Rotor depth visual indication area

Abstract

A cold planer may include: a frame; an operator station coupled to the frame and including a monitor; a cutting rotor coupled to the frame, the cutting rotor configured to be lowered into a surface by a selected distance to define a cutting depth; a conveyor that receives material from the cutting rotor; and a cutting rotor position indicating system that includes: a camera coupled to the frame and oriented to display an area on one side of the frame; and a visual indicator system configured to receive a first image from the camera and display on the monitor a visual image of the leading and trailing edges of the cutting rotor relative to the surface.

Description

Technical Field

[0001] The present invention generally relates to a milling machine. More specifically, the present invention relates to a system and method for determining the position of a cutting rotor. Background Art

[0002] Milling machines can include machines such as cold planers and reclaimers. For example, a cold planer is a power machine used to remove at least a portion of the surface of a paved area, such as a road, bridge, or parking lot. Generally, a cold planer includes a frame, a power source, a milling assembly located below the frame, and a conveyor system. The milling assembly includes a cutting rotor having a plurality of cutting bits disposed thereon. When power from the power source is transmitted to the milling assembly, the power is further transmitted to the cutting rotor, causing the cutting rotor to rotate about its axis. As the rotor rotates, the cutting bits of the rotor engage the hardened asphalt, concrete, or other materials of the existing surface of the paved area, thereby removing layers of these existing structures. The rotational action of the cutting bits transfers the removed layers to the conveyor system, and the conveyor system transports the removed material to a separate power machine, such as a hauling truck, for removal from the job site.

[0003] On certain milling machines, the side plates of the drum housing cannot be seen from the operator's station, making it difficult to align with an obstacle or line to be cut. Additionally, if visible, it would be helpful in determining the position of the cutting rotor at different cutting depths.

[0004] US 2019 / 0210525 discusses a machine that includes one or more cameras to provide a visual display showing the current position and current orientation of the machine. Summary of the Invention

[0005] In an example in accordance with the present invention, a cold planer can include: a frame; an operator station coupled to the frame and including a monitor; a cutting rotor coupled to the frame, the cutting rotor configured to be lowered into a surface by a selected distance to define a cutting depth; a conveyor that receives material from the cutting rotor; and a cutting rotor position indicating system that includes a camera coupled to the frame and oriented to display an area on one side of the frame; and a visual indicator system configured to receive a first image from the camera and display a visual image on the monitor of the position of the leading edge and trailing edge of the cutting rotor relative to the surface.

[0006] In one example, a milling machine can include: a frame; an operator station coupled to the frame and including a monitor; a cutting rotor coupled to the frame, the cutting rotor configured to be lowered into a surface by a selected distance to define a cutting depth; a cutting rotor position indicating system, the cutting rotor position indicating system including: a camera coupled to the frame and oriented to display an area on one side of the frame; and a visual indicator system, the visual indicator system configured to receive a first image from the camera and display a visual image of the leading edge and trailing edge of the cutting rotor relative to the surface on the monitor.

[0007] In one example, a method for providing a cutting rotor position to an operator of a milling machine can include: coupling a camera to a frame of the milling machine, the camera positioned to capture a first image of an area adjacent to the cutting rotor of the milling machine; and displaying a visual image of the leading edge and trailing edge of the cutting rotor relative to a cutting surface on a monitor in an operator station of the milling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In the drawings, which are not necessarily to scale, the same numbers may describe similar components in different views. The same numbers with different letter suffixes may represent different instances of similar components. The drawings generally illustrate, by way of example and not limitation, the various embodiments discussed in this document.

[0009] Figure 1 A side view of a milling machine according to one embodiment is shown.

[0010] Figure 2 A view of a visual display on a monitor according to one embodiment is shown.

[0011] Figure 3 A view of a visual display on a monitor according to one embodiment is shown.

[0012] Figure 4 A view of a visual display on a monitor according to one embodiment is shown.

[0013] Figure 5 A view of a visual display on a monitor according to one embodiment is shown.

