Self-propelled road milling machine and method for controlling a self-propelled road milling machine

Abstract

A self-propelled road milling machine comprising a machine frame which is supported by a running gear having a left front running gear and a right front running gear and a left rear running gear and a right rear running gear, wherein a milling drum is arranged on the machine frame. The invention also relates to a method for controlling such a road milling machine. The road milling machine according to the invention is characterized by a transverse inclination detection mechanism which is caused to detect the position of the left front running gear and the right front running gear, which stand on the unprocessed ground, relative to the machine frame and to derive from the positions of these running gears a transverse inclination value which describes the transverse inclination of the ground surface relative to the machine frame transverse to the working direction of the road milling machine, on the basis of which the road milling machine is controlled. The transverse inclination detection mechanism serves as a transverse inclination sensor system which detects the transverse inclination of the road section.

Description

TECHNICAL FIELD

[0001] The invention relates to a self-propelled road milling machine comprising a machine frame which is supported by a running gear, the running gear having a front left running gear and a front right running gear and a rear left running gear and a rear right running gear, wherein a milling roller is arranged on the machine frame. The invention also relates to a method for controlling such a road milling machine. BACKGROUND

[0002] A road milling machine is understood below to be a milling machine which is suitable for milling material from a ground surface. The ground surface to be processed can be, for example, an existing traffic area (road) from which material is to be milled.

[0003] Self-propelled road milling machines of different construction types are used in road construction. Such construction machines comprise known road milling machines with which existing road layers of a road surface can be removed. The known road milling machines have a rotating milling roller which is equipped with milling tools for processing the carriageway. The milling roller is arranged on a machine frame which can be adjusted in height relative to the road to be processed. The height of the machine frame is adjusted by means of a lifting device which is assigned to each chain running gear or wheel (running gear). In order to mill out defective road surfaces, the machine frame is lowered so that the milling roller penetrates into the road surface. The lifting device allows the height of the machine frame or the milling roller to be adjusted and a preset inclination of the machine frame or the milling roller transverse to the feed direction of the road milling machine to be set.

[0004] EP 0 836 659 B1 describes a road milling machine which has a machine frame which is supported by two front running gears and rear running gears. The front running gears are fixed to the machine frame so that the front running gears can follow changes in the transverse inclination of the road surface in opposite directions and to the same extent. This arrangement is also referred to as a swing axle. A road milling machine having a swing axle is also known from DE 102 10 763 A1.

[0005] EP 1 855 899 B1 describes a road milling machine whose front running gears and rear running gears are forcibly coupled to one another so that the front left running gear and the rear right running gear can be adjusted in height in the same direction and in opposite directions to the front right running gear and the rear left running gear. The forcible coupling of the running gears can be carried out mechanically or hydraulically.

[0006] The traffic area to be processed can have different profiles, wherein the lateral inclination can change. In a right-hand bend the road surface is inclined to the horizontal to the right in the direction of travel and in a left-hand bend the road surface is inclined to the horizontal to the left in the direction of travel. On straight sections the road can be inclined to one side or the other. The lateral inclination of the road can therefore change along the course of the section.

[0007] The swivel mounting of at least one of the front travel mechanisms of the road milling machine has the advantage that the road milling machine has better standard safety. The front travel mechanism, which is swivel-mounted, standing on the unprocessed ground, can follow the lateral inclination of the section of the traffic area to be processed.

[0008] A leveling mechanism for a road milling machine is known from DE 10 2006 020 293 Al, which is provided on the left and right side of the road milling machine with a sensor for detecting the actual value of the milling depth. The milling depth can be adjusted on the left and right side of the machine depending on the deviation of the measured actual value from the theoretical value.

[0009] The invention relates in particular to the milling process, also known as profile milling, in which a road surface having the same thickness (milling depth) should be milled on each section of the ground to be processed, wherein the lateral inclination of the ground surface to the horizontal should not change when being milled, i.e. should be reproduced. When milling a carriageway in a road having a lateral inclination to the right, for example, in which the road milling machine should be driven on the right-hand side (rule of the road), the milling roller must be introduced into the carriageway with a preset milling depth, wherein the milling roller or the mechanical frame to which the milling roller is mounted must be inclined to the right by a preset angle with respect to the horizontal.

[0010] The road milling machine is positioned on the carriageway at the beginning of the milling operation. The lifting mechanism assigned to the travel mechanism is then retracted, so that the mechanical frame and the milling roller are lowered. The mechanical frame is lowered until the milling tool of the rotating milling roller just touches the road surface. This process is called "scraping". At this point the milling roller should be oriented parallel to the road surface, thereby determining the orientation of the mechanical frame.

[0011] When, for example, a right-hand section along the outside of the carriageway is to be milled, the milling depth on the left-hand side of the milling roller in the direction of operation can also be measured. For this purpose the distance of a reference point of the mechanical frame of the road milling machine from the unprocessed ground is measured, which reference point is located on the left-hand side of the milling roller. But when a roadside ditch or a slope is present on the right-hand side, there is no suitable reference surface on the right-hand side of the construction machine in the direction of operation. The distance can therefore not be easily measured at the right-hand edge of the carriageway. For measuring the distance on the right-hand side, a guide line can be laid, but this has proven to be relatively time-consuming in practice.

[0012] The milling depth on the right side of the road milling machine can also be adjusted in this case via the lateral inclination of the mechanical frame or the milling roller relative to the horizontal, which can be detected by means of an inclination sensor. An inclination of the road milling machine to the right results in an increased milling depth on the right side of the road milling machine and an inclination to the left results in a reduced milling depth on the right side of the road milling machine. However, in order to be able to set the milling depth on the right side by changing the lateral inclination of the mechanical frame, the inclination to be set (theoretical value) must be known over the entire course of travel. Additional information (data) about the course of the road section to be processed must therefore be provided before the milling operation begins. In practice, this requires the road section to be processed to be viewed, the lateral inclination to be measured and corresponding markings to be applied on the carriageway.

