to one or more embodiments of the disclosed subject matter.

[0009] Figure 2 is Figure 1 is a front view of a portion of the milling machine of

[0010] Figure 3 is Figure 1 is a rear view of a portion of the milling machine of

[0011] Figure 4 is a rear view of a mixing chamber of the milling machine of Figure 1

[0012] Figure 5 is a front view of a mixing chamber of the milling machine of Figure 1

[0013] Figure 6 An example of a mixing chamber of a milling machine in a first operating state of the milling machine is shown in accordance with one or more embodiments of the disclosed subject matter.

[0014] Figure 7 An example of a mixing chamber of Figure 6 in a second operating state of the milling machine is shown in accordance with one or more embodiments of the disclosed subject matter.

[0015] Figure 8 A control system is shown in accordance with one or more embodiments of the disclosed subject matter.

[0016] Figure 9 is a flowchart of a method of returning to a cutting operation in accordance with one or more embodiments of the disclosed subject matter.

[0017] Figure 10 is a flowchart of a method of exiting a cutting operation in accordance with one or more embodiments of the disclosed subject matter. DETAILED DESCRIPTION

[0018] The present disclosure relates to automation for milling machines, and more particularly to automation of a milling machine returning to a cutting operation and / or exiting a cutting operation.

[0019] Referring now to the drawings, Figure 1 is a side perspective view of a milling machine 100 in accordance with one or more embodiments of the disclosed subject matter. Figure 1 The milling machine 100 ofThe milling machine 100 is a rotary-type mixer. In general, a rotary-type mixer can be used to pulverize a ground surface, such as an asphalt-based road, and mix the resulting pulverized layer with an underlying base to stabilize the ground surface. A rotary-type mixer can also be used as a soil stabilizer to cut, mix, pulverize, and stabilize a soil surface, for example, to obtain a reinforced soil base. Optionally, a rotary-type mixer can add an asphalt emulsion or other binding agent during pulverization to produce a recycled surface. Although the milling machine 100 is shown as a rotary-type mixer, other machines for road recycling, soil stabilization, surface pulverization, or other applications can be implemented in accordance with embodiments of the disclosed subject matter (e.g., a cold planer).

[0020] ​The mill 100 can include a frame 102, an engine 104 supported on the frame 102, and one or more ground engaging units or tractive devices 106. The tractive devices 106 can be operably connected to the engine 104 by a transmission mechanism (not shown) to drive the tractive devices 106 and propel the mill 100. Although the tractive devices 106 are shown as wheels (with tires), the tractive devices 106 can alternatively be tracks or a combination of tracks and wheels in accordance with embodiments of the disclosed subject matter.

[0021] The frame 102 can include a front portion 108 and a rear portion 110, with a lift column 112 can be disposed at the front portion 108 and the rear portion 110, such as shown in Figure 1 Generally, the lift columns 112 (which can also be referred to herein as legs 112 of the mill 100) can couple the tractive devices 106 to the frame 102.

[0022] For example, the legs 112 can be controlled to allow adjustment of the height, grade, and / or inclination of the frame 102 relative to a ground surface. That is, the legs 112 can be moved upwardly or downwardly independently or together (e.g., in pairs or all together) by respective actuators to adjust the height, grade, and / or inclination of the frame 102. Accordingly, the frame 102 can be adjusted relative to a ground surface. In embodiments, the legs 112 can be hydraulically actuated. Optionally, each leg 112 can include a sensor to sense or detect its height (and thus the relevant height of the corresponding portion of the frame 102). By way of example, each leg 112 can include an in-cylinder position sensor to sense or detect the height-related positioning of the leg 112.

[0023] The mill 100 can also be comprised of a milling or mixing chamber 116. Optionally, the mixing chamber 116 can be considered a portion of the frame 102, as the mixing chamber 116 and the frame 102 can be adjusted together based on the up / down movement of the legs 112. The mixing chamber 116 can be located near or at a central portion of the mill 100, such as shown in Figure 1

[0024] As shown in Figures 1-7 , the mixing chamber 116 can have a pair of opposing side panels 122, a front door 124 Figure 5 , and a rear door 126 Figure 4 . During a work operation (e.g., cutting, milling, mixing, etc.), the mill 100 can process material, and the side panels 122 can be deployed and retracted and can be considered to flow over and within the material. The rotor 118 can be disposed in the mixing chamber 116 in part or in whole depending on the mode or operation of the mill 100.

[0025] ​The rotor 118 can be controlled to rotate to break up and pulverize the surface layer 400 of the ground surface, for example, in Figure 7 Optionally, a feed material 404 can be provided to mix with the pulverized surface layer 400. The rotor 118 can also be vertically movable (i.e., up and down) within the mixing chamber 116 between a fully extended position and a fully retracted position via one or more actuators (not explicitly shown). The rotor 118 can be vertically movable independent of the movement of the legs 112. That is, according to embodiments of the disclosed subject matter, the rotor 118 can be controlled to move vertically without moving any, all, or some of the legs 112, some or all of the legs 112 can be controlled to move without the rotor 118 moving vertically, or the rotor 118 can be controlled to move vertically while some or all of the legs 112 are moving.