[0014] Figure 6 A schematic diagram of a control system according to one embodiment is shown.

[0015] Figure 7 A schematic diagram of a control system according to one embodiment is shown.

[0016] Figure 8 A side view of a recycling machine according to one embodiment is shown.

[0017] Figure 9A flowchart of a method according to an embodiment is shown. DETAILED DESCRIPTION

[0018] Figure 1 A side view of a milling machine 5 according to an embodiment is shown. In this example, the milling machine 5 includes a cold planer 10. The cold planer 10 includes a frame 12 and a power source 14 connected to the frame 12. The power source 14 can be provided in any number of different forms, including but not limited to: Otto and Diesel cycle internal combustion engines, electric motors, hybrid engines, etc.

[0019] The frame 12 is supported by a lifting column 18 from a transport device 16. The transport device 16 can be any type of ground-engaging device that allows the cold planer 10 to move forward on the ground 34 (e.g., a paved road or a ground that has already been processed by the cold planer 10). For example, in the illustrated embodiment, the transport device 16 is configured as a track assembly. The lifting column 18 is configured to raise and lower the frame 12 relative to the transport device and the ground.

[0020] The cold planer 10 further includes a milling assembly 20 connected to the frame 12. The milling assembly 20 includes a drum housing 28 that houses a rotatable cutting rotor 22 operably connected to the power source 14. The cutting rotor 22 can rotate about a drum axis that extends in a direction perpendicular to the axis of the frame. When the rotatable cutting rotor 22 rotates about its drum axis, the cutting bits on the cutting rotor 22 can engage hardened materials, such as asphalt and concrete of an existing road, bridge, parking lot, etc. When the cutting bits engage such hardened materials, the cutting bits remove layers of these hardened materials. Subsequently, the rotational movement of the rotatable drum 22 and its cutting bits conveys the hardened materials via a discharge port 32 on the drum housing 28 to a first-stage conveyor 26. The first-stage conveyor 26 can be coupled to the frame 12 and is located at or near the discharge port 32.

[0021] To lower the cutting rotor 22 into the surface, the desired cutting depth is achieved by correspondingly adjusting the lifting column 18. One or more sensors 50 can be located on the frame 12 to sense the position of the lifting column 18, and this information can be transmitted to a controller 36 to determine the cutting depth of the cutting rotor 22. In another example, the sensor 50 can be attached to the side plate 29 of the machine to determine the depth of the cutting rotor 22.

[0022] The drum housing 28 includes a front wall and a rear wall and a top cover located above the cutting rotor 22. In addition, the drum housing 28 includes side plates 29 on the left and right sides of the cutting rotor 22 relative to the traveling direction of the cold planer 10. The drum housing 28 is open towards the ground such that the cutting rotor 22 can engage into the ground from the drum housing 28. The drum housing includes a discharge port 32 in the front wall for discharging materials to the first-stage conveyor 26 located at or near the discharge port 32.

[0023] The cold planer 10 further includes an operator station or platform 30, which includes a control panel for inputting commands to the control system to control the cold planer 10 and a monitor 42 for displaying images to the operator.

[0024] As described above, on some milling machines, the side plates of the drum housing cannot be seen from the operator station, so it is difficult to align with the obstacles or lines to be cut. In addition, if visible, it helps to determine the position of the cutting rotor at different cutting depths.

[0025] Therefore, the present system provides a cutting rotor position indication system. For example, the system can include a camera 44 coupled to the frame 12 and oriented to display an area on one side of the frame 12 near the area adjacent to the cutting rotor 22, so that the camera 44 shows the ground near the cutting rotor 22 and various parts of the side of the machine, such as the side plate 29.