[0013] DE 10 2018 127 222 B4 provides a control mechanism for the above-mentioned case, which actuates a lifting mechanism assigned to the travel mechanism depending on the distance values detected by means of a first distance sensor and a second distance sensor, which measure the distance of a reference point from the unprocessed ground surface, respectively. The reference points of the first distance sensor and the second distance sensor lie in a vertical plane, which is orthogonal to the longitudinal axis of the mechanical frame and in which the axis of the milling roller preferably lies. SUMMARY

[0014] It is an object of the present application to provide a road milling machine which can process the ground precisely, in particular without the need to provide additional information about the lateral inclination of the ground surface before the milling operation, when there is no suitable reference surface on one side of the course to be processed for deriving the distance values. It is also an object of the present application to give a corresponding method for controlling a road milling machine, which can process the ground precisely, in particular without the need to provide additional information about the lateral inclination of the ground surface before the milling operation, even when there is no suitable reference surface on one side of the road milling machine. Here, too, precise processing of the ground should be achieved when the lateral inclination of the course to be processed changes in the course of the course, for example in a curve or when a straight course transitions into a curve or vice versa.

[0015] The road milling machine according to the application has a mechanical frame, which is supported by a travel mechanism, which has a left front travel mechanism and a right front travel mechanism and a left rear travel mechanism and a right rear travel mechanism, and has a milling roller arranged on the mechanical frame. The road milling machine according to the application has two different embodiments.

[0016] In one embodiment, lifting mechanisms are provided which are assigned to the front and rear walking mechanisms, which can be retracted or extended respectively in order to lift or lower the front and rear walking mechanisms relative to the machine frame. The lifting mechanisms of the front walking mechanisms are positively coupled to one another, such that a lifting of the left front walking mechanism causes a lowering of the right front walking mechanism and a lowering of the left front walking mechanism causes a lifting of the right front walking mechanism, wherein the lifting and lowering take place in the same amount.

[0017] In another embodiment, only a lifting mechanism is provided for the rear walking mechanisms, which can be retracted or extended respectively in order to lift or lower the rear walking mechanisms relative to the machine frame. The front walking mechanisms are connected to the machine frame in a swing-mounted manner, such that a lifting of the left front walking mechanism causes a lowering of the right front walking mechanism in the same amount and a lowering of the left front walking mechanism causes a lifting of the right front walking mechanism in the same amount. The swing mounting takes place, for example, by means of a swing axle system, to which the front walking mechanisms are fixed.

[0018] When reference is made below to "one" measuring mechanism, this does not mean that other measuring mechanisms cannot be present. When reference is made below to control according to "one" signal, this does not exclude that control can also take place according to other signals.

[0019] A distance measuring mechanism is also provided, which is configured to measure a distance between a reference point of the machine frame and the ground surface, wherein a distance value is derived by means of the distance measuring mechanism. In this context, the distance value is understood to be all variables which are related to the distance. The distance value can be transmitted or processed as an analogue signal or as a data set.

[0020] The road milling machine according to the application furthermore has a control mechanism which is configured to generate a control signal (data or data set) for the lifting mechanisms of the walking mechanisms, wherein the lifting mechanisms of the walking mechanisms are configured to retract or extend the walking mechanisms in accordance with the control signal, in order to be able to set, for example, the milling depth or the transverse inclination.

[0021] The road milling machine according to the application is characterized by a transverse inclination detection mechanism which is configured to detect the position of the left front walking mechanism and / or the right front walking mechanism with respect to the machine frame which is standing on the unprocessed ground surface and to derive from the position of the left front walking mechanism and / or the right front walking mechanism a transverse inclination value which describes the transverse inclination of the ground surface with respect to the machine frame in the direction of operation of the road milling machine. In contrast to conventional transverse inclination sensors which measure the inclination of the machine frame or the milling roller with respect to the horizontal, the transverse inclination detection mechanism according to the application is able to detect the transverse inclination of the unprocessed ground surface on which the front walking mechanisms are standing, which can change in the course of the road section. The transverse inclination detection mechanism thus functions as a transverse inclination sensor system which detects the transverse inclination of the course of the road section. In this context, the transverse inclination value is to be understood as all variables which are related to the transverse inclination. The transverse inclination value can be transmitted or processed as an analog signal or data or data sets. In order to derive the transverse inclination, the lift position of the lifting mechanism which is assigned to the left front walking mechanism and / or the lift position of the lifting mechanism which is assigned to the right front walking mechanism can be detected. Due to the forced coupling of the lifting mechanisms, it is sufficient to detect the lift position of only one of the two lifting mechanisms, since the lift position of the other lifting mechanism can be derived from the lift position of the one lifting mechanism. For example, the angular position of the oscillating shaft can be detected in an oscillating shaft system in order to detect the position of the walking mechanism.

[0022] The control mechanism cooperates with the transverse inclination detection mechanism and the distance measurement mechanism such that the control mechanism generates a control signal for actuating the lifting mechanisms of the rear walking mechanisms depending on the distance value and the transverse inclination value, wherein the lifting mechanisms actuate at least two of the rear walking mechanisms such that the longitudinal axis of the milling roller is essentially parallel to the ground surface to be processed. Here, the lifting mechanisms of the walking mechanisms on the left (right) side in the direction of operation of the construction machine can be actuated depending on the distance value and the lifting mechanisms of the walking mechanisms on the right (left) side in the direction of operation can be actuated depending on the transverse inclination value. It is only important that the transverse inclination value is received and taken into account when controlling the rear walking mechanisms. This does not exclude that further variables can also be taken into account when controlling.

[0023] The transverse inclination detection mechanism is able to "scan" the ground surface of the unprocessed ground surface, the transverse inclination of which can be regarded as a theoretical value of the transverse inclination of the processed ground surface, so that the surface of the ground which is milled later has the same transverse inclination as the surface of the ground which has not yet been milled (profiled milling). It is thus not necessary to measure the traffic zone and to preset data, for example by applying markings on the carriageway, before starting the milling operation.

[0024] According to an embodiment of the road milling machine according to the application, the control mechanism is configured to monitor the transverse inclination values detected by the transverse inclination detection mechanism during the feed of the road milling machine, wherein at least one of the lifting mechanisms of the rear travel mechanisms is retracted or extended by an amount after a change in the transverse inclination between successively consecutive points of travel passed by the road milling machine has been found, so that the longitudinal axis of the milling roller is again oriented substantially parallel to the ground surface to be processed. That is, the height of one of the two rear travel mechanisms is adjusted to again compensate for the change in the transverse inclination of the road to be milled. The control (adjustment) is preferably carried out continuously, wherein the spacing between successively consecutive points of travel should be as small as possible, which is determined by the clock frequency in the case of a digital regulator. However, in principle the setting of the travel mechanisms can also be corrected at specific (larger) time intervals or after a specific (larger) distance has been covered.