[0026] Figure 6 The rotor 118 can be shown in the fully retracted position, and Figure 7 The rotor 118 can be shown in the fully extended position. Optionally, the fully retracted position can be referred to or characterized as a travel or stowed position, and the fully extended position can be referred to or characterized as a working position (or cutting, or mixing, or milling position). Thus, Figure 7 The rotor 118 can also be shown in a cutting position, but the cutting position is not necessarily always in the fully extended position. In the cutting position, the rotor 118 can extend below the surface layer 400 to cut the surface layer 400 according to a predetermined cutting depth. As noted above, the rotor 118 can also mix the feed material 404 with the pulverized surface layer 400. In any case, the operation of the rotor 118, with or without the feed material 404, can result in a resultant material 406.

[0027] A sensor associated with the rotor 118 or a portion thereof (e.g., each of one or more actuators thereof) can be provided to determine a vertical positioning or height of the rotor 118. Such a vertical positioning or height of the rotor 118 can be relative to a characteristic of the milling machine 100, such as an amount that the rotor 118 protrudes from a bottom of the mixing chamber 116. Such a vertical positioning or height of the rotor 118 can also be relative to the ground surface, such as the surface layer 400 of the ground surface.

[0028] A front door 124 can be located at a front end of the mixing chamber 116, and a rear door 126 can be located at a rear end of the mixing chamber 116. An actuator 125 can be operably coupled to the first door 124 to open and close the front door 124. The actuator 125 can be controlled to set the front door 124 in a locked state or a floating state. Likewise, an actuator 127 can be operably coupled to the rear door 126 to open and close the rear door 126. The actuator 127 can be controlled to set the rear door 126 in a locked state or a floating state.

[0029] The front door 124, when open, can allow the feed material 404 to enter the mixing chamber 116 (in the case where the mill 100 is moving forward). The positioning of the front door 124 can influence the degree of pulverization and / or mixing by adjusting the amount, direction, and speed of the material flow into the mixing chamber 116. The rear door 126, whether open in the locked or floating state (also in the case where the mill 100 is moving forward), can allow the resulting pulverized and / or mixed material 406 to exit to form a pulverized surface. The positioning of the rear door 126 can influence the degree of pulverization and / or compaction by adjusting the amount and direction of the material flow through the mixing chamber 116.

[0030] An operator control station 132 can also be supported on the frame 102. The operator control station 132 can include various components and controls for operating the mill 100, which are generally referred to in the art as an operator control interface 134. The operator control interface 134 can include a steering system (e.g., a steering wheel, joystick, control lever, etc.), a transmission control system, a speed control system for the mill 100, one or more displays, and a milling control interface. The milling control interface can have one or more of operator control buttons, toggle switches, touch panels (e.g., of the one or more displays), rotary switches, radial dials, switches, etc. Figure 1

[0031] The operator control interface 134 can receive input from an operator of the mill 100 to control various operations of the mill 100. Such operations can include controlling the speed of the mill 100, the direction of the mill 100 (i.e., forward or reverse), and milling-related operations, such as a return-to-cut operation, a cut operation, and / or an exit-cut operation.

[0032] The operator control interface 134 (e.g., the milling control interface thereof) can also be used to receive settings from the operator for milling-related operations, such as those discussed above. For example, the operator control interface 134 can receive input to control or set the engine speed, the rotor speed, the frame height (via the legs 112), the rotor height of the rotor 118 (via vertical movement of the rotor 118 and / or movement of the legs 112), the positioning and / or state of the front door 124, the positioning and / or state of the rear door 126, the rotor raise or lower speed of the rotor 118, the raise or lower speed of the frame 102, etc., as non-limiting examples of settings for milling-related operations.

[0033] ​The operator control interface 134 can also receive input from the operator to capture and save (discussed in more detail below) the current settings (e.g., current cutting settings) of the milling-related operations for subsequent retrieval, so that the milling machine 100 can be set to the same settings as before, or perform operations in the same manner as before. Optionally, the operator control interface 134 can receive a single input from the operator to capture and save the current settings. Such settings can optionally be provided (e.g., displayed) to the operator and can be selected via the operator control interface 134 as a "favorites" list associated with a specific milling-related operation.

[0034] like Figures 1-5 As shown, the milling machine 100 may also include multiple sensors (although one or more embodiments may include only one, some, or more sensors shown). One or more of the sensors may be in the form of an image sensor (e.g., a camera) 140. Additionally or alternatively, one or more sensors may be in the form of an acoustic sensor 142. Figures 1-5 The milling machine 100, for example, shows a combination of multiple image sensors 140 and multiple acoustic sensors 142. Optionally, for example, sensors in the form of lasers or alternatives that may replace some or all of the acoustic sensors 142 may be provided.