[0026] The cutting rotor position indication system can include a visual indicator system, which includes a controller 36 configured to receive a first image from the camera 44 and display a visual image on the monitor 42, the visual image indicating the positions of the leading edge and trailing edge of the cutting rotor 22 relative to the cutting surface 34. Therefore, the image on the monitor 42 will show the positions of the leading edge and trailing edge of the rotor 22 when cutting the surface 34. The visual indicator can be any type of visual image to indicate to the operator the leading edge and trailing edge of the position of the cutting rotor 22. As will be discussed, the visual image can include one or more lines superimposed on the monitor 42, which show the leading edge and trailing edge of the cutting rotor 22. In other examples, the screen image can include superimposed red and green areas, which show the positions where the dangerous operation area and the safe operation area are located to the operator. This information helps the operator to operate the machine for some reasons (such as being close to the access hole cover). If the operator knows where the leading edge of the cutting rotor 22 is located, the operator can get as close to the access hole cover as needed without hitting it.

[0027] Figure 2 The monitor 42 according to one embodiment is shown. Here, the monitor 42 displays a view from the camera 44, which shows a part of the side of the frame 12 and the cutting surface 34 near the cutting rotor. The visual image on the monitor can include a line 60, where the ends of the line show the positions of the leading edge 62 and trailing edge 64 of the rotor relative to the cutting surface 34. Here, the line 60 is shown on the surface 34, but the line can be on the surface 34, on the side of the frame 12, or both.

[0028] In one embodiment, the line 60 is formed on the monitor as a virtual image created by the controller 36 and superimposed on the image captured by the camera 44. For example, the controller 36 can receive a first image from the camera 44 and cutting depth information from the sensor 50. The sensor 50 senses the amount of movement of the side plate 29 or the lift column 18 to determine at what depth the cutting rotor 22 is located. In some examples, the operator can manually input the cutting depth, especially when the sensed depth is not within the actual area that the operator wants to avoid. This cutting depth information is sent to the controller 36, and the controller 36 then determines the length of the line 60, which indicates the positions of the leading edge and the trailing edge of the rotor 22 relative to the cutting surface 34. Thereafter, the controller 36 outputs a second image to the monitor 42 for displaying a visual image of the positions of the leading edge 62 and the trailing edge 64 of the cutting rotor 22 on the monitor 42 as a superimposed image on the image transmitted by the camera 44.

[0029] The controller 36 can include hardware and software and can be configured to receive, process, and send information. In this embodiment, the line 60 is a virtual image created by the controller 36 and subsequently superimposed on the image transmitted by the camera 44. The controller 36 determines the length of the line 60 based on the cutting depth information relayed by the sensor 50.

[0030] Figure 3 An example is shown where the cutting rotor 22 does not cut deeply into the cutting surface 34. In this case, the line 60 is shorter because the leading edge and the trailing edge of the cutting rotor 22 do not enter or leave the cutting surface far apart. The deeper the cutting rotor 22 cuts into the cutting surface, the longer the line 60 will be.

[0031] The visual image displayed to the operator on the monitor 42 can include one or more lines displayed on the monitor 42. For example, Figure 4 An embodiment is shown in which two lines 65 extending vertically from the frame 12 are depicted. These two lines 65 depict the leading edge 62 and the trailing edge 64 of the cutting rotor 22. Other indicators or visual images can also be used. For example, an X, a circle, or other visual indicators. As described above, the visual image of the positions of the leading edge and the trailing edge of the cutting rotor becomes longer as the cutting depth increases, and vice versa.

[0032] Figure 6 A schematic diagram of this embodiment is shown, where the sensor 50 sends cutting depth information to the controller 36, and the controller 36 can determine where the leading edge and the trailing edge of the cutting rotor are located. The camera 44 sends an image of the side of the machine and the cutting surface to the controller 36. The controller 36 then relays the image to the monitor 42, where the visual indicators 60, 65 are superimposed on the image.

[0033] Referring again to Figure 1, in one example, the cutting rotor position indicating system can include a light 52 (such as one or more lasers) coupled to the frame 12 and configured to shine light onto the cutting surface 34 or the side of the frame 12. The shone light represents the leading and trailing edges of the cutting rotor 22 (and corresponds to the lines 60, 65 shown in Figures 2 to 4 ).