[0025] In the road milling machine according to the application, the milling roller is arranged between the front travel mechanism and the rear travel mechanism, for example in the middle of the machine frame, or between the rear travel mechanisms, in the working direction on the machine frame. In both arrangements, the milling roller is arranged behind the front travel mechanism in the working direction on the machine frame. There is therefore a time offset between the point or time interval at which the road surface is "scanned" by means of the transverse inclination detection mechanism when the road milling machine is fed and the point or time interval at which the road is milled. However, it has been found that in practice a control which does not take this time offset into account is sufficient. However, a particularly preferred embodiment is that the control mechanism is configured so that, after a change in the transverse inclination between successively consecutive points of travel has been found, the lifting mechanism of one of the rear travel mechanisms is retracted or extended only after a predetermined time interval has elapsed or after a predetermined distance has been covered. The control mechanism can be configured to determine the predetermined time interval or the predetermined distance in dependence on the feed speed of the road milling machine.

[0026] The control mechanism can have a storage unit for storing the transverse inclination values detected by the transverse inclination value detection mechanism at successively consecutive points in time and / or at successively consecutive points of travel in order to process the data later (time-offset) if necessary. The points of travel passed by the road milling machine can be detected, for example, by means of a travel counter, wherein the transverse inclination values detected at the respective points of travel are read into the storage unit, so that the transverse inclination values are temporarily stored. The transverse inclination values are then read from the storage unit at the point in time at which the milling roller reaches the point at which the relevant transverse inclination value was received and are used to correct the lift position of the relevant lifting mechanism.

[0027] The distance measuring device can have at least one distance sensor, which is a touch distance sensor or a non-contact distance sensor. Such distance measuring systems are known from the prior art. For example, the edge guard, which is usually arranged next to the milling roller of a road milling machine, can also be used as a touch sensor for the distance measuring device. As a non-contact distance sensor, for example, an optical or inductive or capacitive distance sensor or an ultrasonic distance sensor can be used. The distance measurement can be a point measurement. However, distance sensors known in practice are used to measure against a surface, for example a circular surface or a support surface of an edge guard in the case of an ultrasonic sensor. In this context, a composite is to be understood as meaning a plurality of (three, five, seven) distance measuring devices which are arranged offset in the direction of travel and the average value of which is used as the distance value.

[0028] The distance measuring device can be designed in such a way that a reference point with respect to the machine frame is located on a longitudinal side of the machine frame, preferably next to the side of the milling roller, particularly preferably in a vertical plane in which the milling roller axis lies.

[0029] In order to derive the transverse inclination value, the transverse inclination detection device has a sensor on the left side in the direction of travel, which includes a left distance value relating to the position of the left front walking mechanism with respect to the machine frame, and a sensor on the right side in the direction of travel, which includes a right distance value relating to the position of the right front walking mechanism with respect to the machine frame. The distance values can be obtained, for example, from the lift position of the lifting device assigned to the front walking mechanism, wherein the lift position of the lifting device can be detected by a known travel sensor. Separate measuring devices or measuring devices integrated into the lifting device are known from the prior art.

[0030] In a road milling machine according to the application, for example when a right lane side or right side of a road section is to be milled on a road (right-hand traffic rules), in which no suitable reference surface is available on the right side of the road, the distance measuring device cannot measure the distance between the reference point in the height of the milling roller and the road surface on the right side of the machine frame in order to set the milling depth by means of the right rear lifting device.

[0031] For this application, the control mechanism can be configured to retract the lifting mechanism of the right rear travel mechanism in dependence on the derived transverse inclination value in the case that the left spacing value decreases and the right spacing value increases while the road milling machine is fed, and to extend the lifting mechanism of the right rear travel mechanism in the case that the left spacing value increases and the right spacing value decreases while the road milling machine is fed, so that the longitudinal axis of the milling roller remains substantially parallel to the unprocessed ground surface during the feeding of the road milling machine. The milling depth is set here with the lifting mechanism of the left rear travel mechanism, wherein the lifting position of the lifting mechanism is controlled in dependence on the derived spacing values of the spacing measuring mechanism. Similarly, the milling depth can also be adjusted with the lifting mechanism of the right rear travel mechanism in dependence on the derived spacing values and the transverse inclination is adjusted with the lifting mechanism of the left rear travel mechanism in dependence on the derived transverse inclination value.

[0032] The control mechanism can be configured to set the lifting position of the lifting mechanism of the right rear travel mechanism while the road milling machine is fed so that the difference between the spacing values measured with the left and right spacing sensors is minimized. In this embodiment, it is not necessary to determine the transverse inclination of the machine frame relative to the horizontal.

[0033] The right rear travel mechanism can also be controlled so that a transverse inclination value is derived from the left and right spacing values which describes the transverse inclination of the ground surface relative to a reference plane of the machine frame transverse to the working direction of the road milling machine, and a transverse inclination theoretical value is derived from the transverse inclination value and the machine frame inclination value for successive consecutive travel points, which is compared with the machine frame inclination value, wherein the lifting position of the lifting mechanism of the right rear travel mechanism is set while the road milling machine is fed so that the difference between the transverse inclination theoretical value and the machine frame inclination value is minimized. BRIEF DESCRIPTION OF DRAWINGS

[0034] Embodiments of a road milling machine according to the application are described in detail below with reference to the drawings.