[0035] As a non-limiting example, the milling machine 100 may have a side image sensor 140 at one or more of its sides, for example... Figure 1 As shown; front image sensor 140, for example Figure 2 As shown; rear image sensor 140, for example Figure 3 As shown; the image sensor 140 is located at the rear side of the mixing chamber 116, for example... Figure 4 As shown; and an image sensor 140 disposed at the front side of the mixing chamber 116, for example Figure 5 As shown in the diagram. Each image sensor 140 can be configured to capture images, such as images corresponding to a ground surface (e.g., its top surface) and / or images corresponding to a portion of the milling machine 100. The images can be processed to determine various heights of the milling machine 100, such as the height of the frame 102 relative to the ground surface or other parts of the milling machine 100 (e.g., the height of the bottom of the mixing chamber 116 relative to the rotor 118), the height of the mixing chamber 116, the state or position of the front door 124 and / or the rear door 126, and / or the height of the rotor 118. Such determinations can be used to control the various components of the milling machine 100, as discussed above, according to selected settings of the milling machine 100.

[0036] For example, Figure 1The side image sensor 140 captures images of the bottom of the side plate 122 and the ground surface, where these images can be processed (discussed in more detail below) to determine the height of the bottom of the mixing chamber 116 relative to the ground surface. The side image sensor 140 may alternatively be located on the other side of the milling machine 100, or the side image sensor 140 may be located on each side of the milling machine 100. As described above, the mixing chamber 116 can be considered as part of the frame 102. Therefore, the distance from the bottom of the side plate 122 to the ground surface can be characterized as the height of the frame 102. Such data can be used without the need for position sensors in the legs 112, or without processing the combination of data from the position sensors in the legs 112 with data from the acoustic sensor 142, to determine height-related information for various parts of the frame 102.

[0037] As another example, image sensors 140, respectively located at the front and rear sides of the mixing chamber 116, can capture images of the front door 124 and the rear door 126, which can be processed to determine and / or control the state of the front door 124 and the rear door 126. Such image sensors 140 can also capture images of the interior of the mixing chamber 116 (depending on the state and configuration of the front door 124 and the rear door 126). These images can be processed to determine the bottom of the mixing chamber 116 and / or the distance of the rotor 118 relative to the ground surface, as well as the properties of the ground surface (e.g., surface layer 400) and / or the resulting material 406.

[0038] As another example, the front image sensor 140 and the rear image sensor 140 can capture images of the ground surface at the front 108 and rear 110 of the frame 102, respectively, and optionally images of portions of the milling machine 100 at the front 108 and rear 110. Such images can be processed to determine the height (or multiple heights) of the frame 102 relative to the ground surface.

[0039] As a non-limiting example, the milling machine 100 may have multiple acoustic sensors 142 (e.g., at the rear side of the mixing chamber 116) Figure 4 (as shown) and multiple acoustic sensors 142 (e.g., at the front of the mixing chamber 116) Figure 5 (As shown). However, more or less can be implemented. Figure 4 and Figure 5The number of acoustic wave sensors 142 shown in FIG. 1. Such acoustic wave sensors 142 can be disposed on the frame 102, can sense a distance to a ground surface. Accordingly, data from the acoustic wave sensors 142 can be processed to determine a height of the frame 102 (or different portions of the frame 102) relative to a ground surface. Such data can be used to determine height-related information for portions of the frame 102 without the need to dispose position sensors in the legs 112, or without having to process a combination of data from position sensors in the legs 112 and data from the acoustic wave sensors 142.

[0040] Figure 8 A control system 150 is shown in accordance with one or more embodiments of the disclosed subject matter. The control system 150 can be implemented on the milling machine 100 to control operation of the milling machine 100.

[0041] The control system 150 can include a controller or control circuit 152, which can be or include a microprocessor or other processor or processing device configured to control a plurality of devices or systems of the milling machine 100. For example, in embodiments, the controller 152 can be or include an electronic control module (ECM) or a plurality of ECMs.

[0042] The controller 152 can be in communication with various components of the milling machine 100. For example, Figure 8 The controller 152 can send control signals to control the legs 112, the rotor 118, the front door 124 of the mixing chamber 116, and the rear door 126 of the mixing chamber 116. Depending on whether the respective actuators of the aforementioned components have their own position sensors, etc., the controller 152 can also receive signals from the aforementioned components indicative of a height of the aforementioned components. Additionally or alternatively, the controller 152 can receive signals from the image sensor 140 and / or the acoustic wave sensors 142. Such feedback from the image sensor 140 and / or the acoustic wave sensors 142 can be used to control the legs 112, the rotor 118, the front door 124 of the mixing chamber 116, and the rear door 126 of the mixing chamber 116.

[0043] The controller 152 can also receive signals from the operator control interface 134. Such signals can correspond to operator control inputs to control the milling machine 100 during milling-related operations (e.g., a cut operation, a return cut operation, and an exit cut operation), inputs to control settings of the milling machine 100, and to capture and record current settings of the milling machine 100.

[0044] For example, the controller 152 can receive control signals from the operator control interface 134 in response to one or more operator control inputs to the operator control interface 134 to perform a return cut operation or an exit cut operation. Optionally, each of the return cut operation and the exit cut operation can be initiated and performed via a predetermined number of operator control inputs to the operator control interface 134. For example, embodiments of the disclosed subject matter can implement a single operator control input to the operator control interface 134 (e.g., the operator need only activate one button, joystick, etc.) to perform the return cut operation or the exit cut operation. As another example, multiple operator control inputs (e.g., two) to the operator control interface 134 for each of the return cut operation and the exit cut operation can be implemented, e.g., to initiate different phases of a particular operation.