[0034] Similarly, the controller 36 is configured to receive cutting depth information from the sensor 50. The controller in this example is configured to change the size of the shone light according to the cutting depth. Here, the image seen by the camera 44 includes the cutting surface 34, the side of the machine, and the light shone by the light 52. Then, the image of the camera is relayed to the monitor 42. This provides the operator with a visual image of the positions of the leading and trailing edges of the cutting rotor 22. In some examples, the image can be sent directly from the camera to the monitor 42. In other examples, the image can be relayed to the monitor 42 via the controller 36. Thus, in this example, the visual image includes the physical image actually on the cutting surface 34 and / or the frame 12 to indicate to the operator where the leading and trailing edges of the cutting rotor 22 are located. The physical image is captured by the camera 44 and relayed to the monitor 42.

[0035] Here, one or more lights 52 can be configured to emit light to display Figures 2 to 4 any type of line shown in, such as line 60, or two lines 65, or any other type of visual indicator showing the leading and trailing edges.

[0036] Referring again to Figure 1 , in one example, the cutting rotor position indicating system can include a light bar 54 coupled to the frame 12. For example, the light bar 54 can be coupled to the frame 12 near the side plate of the drum housing 28 of the cutting rotor 22. The light bar 54 can be configured to display light, where the length of the light within the light bar 54 represents the leading and trailing edges of the cutting rotor 22. As described above, the controller 36 receives cutting depth information from the sensor 50, and the controller 36 changes the length of the light displayed on the light bar 54 according to the cutting depth. The camera 44 captures images of the cutting surface 34, the side of the machine, and the light bar 54, and sends the image to the monitor 42 to display a visual image of the positions of the leading and trailing edges of the cutting rotor 22 on the monitor 42. In one example, the light bar 54 can be seen from the operator's station and the camera 44 may not be required. In other words, the operator can rely only on the light bar without referring to the monitor 42.

[0037] Figure 5Shows a visual image that can be sent to monitor 42. Here, camera 44 captures an image including the cutting surface 34, the side of the machine, and the light displayed by the light bar 52. In one example, the light bar 54 can include a plurality of LEDs 56, and the controller 36 can turn these LEDs on and off as needed, thereby visually depicting the positions of the leading and trailing edges of the cutting rotor. For example, the lit LEDs can be the total length of the light or just the parts that mark the start and end of a line that visually depicts the positions of the leading and trailing edges of the cutting rotor.

[0038] Figure 7 Shows a schematic diagram of an embodiment of the lights 52 and the light bar 54. Here, the sensor 50 sends cutting depth information to the controller 50, so that the controller 36 can determine where the leading and trailing edges of the cutting rotor are located. The controller changes the lights 52 or the light bar 54 accordingly. Then, the camera 44 captures an image of the surface 34, the side of the machine, and the light, and then relays this image directly or indirectly to the monitor 42.

[0039] Referring again to Figure 1 , in one example, the cutting rotor position indicating system can include a plurality of scale marks 31 that are located on the side plate 29 of the drum housing 28. The scale marks 31 are visual indicators of the trailing and leading edges of the cutting rotor 22 that depend on the cutting depth. The controller 36 can inform the operator of the milling machine 5 of the cutting depth through a display (such as a gauge) in the operator station 30 or on the monitor 42. The camera 44 captures an image of the cutting surface 34 and the side plate 29 of the machine, and this image shows the scale marks 31. The captured image can be displayed on the monitor 42, and after seeing the marks 31 and knowing the cutting depth, the operator can visually determine the positions of the leading and trailing edges of the cutting rotor 22 based on the scale marks 31.