[0035] It is shown:

[0036] Figure 1 a side view of an embodiment of a road milling machine according to the application is shown,

[0037] Figure 2 a simplified schematic diagram of the individual components of a road milling machine is shown,

[0038] Figure 3A a top view of a road being processed by a road milling machine is shown, in which the road milling machine processes a road section outside the lane,

[0039] Figure 3B a transverse inclination profile of a road to be processed is shown,

[0040] Figure 4Aa rear view of the road milling machine while milling a road surface is shown, with the milled ground surface and the rear running gear of the road milling machine being shown, wherein the road milling machine is in a first position,

[0041] Figure 4B a view of the front running gear standing on unmilled ground is shown, as well as the lift state of the lifting gear assigned to the front running gear in a first position,

[0042] Figure 4C a simplified schematic of a further embodiment of a swingable support of the front running gear is shown,

[0043] Figure 5A a rear view of the road milling machine while milling a road surface is shown, with the road milling machine being in a second position,

[0044] Figure 5B a view of the front running gear and its lifting gear is shown,

[0045] Figure 6A a rear view of the road milling machine while milling a road surface is shown, with the road milling machine being in a third position,

[0046] Figure 6B a view of the front running gear and its lifting gear is shown,

[0047] Figure 7A a rear view of the road milling machine while milling a road surface is shown, with the road milling machine being in a fourth position,

[0048] Figure 7B a view of the front running gear and its lifting gear is shown,

[0049] Figure 8A a rear view of the road milling machine while milling a road surface is shown, with the road milling machine being in a fifth position,

[0050] Figure 8B a view of the front running gear and its lifting gear is shown,

[0051] Figure 9A a rear view of the road milling machine while milling a road surface is shown, with the road milling machine being in a sixth position,

[0052] Figure 9B a view of the front running gear and its lifting gear is shown,

[0053] Figure 10A a rear view of the road milling machine while milling a road surface is shown, with the road milling machine being in a seventh position,

[0054] Figure 10B a view of the front running gear and its lifting gear is shown,

[0055] Figure 11A a rear view of the road milling machine is shown while milling a road surface, wherein the road milling machine is in a ninth position,

[0056] Figure 11B a view of the front travel mechanism and its lifting mechanism is shown,

[0057] Figure 12A a rear view of the road milling machine is shown while milling a road surface, wherein the road milling machine is in a ninth position,

[0058] Figure 12B a view of the front travel mechanism and its lifting mechanism is shown,

[0059] Figure 13 a table with numerical values for illustrating the lifting movement of the lifting mechanism of the front travel mechanism is shown,

[0060] Figure 14 a block diagram for explaining an embodiment of the control mechanism of the road milling machine is shown and

[0061] Figure 15 a block diagram for explaining another embodiment of the control mechanism of the road milling machine is shown. DETAILED DESCRIPTION

[0062] Figure 1 A side view of an embodiment of a self-propelled road milling machine 1 for milling a road surface is shown. The road milling machine 1 has a running gear 2 and a machine frame 3. The running gear 2 has a left front travel mechanism 4 and a right front travel mechanism 5 and a left rear travel mechanism 6 and a right rear travel mechanism 7 in the working direction A. Chain travel mechanisms or wheels can be provided as travel mechanisms.

[0063] In order to adjust the height and / or the inclination of the machine frame 3 relative to the ground surface (road surface), the road milling machine has a lifting mechanism 4A, 5A, 6A, 7A assigned to each travel mechanism 4, 5, 6, 7, by which the machine frame 3 is supported. The lifting mechanisms 4A, 5A, 6A, 7A have a piston / cylinder assembly 9 for adjusting the travel mechanisms, respectively.

[0064] The road milling machine 1 also has a milling roller 10 provided with a milling tool, which is arranged in a milling roller housing 11 between the front travel mechanisms and the rear travel mechanisms 4, 5, 6, 7 at the machine frame 3, which is closed on the longitudinal sides by a left and a right edge protection 12, 13.

[0065] The height and / or the inclination of the mechanical frame 3 and of the milling rollers 10 arranged thereon relative to the ground surface 8 can be set by means of the pistons / cylinder assemblies 9 of the lifting mechanisms 4A, 5A, 6A, 7A which are driven in and out. In order to transport the milled road surface away, the transport mechanism 14 is provided with a conveyor belt.

[0066] Figure 2 A simplified schematic diagram of the individual components of the road milling machine 1 is shown. Figures 4A to 12A A rear view of the road milling machine 1 when milling a road surface is shown, in which the original ground surface 8 and the milled ground surface 8A and the rear travel mechanisms 6, 7 of the road milling machine 1 are shown, and Figures 4B to 12B The front travel mechanisms 4, 5 standing on the unmilled ground surface and the lift height of the lifting mechanisms 4A and 5A assigned to the front travel mechanisms are shown.

[0067] The figures denoted with "A" and "B" (for example Figure 4A and Figure 4B ) show the road milling machine 1 at the same point in time, respectively, at which point in time the support points 4', 5' of the front travel mechanisms 4, 5 are in front of the support points 6', 7' of the rear travel mechanisms 6, 7 at a distance l (wheel base) in the longitudinal direction (working direction) of the mechanical frame 3.

[0068] Figure 3A A greatly simplified schematic top view of the road milling machine 1 is shown, in which the road milling machine 1 mills the road surface of the right-hand road section of a road 15. The individual components are provided with the same reference numerals in the figures.

[0069] The front travel mechanisms 4, 5 of the road milling machine 1 are positively coupled to one another, such that a lifting of the left front travel mechanism 4 causes a lowering of the right front travel mechanism 5 and a lowering of the left front travel mechanism 4 causes a lifting of the right front travel mechanism 5. This coupling of the travel mechanisms can be realized mechanically or hydraulically. Mechanical and hydraulic coupling of the travel mechanisms is described, for example, in DE 196 17 442 C1.

[0070] Figure 4C An alternative embodiment of the oscillating support of the left and right front travel mechanisms 4, 5 is shown. The front travel mechanisms 4, 5 are fixed on an oscillating shaft 16 which is supported in an oscillating manner about the longitudinal axis 17 of the mechanical frame 3. This oscillating support is described, for example, in DE 102 10 763 A1.

[0071] The driving in (out) of the lifting mechanism 6A (piston / cylinder assembly) of the left rear walking mechanism 6 in this embodiment causes the left rear walking mechanism 6 to be lifted (lowered) relative to the machine frame 3, whereby the machine frame 3 is lowered (lifted) on the left side, and the driving in (out) of the lifting mechanism 7A (piston / cylinder assembly) of the right rear walking mechanism 7 causes the right rear walking mechanism 7 to be lifted (lowered) relative to the machine frame 3, whereby the machine frame 3 is lowered (lifted) on the right side.