[0045] A memory 154 can be provided and can be accessible by the controller 152. Although the memory 154 is shown as separate from the controller 152 in Figure 8 FIG. 1, some or all of the memory 154 can be implemented within the controller 152 according to one or more embodiments. The memory 154 can include one or more storage devices configured to store information used by the controller 152 to perform operations to control the milling machine 100. For example, the memory 154 can store one or more operating programs of the controller 152. Thus, the memory 154, or portions thereof, can be characterized as a non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a computer (e.g., a microprocessor of the controller 152) can cause the computer to control the milling machine 100, e.g., to perform operations of a return cut operation, a cut operation, or an exit cut operation.

[0046] Optionally, the memory 154 can store settings of the milling machine 100. For example, the memory 154 can store settings that configure components of the milling machine 100 (e.g., the legs 112, the rotor 118, the front door 124, and / or the rear door 126) to perform a particular operation, including a return cut operation and / or an exit cut operation. As described above, an operator can input (i.e., set) such settings using the operator control interface 134.

[0047] Industrial applicability

[0048] As described above, the present disclosure relates to milling machine automation for various operations, including return cut operations and / or exit cut operations of a milling machine.

[0049] According to embodiments of the disclosed subject matter, certain set configurations of the milling machine 100 can be implemented automatically in response to one or more control inputs at the operator control interface 134 for a particular job, worksite, or operator preference. Further, such set configurations can be pre-saved by the operator in the memory 154 for subsequent retrieval and implementation later (e.g., next or subsequent) for the same operation, such as a return cut operation or an exit cut operation. Thus, for a later operation, the milling machine 100 can be automatically configured under control of the controller 152 without the operator having to input the set configurations again (e.g., individually) to restore the configuration of the milling machine 100 to the previous set configurations. Optionally, embodiments of the disclosed subject matter can implement a save function whereby the operator can operate the operator control interface 134 to capture and record the current set configurations for a current milling-related operation (e.g., a return cut operation, a cut operation, or an exit cut operation). The operator can retrieve the recorded set configurations using the operator control interface 134 to automatically set the set configurations of the milling machine 100 to the same as previously when the operator wishes to perform the same corresponding milling-related operation to achieve the same or substantially similar results as the previous milling-related operation.

[0050] Figure 9 is a flow diagram of a method 200 of a return cut operation according to one or more embodiments of the disclosed subject matter. As described above, the controller 152 can control the legs 112, the rotor 116, the front gate 124, and the rear gate 126 to perform a return cut operation. Further, the set configurations of the return cut operation (which can have been previously input by the operator using the operator control interface 134 and saved in the memory 154) can be accessed by the controller 152 to control the return cut operation. Feedback data from one or more sensors (e.g., one or more of the image sensors 140 and / or one or more of the acoustic wave sensors 142) can be used to control the legs 112, the rotor 116, the front gate 124, and the rear gate 126 to achieve the set configurations of the return cut operation.

[0051] At operation 202, the method 200 can involve determining whether a control input (or control inputs) has been received to perform a return cut operation. This control input can be received at the operator control interface 134, and the controller 152 can monitor whether a control signal corresponding to the control input is received. The control input to initiate the return cut operation can be received at the beginning of a cut pass of the milling machine 100 to start the cut pass at operation 202. Additionally or alternatively, the control input to initiate the return cut operation can be received during (e.g., mid) a cut pass of the milling machine 100.

[0052] If a control input to perform a return cut operation is received, then control can continue to operation 204. At operation 204, the method 200 can access settings of the milling machine 100 to perform the return cut operation. As described above, such settings can be stored in the memory 154 and accessed by the controller 152. The settings can correspond to the cutting settings of the immediately preceding cut operation of the milling machine 100, which can have been automatically captured and saved by the operator upon input to the operator control interface 134. Optionally, the preceding cut operation can be part of the same cut pass. Alternatively, the preceding cut operation can be from a preceding cut pass, where the settings of the preceding cut operation can be used for a next cut pass or a subsequent cut pass. For clarity, the settings can include result-based or target-based settings, such as a particular cut depth, and thus settings of particular components of the milling machine 100 to achieve the particular result-based or target-based settings.

[0053] At operation 206, the height of the frame 102 can be adjusted. For example, the height of the frame 102 can be lowered by controlling one or more of the legs 112 (e.g., all of the legs 112). Such adjustment can be relative to the ground surface, and can be adjusted to the cutting height of the milling machine 100. The height adjustment of the legs 112 can also adjust the height of the mixing chamber 116, as the mixing chamber 116 can not be independently movable relative to the frame 102, and thus can be considered a part of the frame 102. This height adjustment of the legs 112 can also adjust (e.g., lower) the height of the rotor 118.