[0040] Figure 8 Shows a side view of a milling machine as a recycling machine 100 according to one embodiment. The recycling machine 100 can also be referred to as a rotary mixer or a soil stabilizer. The recycling machine 100 generally includes a frame 110, a rotor 120 attached to the frame 110 and contained within a drum housing 122, and four wheels 130, 131, 132, 133 attached to the frame 110 for moving the rotary mixer 100. The rotary mixer 100 can also include a power source 140 (such as a diesel engine) that drives the various components, and an operator station 150 that can include various controls for controlling the operation of the rotary mixer 100.

[0041] The rotor 120 rotates at a predetermined depth to excavate the soil surface or asphalt surface, and then refill the soil or crushed asphalt to prepare for the roadbed or other land preparation work. In some examples, other stabilizing materials can be added to the soil or crushed asphalt to be mixed into the roadbed.

[0042] In this example, the reclaiming machine 100 can include the cutting rotor position system as described above. For example, the reclaiming machine 100 can include one or more of the sensor 50, the camera 44, and the optional lights 44, light bars 54, and scale marks on the frame 12 as described above. In a similar manner as discussed above, a monitor can be provided in the operator station 150, and these components allow the operator of the reclaiming machine to see a visual image of the position of the leading edge and trailing edge of the cutting rotor 120 relative to the cutting surface displayed on the monitor.

[0043] Industrial applicability

[0044] The present system is applicable to milling machines such as cold planers or reclaiming machines. As described above, on some milling machines, the side plates of the drum housing cannot be seen from the operator station, so it is difficult to align with the obstacles or lines to be cut. In addition, if visible, it helps to determine the cutting rotor position at different cutting depths.

[0045] Figure 9 A method of providing the cutting rotor position to an operator of a milling machine is depicted. The method can include coupling (902) the camera 44 to the frame 12 of the milling machine, wherein the camera is positioned to capture a first image of an area near the cutting rotor 22 of the machine. The method further includes displaying (904) a visual image of the position of the leading edge and trailing edge of the cutting rotor 22 on a monitor 42 in the operator station 30 of the milling machine.

[0046] The method can include providing a controller 36 configured to receive the first image from the camera 44, receive cutting depth information from the sensor 50 on the frame 12, and output a second image to the monitor 42 to display a visual image of the position of the leading edge and trailing edge of the cutting rotor 22 on the monitor 42.

[0047] In another embodiment, the method can include a light 52 or a light bar 54 coupled to the frame and configured to display lights representing the leading edge and trailing edge of the cutting rotor 22. The controller 36 can receive cutting depth information from the sensor 50, and the controller 36 can then change the size of the lights according to the cutting depth. The camera 44 can capture an image of the lights and send the image to the monitor 42 to display a visual image of the position of the leading edge and trailing edge of the cutting rotor on the monitor.

[0048] As described above, the light can be irradiated onto the ground by the light 52 or the light can be displayed on the light bar 54 coupled to the frame.

[0049] By using a camera to visually view the side plate of the working machine and create a visual indication of the position of the cutting rotor, the system enables the operator to better control the operation of the milling machine.

[0050] A visual indication of the rotor position can be provided on the milling machine (e.g., through visual markings on the side plate) or on the ground / machine (through a laser or other light source, or through a light bar), and this visual indication can be captured by a camera pointing at the area and displayed to the operator. In another example, the visual indication can be a virtual image created by the controller and superimposed on the monitor.

[0051] The foregoing detailed description is intended to be illustrative, not restrictive. Accordingly, the scope of the invention should be determined with reference to the appended claims and the full scope of equivalents to which those claims are entitled.

Claims

1. A cold planer, comprising: A frame; An operator station coupled to the frame and including a monitor; A cutting rotor coupled to the frame, the cutting rotor configured to be lowered into a surface by a selected distance to define a cutting depth; A conveyor for receiving material from the cutting rotor; And A cutting rotor position indicating system, the cutting rotor position indicating system including: A camera coupled to the frame and oriented to display an area on one side of the frame; and A visual indicator system configured to receive a first image from the camera and display a visual image of the position of the leading edge and trailing edge of the cutting rotor relative to the surface on the monitor, Wherein the cutting rotor position indicating system further includes: a light coupled to the frame and configured to emit light representing the leading edge and the trailing edge of the cutting rotor; and a controller configured to receive cutting depth information from a sensor on the frame; and wherein the controller is configured to change the size of the emitted light according to the cutting depth; and wherein the camera captures the first image of the emitted light and relays the first image to the monitor to display the visual image of the position of the leading edge and the trailing edge of the cutting rotor on the monitor.