[0072] The road milling machine 1 has a distance measuring mechanism 18 which is configured to measure the distance between a reference point R of the machine frame 3 Figure 3A ) and the ground surface 8. In this embodiment the distance measuring mechanism 18 has a distance sensor 19 which is arranged on the left side of the machine frame 3 in the working direction between the front and rear walking mechanisms next to the side of the milling drum 10 Figure 3A In this embodiment the distance sensor 19 is a touch-type distance sensor which is fixed to a trolley sensor 20 with a left edge guard Figure 4A When the edge guard 12 is adjustably height-fixed via two hydraulically cylinders which are arranged offset in the driving direction, the height of the edge guard can be detected by means of a stroke measuring system integrated into the hydraulic cylinders instead of the trolley sensor. The edge guard 12 is placed on the ground surface 8. The trolley sensor 20 measures the section of the edge guard 12 which moves up and down. The distance between the reference point R and the ground surface 8 on which the edge guard 12 is placed can thus be measured.

[0073] Furthermore, the road milling machine 1 has a transverse inclination detection mechanism 21 which is configured to detect the transverse inclination of the longitudinal axis 10A of the machine frame 3 or of the milling drum relative to the ground surface at each road marker from the lift height of the lifting mechanisms 4A, 5A of the front walking mechanisms 4, 5 or in an alternative embodiment from the position of the swing axle 16. The respective road marker corresponds to the support point of the front walking mechanism. In this embodiment the left front walking mechanism 4 comprises a left distance sensor 4B which yields a left distance value VL for the position of the left front walking mechanism relative to the machine frame 3 and a right distance sensor 5B which yields a right distance value VR for the position of the right front walking mechanism 5 relative to the machine frame 3. The distance sensors 4B, 5B can be integral stroke measuring systems of the lifting mechanisms 4A, 5A which are assigned to the front walking mechanisms 4, 5.

[0074] Furthermore, the road milling machine 1 has a control mechanism 22, which forms an independent structural component or may at least partially be part of the central control unit and computing unit of the construction machinery. The control mechanism 22 may, for example, have a general processor, a digital signal processor (DSP) for continuously processing digital signals, a microprocessor, an application-specific integrated circuit (ASIC), an integrated circuit composed of logic elements (FPGA), or other integrated circuits (ICs) or hardware components to control the lifting mechanism and receive and evaluate measurement values. Data processing programs (software) may run on the hardware components. Combinations of different components are also possible.

[0075] The control mechanism 22 is connected via signal line 23 or data line to the trolley sensor 20 of the spacing measuring mechanism 18 and the spacing sensors 4B and 5B of the lateral tilt detection mechanism 21, and generates control signals for the lifting mechanisms 4A, 5A, 6A, and 7A. The lifting mechanisms 4A, 5A, 6A, and 7A are configured such that their piston / cylinder assemblies enter or exit according to the control signals, causing the traveling mechanisms 4, 5, 6, and 7 to rise or fall relative to the mechanical frame 3. The control signals are transmitted via control or data line 24.

[0076] The control mechanism 22 is configured to implement the steps described below in the method for controlling a road milling machine according to the present invention.

[0077] In this embodiment, the road surface should be milled out from the road, and the road surface has [specific characteristics] in the direction of the road segment. Figure 3A The lateral inclination α is shown in the figure. The thickness of the milled road surface determines the milling depth. In this embodiment, the road segment involved is a right curve, the lateral inclination of which increases to the center of the curve, remains constant at the center of the curve, and decreases again after the center of the curve. It is assumed that this road segment has a section a (80m) with a uniformly increasing slope, a section b (8m) with a constant slope, and a section c (80m) with a uniformly decreasing slope. The distance l between the assumed support points 4', 6' or 5', 7' of the front and rear traveling mechanisms 4, 5, 6, 7 along the longitudinal direction of the road milling machine is 8m, and its distance from the milling roller 10 arranged in the middle between the traveling mechanisms 4, 5, 6, 7 is 4m. The distance d between the support points 4', 5' of the front traveling mechanism 4, 5 along the lateral direction is 1.6m.

[0078] The following is for reference. Figure 4A and 4B to Figure 12A and 12B Describe the steps of each method.

[0079] The spacing measuring device 18 is adjusted at the beginning of the milling operation, in particular the zero point is set. In order to set the zero point, the lifting devices 4A, 5A, 6A, 7A are set in the case of a horizontal orientation of the road milling machine, so that the milling roller 10 touches the ground surface 8 with the cylindrical outer side which is described as the tip of the milling tool. For this purpose the lifting devices 4A, 5A, 6A, 7A are retracted until the milling tool starts to scratch the ground with the rotating milling roller 10. This process is also called scratching. The spacing measuring device 18 is set to zero when the milling cutter touches the ground surface 8. A negative spacing value results when the lifting devices 4A, 5A, 6A, 7A continue to be retracted and the milling roller 10 penetrates into the ground. The absolute value of the spacing value corresponds to the milling depth. In this embodiment the milling depth is set to 40 mm. For this purpose the left front travelling device 4 and the right front travelling device 5 are jointly lowered by 40 mm (VL, VR) and the left rear travelling device 6 is lowered by 40 mm (HL) and the right rear travelling device 7 is lowered by 40 mm (HR) Figure 4A .

[0080] Figure 13 A table is shown with the respective values of the various positions shown in Figure 4A and 4B to Figure 12A and 12B which explain the lifting movement of the lifting devices 4A, 5A or the front travelling devices 4, 5. Figure 4A and 4B to Figure 12A and 12B Not all positions are shown, since the lift positions are repeated based on the uniform course of the lateral inclination.

[0081] A first embodiment of the control device is described below.

[0082] During the feed of the milling machine, the control device 22 continuously receives the spacing value of the spacing measuring device 18 and the left spacing value VL and the right spacing value VR of the left spacing sensor 4B and the right spacing sensor 5B of the left side and the right side of the left front and right front lifting devices 4A, 5A.