[0054] The height adjustment of the frame 102 can be based on signals from one or more of the image sensors 140 and / or one or more of the sonic sensors 142. By way of example, data from the image sensors 140 and / or the sonic sensors 142 can be processed to determine the height of the frame 102 (including portions thereof) relative to the ground surface and / or the height of the mixing chamber 116 relative to the ground surface. This processing can also involve determining when the height of the frame 102 and / or the height of the mixing chamber 116 has reached the height from operation 204. Optionally, position sensors of the legs 112 themselves can be used to adjust the height of the frame 102. Based on feedback from the sensors, the controller 152 can control the height adjustment of one or more of the legs 112 to achieve the desired setting (or settings). That is, when the controller 152 determines, based on feedback from the sensors, that the height of the frame 102 has been adjusted to the desired setting, the controller 152 can stop adjusting the height of the frame 102 and maintain the height of the frame 102 at the desired setting.

[0055] According to one or more embodiments, the height of the frame 102, and in particular the height of the mixing chamber 116, can be set to a desired (e.g., optimal) height for the cutting operation in accordance with the setting from operation 204. Generally, the desired height of the mixing chamber 116 for the cutting operation can be the bottom of the mixing chamber 116 (e.g., the bottom of the side panels 122) above the top of the surface layer 400, and at or about the half height of the resulting material 406. This height of the bottom of the mixing chamber 116 can be set such that, on one hand, the bottom of the mixing chamber 116 does not end up digging into the surface layer 400, and on the other hand, does not leave an undesirable amount of material below the mixing chamber 116 that can escape the mixing chamber 116 (e.g., any or enough to make the mixing operation unsatisfactory).

[0056] At operation 208, the height of the rotor 118 can be adjusted. For example, the height of the rotor 118 can be lowered by controlling one or more actuators (not explicitly shown) that are operatively coupled to the rotor 118. This adjustment can be relative to the ground surface, and can be in accordance with the cutting height of the rotor 118 from operation 204, e.g., Figure 7 The cutting height of the rotor 118 can achieve a desired cutting depth in the surface layer 400 of the ground surface.

[0057] The height of the rotor 118 can be adjusted independently of the adjustment of the height of the frame 102. Additionally, although operation 208 is shown after operation 206 in Figure 9 Operation 208 can be performed before operation 206 or concurrently with operation 206.

[0058] The adjustment of the height of the rotor 118 can be based on signals from a position sensor associated with the rotor 118, e.g., a position sensor of the corresponding actuator (or multiple position sensors of multiple corresponding actuators). Optionally, the adjustment of the rotor 118 can be based on data from one or more of the image sensors 140 and / or one or more of the acoustic wave sensors 142. For example, according to one or more embodiments, the height of the rotor 118 can be adjusted via the legs 112 based on the height setting of the frame 102 or the mixing chamber 116. Based on feedback from the sensors, the controller 152 can control the height adjustment of the rotor 118 to achieve a desired setting (or multiple settings). That is, when the controller 152 determines, based on feedback from the sensors, that the height of the rotor 118 has been adjusted to a desired setting, the controller 152 can stop adjusting the height of the rotor 118 and maintain the height of the rotor 118 at the desired setting.

[0059] At operation 210, the front door 124 and / or the rear door 126 can be adjusted. For example, each of the front door 124 and the rear door 126 can be controlled to a front door cutting position and a rear door cutting position, respectively, for a cutting operation of the milling machine 100. Such control can include, for example, opening the front door 124 and / or the rear door 126 from a closed position (e.g., fully closed). Each of the front door 124 and the rear door 126 can be at least partially open in the respective cutting position. The amount of opening of the front door 124 and the rear door 126 can be the same or different. Optionally, the positioning of the front door 124 and / or the rear door 126 can be set in conjunction with the height of the mixing chamber 116 and / or the height of the rotor 118, for example, for a particular cutting operation (e.g., optimal cutting height). Although operation 210 is shown following operation 208, operation 210 can be performed prior to operation 206, prior to operation 208, or concurrently with one or more of operation 206 or operation 208. Figure 9

[0060] Operation 210 can also include setting the front door 124 to a locked state, whereby the front door 124 is set and does not open or close during the cutting operation. Optionally, the front door 124 can be prevented from being set to a floating state, particularly in the case where the milling machine 100 is moving forward during the cutting operation. The amount of opening of the front door 124 can allow a predetermined amount of feed material 404 to enter the mixing chamber 116.

[0061] Operation 210 can also include setting the rear door 126 to a locked state or a floating state. In the floating state, the rear door 126 can provide a downward pressure on the resulting material 406. The amount of downward pressure can be according to the setting of operation 204.

[0062] ​The amount of gradient can be determined based on the time the resulting material 406 is held in the mixing chamber 116, where an increasing gradient can correspond to holding the resulting material 406 in the mixing chamber 116 for a relatively longer amount of time, and a decreasing gradient can correspond to holding the resulting material 406 in the mixing chamber 116 for a relatively shorter amount of time. Thus, the amount the back door 126 is opened in the locked state or the float state can determine the amount of gradient of the resulting material 406. The amount of downward pressure provided by the back door 126 (via, for example, the control of the actuator 127 and / or supplemental hydraulic devices) can also control the amount the back door 126 is allowed to open. In the float state, the back door 126 can be controlled to float downward on top of the resulting material 406, and depending on the amount of downward pressure set, thus the “heaviness” of the floating back door 126 can be set to a maximum value, such that the resulting material 406 causes the back door 126 to float to achieve the desired result of holding the resulting material 406 in the mixing converter 116. As a non-limiting example, for a 50% downward pressure of the back door 126 in the float state and a relatively deep cut depth, the back door 126 can float to 100% open, while for a relatively shallow cut depth, the back door 126 can float to only 15-20% open.