2. The cold planer according to claim 1, wherein The controller is configured to receive the first image from the camera and output a second image to the monitor to display the visual image of the position of the leading edge and the trailing edge of the cutting rotor on the monitor.

3. The cold planer according to claim 2, wherein the first image includes a view of the surface and a portion of the side of the cold planer near the cutting rotor.

4. The cold planer according to claim 2, wherein the visual image includes one or more lines displayed on the monitor.

5. The cold planer according to claim 2, wherein the visual image of the position of the leading edge and the trailing edge of the cutting rotor becomes longer as the cutting depth increases.

6. The cold planer according to claim 1, wherein the light includes one or more lasers configured to display one or more lines of light on the surface near the cold planer or on the cold planer frame.

7. The cold planer according to claim 1, wherein the cutting rotor position indicating system further comprises: A light bar coupled to the frame and configured to display light, wherein the length of the light represents the leading edge and the trailing edge of the cutting rotor; and wherein the controller is configured to change the length of the light displayed on the light bar based on the cutting depth; and wherein the camera captures the first image of the light bar and sends the first image to the monitor to display the visual image of the position of the leading edge and the trailing edge of the cutting rotor on the monitor.

8. The cold planer according to claim 7, wherein the light bar is coupled to the frame near a side plate of the housing of the cutting rotor.

9. A milling machine, comprising: A frame; An operator station coupled to the frame and including a monitor; A cutting rotor coupled to the frame, the cutting rotor configured to be lowered into the surface by a selected distance to define a cutting depth; A cutting rotor position indicating system, the cutting rotor position indicating system comprising: A camera coupled to the frame and oriented to display an area on one side of the frame; and A visual indicator system configured to receive a first image from the camera and display a visual image of the positions of the leading and trailing edges of the cutting rotor relative to the surface on the monitor, wherein the cutting rotor position indicating system further comprises: a light coupled to the frame and configured to emit light representing the leading and trailing edges of the cutting rotor; and a controller configured to receive cutting depth information from a sensor on the frame; and wherein the controller is configured to change the size of the emitted light based on the cutting depth; and wherein the camera captures the first image of the emitted light and relays the first image to the monitor to display the visual image of the positions of the leading and trailing edges of the cutting rotor on the monitor.

10. The milling machine according to claim 9, wherein the controller is configured to receive the first image from the camera and output a second image to the monitor to display the visual image of the positions of the leading and trailing edges of the cutting rotor on the monitor.

11. The milling machine according to claim 10, wherein the first image includes a view of the cutting surface and a portion of the side of the milling machine adjacent to the cutting rotor.

12. A method of providing a cutting rotor position to an operator of a milling machine, the method comprising: Coupling a camera to the frame of the milling machine, the camera positioned to capture a first image of an area adjacent to the cutting rotor of the milling machine; And Displaying a visual image of the positions of the leading and trailing edges of the cutting rotor relative to the cutting surface on a monitor in the operator station of the milling machine, wherein the method further comprises: a light coupled to the frame and configured to display light representing the leading and trailing edges of the cutting rotor; And a controller configured to receive cutting depth information from a sensor on the frame; and wherein the controller is configured to change the size of the light based on the cutting depth; and wherein the camera captures an image of the light and sends the image to the monitor to display the visual image of the positions of the leading and trailing edges of the cutting rotor on the monitor.

13. The method according to claim 12, wherein, The controller is configured to receive the first image from the camera and output a second image to the monitor to display the visual image of the positions of the leading and trailing edges of the cutting rotor on the monitor.

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