[0083] The control device 22 is configured to continuously form the difference AV between the left spacing value VL and the right spacing value VR. If the difference AV of the left spacing value VL and the right spacing value VR is equal to zero, the lateral inclination a of the un-milled ground surface 8 relative to the machine frame 3 is equal to zero. If the difference AV is not equal to zero, the un-milled ground surface 8 is inclined to one side or the other. The sign of the difference AV gives the direction of the inclination.

[0084] The surface 8A of the milled ground corresponds to the surface 8 of the unmilled ground in terms of transverse inclination (profiled milling) when the road milling machine 1 is fed. The machine frame 3 or the milling roller 10 is thus oriented when the machine is fed, so that the machine frame or the milling roller follows the transverse inclination a which changes in the course of the road section, i.e. the surfaces 8 and 8A are parallel.

[0085] Figure 4A and Figure 4B An initial situation of the machine is shown, in which the transverse inclination a is zero (position 1). At this time, the difference AV of the left and right spacing values VL and VR is equal to zero. Figure 5A and Figure 5B A machine position is shown, in which the rear running gear is still standing on a section with a transverse inclination of 0% and the front running gear has already stood on a section with a transverse inclination of 0.2% (position 2). Figure 5B Because the front running gears 4, 5 are coupled inversely, the road milling machine can be statically described as a tripod. Figure 5B It is shown that the rigid machine frame 3 maintains its (horizontally oriented) position and the lifting mechanism 4A of the left front running gear 4 retracts the left spacing value VL and the lifting mechanism 5A of the right front running gear 5 extends the right spacing value VR, so that the difference AV of the left and right spacing values VL and VR is not equal to zero. Because the difference AV is not equal to zero, it can be concluded that the transverse inclination a changes. In this case, the transverse inclination a for the relevant travel point increases from 0 to 0.2%. The control mechanism 22 at this time generates a control signal for the lifting mechanism 7A of the right rear running gear 7 to lift the right rear running gear 7 relative to the machine frame 3 by a value, so that the machine frame 3 is lowered relative to the ground surface 8 or 8A and the longitudinal axis 10A of the milling roller is again oriented parallel to the ground surface. This is the case when the difference AV of the left and right spacing values VL and VR is again zero.

[0086] The control mechanism 22 is configured to adjust the lift of the right rear lifting mechanism 7A such that the difference AV of the left and right spacing values VL and VR becomes minimal when the machine is fed, wherein the adjustment seeks to make the difference AV zero.

[0087] The remaining figures exemplarily show an increase or decrease of the transverse inclination by the same value (0.2%) and a keeping of the transverse inclination in the same road section (8m) from the position passed to the position before in a similar manner of observation.

[0088] To be taken into account in the control (regulation) is that the transverse inclination of the unprocessed road is not detected at the point of travel at which the milling roller 10 is located, but at the point of travel reached by the milling roller 10 after a certain travel or after a certain time interval related to the feed speed of the milling machine. This deviation is taken into account in the control in that the left and right distance values VL and VR and / or the difference ΔV of the left and right distance values VL and VR are read into the memory unit 25 of the control mechanism 22 at certain points in time and / or at certain points of travel, so that the data can be evaluated later and on the basis of which the control is effected. To determine the points of travel and / or the points in time, a travel counter or a time element can be provided. The distance values VL and VR can be marked, for example, with time and / or travel markers and stored in tabular form. The control mechanism 22 can be configured to read the values corresponding to the current point of travel or point in time of the milling roller 10 from the memory unit in order to adjust the right rear travel mechanism 7 to correct the machine frame 3 or the milling roller 10 to achieve the desired transverse inclination.

[0089] Figure 14 A block diagram of a regulation loop with a regulator 26 for the control according to the application is shown.

[0090] The regulation variable X is the difference ΔV of the left and right distance values VL and VR, which is measured by means of the distance sensors 4B, 5B of the lifting mechanisms 4A, 5A of the left and right front travel mechanisms 4, 5. The regulation seeks to bring the regulation variable X to the command variable W, i.e. to zero, by means of the adjustment variable Y, which is influenced by the adjustment mechanism, wherein the regulation deviation E = W - X should be as small as possible.

[0091] The front travel mechanisms 4, 5 with the lifting mechanisms 4A, 5A and the distance sensors 4B, 5B in this regulation loop are the measuring mechanism 29 of the regulation loop to determine ΔVist = VList - VRist (regulation variable X). The lifting mechanism 7A of the right rear travel mechanism 7 represents the adjustment mechanism 27 of the regulation loop. The control signal of the lifting mechanism 7A of the right rear travel mechanism 7 represents the adjustment variable Y.

[0092] The control mechanism 22 (regulator 26) is configured in such a way that the regulation variable X, which changes over time, is influenced by retracting or extending the lifting mechanism 7A of the right rear travel mechanism 7, the regulation deviation E = W - X being as small as possible, i.e. ΔVist = VList - VRist being equal to zero. Disturbance variables Z acting on the regulation section 28 can also be taken into account in the regulation.

[0093] Reference is made below to Figure 15Another embodiment of the control mechanism according to the invention is described, and the figure shows a block diagram of an alternative control. The lateral slope of the milled road surface in profile milling should correspond to the lateral slope of the unmilled road surface. Therefore, in this embodiment, the lateral slope αHsoll of the unprocessed road surface relative to the horizontal line H is continuously determined as the command variable W for adjustment during the feed of the road milling machine 1. For this purpose, the spacing values ​​VL and VR of the left front travel mechanism 4 and the right front travel mechanism 5 are continuously measured using the left spacing sensor 4B and the right spacing sensor 5B. This spacing value is read into the storage unit 25 of the control mechanism 22. See the table ( ) for this embodiment. Figure 13 The storage content of storage unit 25.

[0094] At the start of the milling operation ( Figure 4A and Figure 4B The lateral inclination α of the longitudinal axis 10A of the mechanical frame 3 or milling roller 10 relative to the unprocessed horizontal ground surface 8 or horizontal line H is equal to zero (ΔV=VL-VR=0, e.g., VL=VR=40). The road milling machine has arrived... Figure 5A and Figure 5B When shown in the position, the left front traveling mechanism 4 and the right front traveling mechanism 5 are erected on the unprocessed ground surface 8 with a lateral tilt αH of 0.2% relative to the horizontal line. Figure 5B On the section of road ( Figure 5B The corresponding inclination values ​​were obtained for subsequent travel points using a similar observation method.