[0063] The adjustment of the front door 124 and / or the back door 126 can be based on signals from one or more of the image sensors 140 and / or one or more of the sonic sensors 142. For example, data from the image sensors 140 and / or the sonic sensors 142, particularly those sensors at the front and back of the mixing chamber 116, can be processed by the controller 152 to determine the positioning of the front door 124 and / or the back door 126 (e.g., open, closed, amount of opening, movement, distance from the ground surface, etc.). This processing can also involve determining when the front door 124 and / or the back door 126 has reached a desired state according to the settings of the operation 204 and based on feedback from the sensors.

[0064] Upon determining that all of the settings of the return cut operation have been achieved based on the timing and / or data from the various sensors (e.g., the image sensors 140 and / or the sonic sensors 142 as discussed above), at operation 212, the milling machine 100 can perform the cut operation according to the settings of the operation 204. Optionally, various settings of the cut operation can be changed during the cut operation based on changing cut conditions, such as a change in the condition of the ground surface (e.g., hard or wet) or a desired cut operation result. The operator can choose to save the updated settings of the cut operation by providing input to the operator control interface 134.

[0065] The cutting operation can continue until another control input is received. At operation 214, the method 200 can involve determining whether a control input to perform another return cutting operation is received or whether a control input to perform another operation (e.g., exit the cutting operation) is received. Such a control input can be received at the operator control interface 134, and the controller 152 can monitor for a control signal corresponding to a control input to perform another operation.

[0066] If the former, then control can continue to operation 204 or even operation 206, e.g., where the settings have already been available to the controller 152 without accessing the memory 154. As an example, if during a cutting pass the mill 100 deviates from the settings for a previous return cutting operation due to changes in milling-related conditions (e.g., conditions of the surface layer 400 (e.g., becoming harder or softer)), the operator can choose to initiate another return cutting operation in the same cutting pass to “zero out” or otherwise return the mill 100 to the desired settings to achieve a desired result. If the latter, then control can continue to operation 300 to perform an exit cutting operation that is relative to Figure 10 is discussed in more detail.

[0067] Figure 10 is a flowchart of a method 300 of an exit cutting operation according to one or more embodiments of the disclosed subject matter. As described above, the controller 152 can control the legs 112, the rotor 116, the front gate 124, and the rear gate 126 to perform an exit cutting operation. And such control can be based on data from one or more sensors, e.g., data from the image sensor 140 and / or the sound wave sensor 142.

[0068] The control input to initiate the exit cutting operation can be received at the end of a cutting pass of the mill 100. Additionally or alternatively, the control input to initiate the exit cutting operation can be received during a cutting pass of the mill 100 (e.g., in the middle of the cutting pass). Thus, according to embodiments of the disclosed subject matter, the exit cutting operation can separate two successive return cutting operations of the same cutting pass, or can separate successive return cutting operations of successive cutting passes of the mill 100.

[0069] At operation 304, the method 300 can access settings of the mill 100 to perform the exit cutting operation. As described above, such settings can be stored in the memory 154 and accessed by the controller 152. Because the exit cutting operation can follow a return cutting operation, the exit cutting operation can start with the settings set for the most recent return cutting operation.

[0070] At operation 306, the height of the rotor 118 can be adjusted. For example, the height of the rotor 118 can be raised by controlling one or more actuators (not explicitly shown) that are operatively coupled to the rotor 118. This adjustment can be relative to the ground, and can be an adjustment from a cutting height of the rotor 118 toward a stowed or travel height, for example Figure 6 The height of the rotor 118 can be adjusted independently of the adjustment of the frame 102. The adjustment of the height of the rotor 118 can be based on signals from a position sensor associated with the rotor 118, for example, a position sensor of the corresponding actuator. Alternatively, the adjustment of the height of the rotor 118 can be based on processing of data from one or more of the image sensors 140.

[0071] According to one or more embodiments, the rate at which the rotor 118 is raised can be based on the travel speed of the milling machine 100. For example, the rate at which the rotor 118 is raised can be proportional to the travel speed of the milling machine 100, which generally means that the faster the milling machine 100 travels during the exit from the cutting operation, the faster the rotor 118 can be raised. Further, the rate at which the rotor 118 is raised can be linear or non-linear. Alternatively, the rate at which the rotor 118 is raised can vary depending on the height of the rotor 118 relative to the surface layer 400 and / or the cutting depth of the rotor. By way of example, the rate at which the rotor 118 is raised can increase as the rotor 118 is raised. Optionally, the height at which the rotor 118 is raised can be at a maximum rate when the rotor 118 reaches (or is determined or estimated to have reached) the top surface of the surface layer 400, or increases to a maximum rate when the bottom (or some other portion thereof) of the rotor 118 is determined to have reached the top surface of the surface layer 400.

[0072] At operation 308, the front door 124 and / or the rear door 126 can be adjusted. Alternatively, the front door 124 and / or the rear door 126 can be adjusted as the rotor 118 is raised. Further, the adjustment of the front door 124 and / or the rear door 126 can be from respective states set during a previous return cutting operation or cutting operation, and further, can be based on the direction of travel of the milling machine 100. Thus, the front door 124 and the rear door 126 can be adjusted from respective open positions (although not necessarily open by the same amount).

[0073] The adjustment of the front door 124 and / or the rear door 126 of operation 308 can be to fill material voids 402 that can be caused, created, or left by the raising of the rotor 118. As noted above, the adjustment of the front door 124 and / or the rear door 126 can be based on the direction of travel of the milling machine 100. For example, when the milling machine 100 is moving forward, the front door 124 can be controlled to remain open or to open more, and the rear door 126 can be set to a float condition (if not already in a float condition) or closed by an amount (e.g., but not fully closed). Thus, the rear door 126 can be used to fill material voids 402 when the milling machine 100 is moving forward. And when the milling machine 100 is moving backward, the rear door 126 can be controlled to remain open or to open more, and the front door 124 can be set to a float condition or closed by an amount (e.g., but not fully closed). Thus, the front door 124 can be used to fill material voids 402 when the milling machine 100 is moving backward. As noted above, in a float condition, the float door (whether the front door 124 or the rear door 126) can provide a downward pressure. In the case of the rear door 126, such downward pressure can be different than the downward pressure set for the return cutting operation.

[0074] The adjustment of the front door 124 and / or the rear door 126 can be based on signals from one or more of the image sensors 140 and / or one or more of the sonic sensors 142. For example, data from the image sensors 140 and / or the sonic sensors 142, particularly those at the front and rear of the mixing chamber 116, can be processed using the controller 152 to determine the positioning (e.g., open, closed, amount open, movement, etc.) of the front door 124 and / or the rear door 126. This processing can also involve determining when the front door 124 and / or the rear door 126 has reached a desired state.

[0075] Operation 310 can represent the process of filling the material voids 402. Such operation 310 can be performed based on the settings of the front door 124 and the rear door 126, as well as based on the speed of travel of the milling machine 100 and the rate at which the rotor 118 is raised. Generally, filling the material voids 402 can involve which of the front door 124 or the rear door 126 fills the material voids 402, depending on the direction of travel of the milling machine 100, can direct the resultant material 406 so as to fill the material voids 402 as the milling machine 100 moves in the forward or rearward direction of travel, as the case can be.

[0076] At operation 312, the method 300 can include determining whether the material voids 402 have been satisfactorily filled. This determination can be based on data from one or more of the image sensors 140 and / or one or more of the sonic sensors 142. By way of example, such data can be automatically processed using the controller 152 to determine whether the material voids 402 have been satisfactorily filled.

[0077] As one example, image sensors 140 can be used to capture data corresponding to the start of the exit cut and the current position of the milling machine 100, where such data can be used by the controller 152 to calculate the distance traveled since the exit cut operation was started. Based on the settings of the milling machine 100, a certain distance can indicate that the material void 402 has been filled. Thus, determining that the milling machine 100 has traveled a certain distance can be used as an indication that the material void 402 has been filled.

[0078] According to another example, image data from image sensors 140 at the front and / or rear of the mixing chamber 116 can be processed using the controller 152 to determine whether the material void 402 has been filled, depending on the direction and distance traveled. Optionally, this determination can be based on machine learning and training using images of appropriately filled material voids 402. Likewise, sonic sensors 142 at the front of the mixing chamber 116 and / or at the rear of the mixing chamber 116 can indicate whether the material void 402 has been filled and can be processed using the controller 152 to determine whether and when the material void 402 has been filled.

[0079] Optionally, image data from image sensors 140, such as image sensors 140 at the rear side of the mixing chamber 116, can be provided to an operator via one or more displays of the operator control interface 134 for the operator to visually determine whether the material void 402 has been satisfactorily filled.

[0080] At operation 314, the height of the frame 102 can be adjusted. Although Figure 10 While it is shown that the height of the frame 102 can be adjusted after the operation 312 of determining whether the material void 402 is filled, optionally, the height of the frame 102 can be started to be adjusted before a final determination that the material void 402 has been filled, although typically the adjustment is made a predetermined amount of time after the operation 310 of initiating the filling of the material void 402.

[0081] The height of the frame 102 can be raised by controlling one or more of the legs 112 (e.g., all of the legs 112). Such height adjustment can be relative to the ground surface, and can be adjusted to a travel height or a non-cutting height. Such adjustment can also adjust (e.g., raise) the height of the rotor 118. Adjustment of the height of the frame 102 can be based on signals from one or more of the image sensors 140 and / or one or more of the sonic sensors 142. For example, data from the image sensors 140 and / or the sonic sensors 142 can be processed to determine the height of the frame 102 relative to the ground surface and / or the height of the mixing chamber 116 relative to the ground surface. Because the front door 124 and the rear door 126 can be operably coupled to the mixing chamber 116, the rate at which the frame 102 (and thus the mixing chamber 116) is raised can determine how the material void 402 is filled (e.g., how fast, how much, pattern, etc.). Optionally, the rate at which the frame 102 is raised can be steady or linear, which can better ensure that the material void 402 is filled with material having a suitable surface (e.g., steps, uniformity, etc.).