[0095] During the feed of the road milling machine, the left clearance value VL, relating to the position of the left front travel mechanism relative to the mechanical frame 3 along the working direction, and the right clearance value VR, relating to the position of the right front travel mechanism relative to the mechanical frame along the working direction, are obtained. Using the left clearance value VL and the right clearance value VR as successive travel points sn, the lateral tilt value αrel, describing the lateral tilt α of the ground surface 8 relative to the reference plane of the mechanical frame 3 in the working direction A transverse to the milling machine 1, is obtained. When the milling machine is erected on a horizontal surface and the left clearance value VL equals the right clearance value VR (ΔV = 0), the reference plane is a horizontal plane.

[0096] In the milling machine, for example, located at Figure 5A and Figure 5BIn the position shown, spacing sensors 4A and 4B measure VL = 41.6 mm and VR = 38.4. The difference ΔV = 41.6 mm – 38.4 mm = 3.2 mm is calculated from VL = 41.6 mm and VR = 38.4. In this embodiment, the spacing d between the support points 4' and 5' of the front traveling mechanisms 4 and 5 is 1600 mm. The lateral tilt value αrel (3.2 mm / 1600 mm x 100% = 0.2%) of the unmilled ground surface 8 of the front traveling mechanisms 4 and 5 relative to the mechanical frame 3 is calculated from ΔV and d.

[0097] In an alternative embodiment, the road milling machine has a tilt measuring mechanism 30 including a tilt sensor 30A. The tilt measuring mechanism is configured to measure the tilt αHist of the longitudinal axis 10A of the mechanical frame 3 or milling roller 10 relative to the horizontal line H and derive a mechanical frame tilt value αHist describing the tilt. When the front traveling mechanisms 4 and 5 are, for example, erected on an unprocessed surface on the ground at the horizontal line H and the lifting mechanisms 4A and 5A have the same lift position, the tilt measuring mechanism 30 measures a tilt αHist = 0 (…). Figure 4B ).

[0098] The theoretical value of lateral tilt αHsoll is obtained by taking the lateral tilt value αrel and the mechanical frame tilt value αHist as consecutive stroke points sn. The theoretical value of lateral tilt is compared with the mechanical frame tilt value αHist to set the lifting position of the lifting mechanism 7A of the right rear traveling mechanism 7, so as to minimize the difference between the theoretical value of lateral tilt αHsoll and the mechanical frame tilt value αHist.

[0099] The above steps are performed consecutively for each travel point 1, 2, 3, 4, 5… sn, as can be seen from the table ( Figure 13 As can be seen from the diagram, the absolute lateral inclination at the preceding travel point (sn+1) along the working direction is calculated using the relative lateral inclination αrelativ determined at that travel point and the absolute lateral inclination αabs determined at the travel point (sn) along the working direction. This is explained by the following example:

[0100] αabs(sn) = 0.2% [Number of points visited]

[0101] αrelativ(sn+1) = 3.2mm / 1600mm x 100% = 0.2% [previous travel point]

[0102] αabs(sn+1) = αabs(sn) + αrelativ(sn+1) = 0.2% + 0.2% = 0.4%

[0103] The transverse inclination αabs of the unprocessed ground surface 8 relative to the horizontal is continuously determined in this way as the transverse inclination theoretical value αHsoll for the regulation.

[0104] The transverse inclination theoretical value αHsoll (command variable W) is derived by the sum of the transverse inclination αabs of the longitudinal axis 10A of the mechanical frame 3 or the milling roller 10 relative to the horizontal H and the transverse inclination value αrel of the mechanical frame relative to the unprocessed ground surface 8.

[0105] Figure 15 The block diagram shows the control of an alternative embodiment. The inclination measuring device 30 is a measuring device of the regulation loop. The alternative embodiment is therefore provided with an additional inclination measuring device 30 with an inclination sensor 30A. The regulation variable X is the transverse inclination αHist measured by means of the inclination measuring device 30. This regulation seeks to bring the regulation variable X to the command variable W (αHsoll) by means of the adjustment variable Y influenced by the adjustment device 27, wherein the regulation deviation E = W - X should be as small as possible. In this regulation loop, the lifting device 7A of the right rear walking mechanism 7 is the adjustment device 27 of the regulation loop. The control signal of the lifting device 7A of the right rear walking mechanism 7 represents the adjustment variable Y.

[0106] The regulator 26 is configured to retract or extend the adjustment variable X by means of the lifting device 7A of the right rear walking mechanism 7, which changes over time, so that the regulation deviation E = W - X is as small as possible. In this regulation, the disturbance variable Z acting on the regulation section 28 can also be taken into account.

[0107] The block diagram shows a routine 31 for determining ΔVist (ΔVist = VL - VR) from the distance values VL and VR. A routine 32 continuously determines the relative transverse inclination αrelativ of the unprocessed ground surface 8 relative to the mechanical frame 3 from ΔVist. The absolute transverse inclination αabsolut of the unprocessed ground surface 8 relative to the horizontal is determined by the sum from the relative transverse inclination αrelativ, which is later used as the transverse inclination theoretical value αHsoll for the regulation.

[0108] Since the support points 4', 5' of the front walking mechanisms 4, 5 are spaced apart by a distance I with respect to the support points 6', 7' of the rear walking mechanisms 6, 7, the continuously derived value of the absolute lateral inclination αHabs of the ground surface 8 with respect to the horizontal H is temporarily stored as αHsoll (routine 33). The temporarily stored value is then read again at the relevant travel point as a theoretical value (command variable W) for the adjustment. This theoretical value is compared with the actual value of the lateral inclination αHist of the longitudinal axis 10A of the machine frame 3 or of the milling roller with respect to the horizontal H, which is measured by means of the inclination measuring mechanism 30 (E = W - X).