[0082] At operation 316, the front door 124 and / or the rear door 126 can be adjusted, particularly if operations 210 and 212 were performed to fill the material void 402. Such adjustment can be to a travel or stowed position, which can be fully or partially closed. Although operation 316 is shown as following operation 314, operation 316 can begin during operation 314, e.g., at the same time as operation 314 begins or after a predetermined amount of time after operation 314 begins.

[0083] At operation 318, the method 300 can determine whether another control input is received, e.g., a control input to perform a return cut operation of the method 200. If another control input to perform a return cut operation is received, the method 300 can continue to the method 200, otherwise the method 300 can end, exiting the cut operation.

[0084] While aspects of the present disclosure have been particularly shown and described with respect to the embodiments above, it will be understood by those skilled in the art that various additional embodiments can be contemplated by modifying the disclosed machine, system and method. Such embodiments should be considered as falling within the scope of the present disclosure as determined by the claims and any equivalents thereof.

Claims

1. A milling machine, comprising: Operator control interface; frame; A milling chamber having a front door, a rear door opposite the front door, and a pair of opposing side panels between the front door and the rear door; A rotor, which is at least partially disposed in the milling chamber; Multiple sensors are arranged around the frame, and one or more of the multiple sensors are image sensors; as well as A controller configured to control multiple legs, the rotor, the front door, and the rear door of the milling machine according to settings for each of automatic return cutting operations and automatic exit cutting operations stored in memory and accessible to the controller. In the automatic return cutting operation, the controller controls multiple legs of the milling machine, the rotor, the front door, and the rear door according to a first plurality of settings, to return to a first previously set operator setting corresponding to the immediately preceding previous cutting operation to execute the next cutting operation. Regarding the automatic exit from the cutting operation, the controller controls multiple legs of the milling machine, the rotor, the front door, and the rear door according to a second set of settings to exit the current cutting operation based on a second previously set operator setting. The controller is configured to control each of the automatic return cutting operation and the automatic exit cutting operation in response to a corresponding single control input at the operator control interface and based on signals from the plurality of sensors, including signals from one or more image sensors.

2. The milling machine according to claim 1, wherein the plurality of sensors further comprises at least one of a plurality of acoustic sensors and a plurality of laser sensors.

3. The milling machine of claim 1, wherein the plurality of sensors includes the one or more image sensors for sensing the height of one or more side plates, at least one sensor for sensing the height of the frame, and at least one sensor for sensing the height of one or more legs of the milling machine, wherein the at least one sensor for sensing the height of one or more legs of the milling machine is located outside the one or more legs of the milling machine.

4. The milling machine according to claim 1, wherein the control based on the first plurality of settings for the automatic return cutting operation includes: The frame's height relative to the ground is adjusted to the cutting height using signals from the sensor. The rotor is lowered independently of the frame to the rotor cutting height. The front door is moved to a front door cutting position, in which the front door is at least partially opened, and The rear door is moved to the rear door cutting position, in which the rear door is at least partially open and in a locked or floating state. In the locked state, the rear door opens by an amount set by the first plurality of preset parameters, and In the floating state, the rear door provides downward pressure according to the first plurality of settings.

5. The milling machine according to claim 1, The control based on the second plurality of settings for the automatic exit of the cutting operation includes: Raise the rotor to the retracted or traveling position, and When the rotor is raised to the retracted or traveling position, the positioning of the front and rear doors is adjusted based on the traveling direction of the milling machine to fill the material voids caused by the raised rotor. Specifically, when the milling machine moves forward, the front door opens and the rear door is set to a floating state; and when the milling machine moves backward, the rear door opens and the front door is set to the floating state. In the floating state, the rear door or the front door provides downward pressure.

6. The milling machine according to claim 5, The one or more image sensors include multiple image sensors in the form of cameras, a first camera of the multiple cameras is configured to record an image at the front door, and a second camera of the multiple cameras is configured to record an image at the rear door. The controller processes signals from one or both of the first and second cameras to determine whether the material voids have been filled.

7. The milling machine according to claim 5, The plurality of sensors includes a plurality of acoustic wave sensors, a first acoustic wave sensor being configured to sense the material height at the front door, and a second acoustic wave sensor being configured to sense the material height at the rear door. The controller processes signals from one or both of the first and second acoustic sensors to determine whether the material voids have been filled.

8. The milling machine according to claim 5, The control according to the second plurality of settings for the automatic exit from the cutting operation includes raising the legs of the milling machine to the traveling position based on the speed of the milling machine when the material voids are filled, and The rate at which the legs rise is proportional to the speed of the milling machine.

9. The milling machine of claim 1, wherein the immediately preceding cutting operation and the next cutting operation are part of the same pass of the milling machine.

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