Claims

1. Self-propelled road milling machine (1), comprising a machine frame (3) which is supported by a running gear (2) having a left front running gear (4) and a right front running gear (5) and a left rear running gear (6) and a right rear running gear (7), a milling roller (10) which is arranged on the machine frame (3), a lifting gear (4A, 5A, 6A, 7A) which is assigned to the front and rear running gears and which can be retracted or extended in order to lift or lower the front and rear running gears (4, 5, 6, 7) relative to the machine frame (3), wherein the lifting gears (4A, 5A, 6A, 7A) of at least the front running gears (4, 5) are positively coupled to one another in such a way that a lifting of the left front running gear causes a lowering of the right front running gear and a lowering of the left front running gear causes a lifting of the right front running gear, or the lifting gears (6A, 7A) are assigned to the rear running gears (6, 7) and can be retracted or extended in order to lift or lower the rear running gears (6, 7) relative to the machine frame (3), wherein the front running gears (4, 5) are connected to the machine frame (3) in a swingably supported manner in such a way that a lifting of the left front running gear causes a lowering of the right front running gear and a lowering of the left front running gear causes a lifting of the right front running gear, a distance measuring device (18) which is configured to measure a distance between a reference point (R) of the machine frame (3) and a ground surface (8), wherein a distance value is derived by the distance measuring device (18), a control device (22) which is configured to generate a control signal for the lifting gears (4A, 5A, 6A, 7A), wherein the lifting gears (4A, 5A, 6A, 7A) are configured to retract or extend the running gears (4, 5, 6, 7) in accordance with the control signal, characterized in that a transverse inclination detection device (21) is provided which is configured to detect a position of the left front running gear (4) and / or the right front running gear (5) relative to the machine frame (3) and to derive a transverse inclination value (VL, VR, ΔV, a) which describes a transverse inclination of the ground surface (8) transverse to a working direction (A) of the road milling machine from the position of the left front running gear (4) and / or the right front running gear (5), and in that the control device (22) is configured to derive the control signal from the transverse inclination value (VL, VR, ΔV, a) and to control the lifting gears (4A, 5A, 6A, 7A) in such a way that the transverse inclination of the ground surface (8) is reduced.

2. Self-propelled road milling machine according to claim 1, characterized in that the transverse inclination detection device (21) is configured to detect a position of the left front running gear (4) and / or the right front running gear (5) relative to the machine frame (3) and to derive a transverse inclination value (VL, VR, ΔV, a) which describes a transverse inclination of the ground surface (8) transverse to a working direction (A) of the road milling machine from the position of the left front running gear (4) and / or the right front running gear (5).

3. Self-propelled road milling machine according to claim 1 or 2, characterized in that the transverse inclination detection device (21) is configured to detect a position of the left front running gear (4) and / or the right front running gear (5) relative to the machine frame (3) and to derive a transverse inclination value (VL, VR, ΔV, a) which describes a transverse inclination of the ground surface (8) transverse to a working direction (A) of the road milling machine from the position of the left front running gear (4) and / or the right front running gear (5).

4. Self-propelled road milling machine according to one of the preceding claims, characterized in that the transverse inclination detection device (21) is configured to detect a position of the left front running gear (4) and / or the right front running gear (5) relative to the machine frame (3) and to derive a transverse inclination value (VL, VR, ΔV, a) which describes a transverse inclination of the ground surface (8) transverse to a working direction (A) of the road milling machine from the position of the left front running gear (4) and / or the right front running gear (5). ​ ​ ​ ​ ​ The control mechanism (22) interacts with the distance measuring mechanism (18) and the transverse inclination detecting mechanism (21) and is configured such that it generates a control signal for actuating the lifting mechanism (6A, 7A) of at least the rear walking mechanism (6, 7) depending on at least the distance value of the distance measuring mechanism (18) and the transverse inclination value (VL, VR, ΔV, α) of the transverse inclination detecting mechanism (21), wherein the lifting mechanism (6A, 7A) of at least the rear walking mechanism is actuated such that the longitudinal axis (10A) of the milling roller (10) is oriented substantially parallel to the ground surface (8) to be processed.

2. The self-propelled road-milling machine of claim 1, wherein, The control mechanism (22) is configured to monitor the transverse inclination values (VL, VR, ΔV, α) derived by the transverse inclination detecting mechanism (21) during the feed of the road milling machine, wherein at least one of the lifting mechanisms (7A) of the rear walking mechanisms is retracted or extended by an amount such that the longitudinal axis (10A) of the milling roller (10) is again oriented substantially parallel to the ground surface (8) to be processed after a change in the transverse inclination between successively consecutive track points of a track traveled by the road milling machine is found.

3. The self-propelled road-milling machine of claim 2, wherein, The control mechanism (22) is configured such that at least one of the lifting mechanisms (7A) of the rear walking mechanisms is retracted or extended by an amount only after a predetermined time interval has elapsed or after a predetermined track has been traveled after a change in the transverse inclination between successively consecutive track points is found, wherein the control mechanism (22) is configured to determine the predetermined time interval depending on the feed speed of the road milling machine.

4. The self-propelled road-milling machine according to any one of claims 1 to 3, characterized in that, The control mechanism (22) has a storage unit (25) for storing the transverse inclination values derived by the transverse inclination detecting mechanism at successively consecutive points in time and / or at successively consecutive track points.

5. The self-propelled road-milling machine according to any one of claims 1 to 3, characterized in that, The transverse inclination detecting mechanism (21) has a distance sensor (4B) on the left side in the working direction (A) comprising a left distance value (VL) relating to the position of the left front walking mechanism (4) relative to the machine frame (3) and a distance sensor (5B) on the right side in the working direction (A) comprising a right distance value (VR) relating to the position of the right front walking mechanism (5) relative to the machine frame (3), wherein the control mechanism (22) is configured to, retract the lifting mechanism (7A) of the right rear walking mechanism (7) when the left distance value decreases and the right distance value increases while the road milling machine is fed, and extend the lifting mechanism (7A) of the right rear walking mechanism (7) when the left distance value increases and the right distance value decreases while the road milling machine is fed, such that the longitudinal axis (10A) of the milling roller (10) remains substantially parallel to the unprocessed ground surface (8) during the feed of the road milling machine.

6. The self-propelled road-milling machine according to any one of claims 1 to 3, characterized in that, The lateral inclination detection mechanism (21) has a distance sensor (4B) on the left side in the working direction (A) including a left distance value (VL) relating to the position of the left front walking mechanism (4) relative to the machine frame (3) and a distance sensor (5B) on the right side in the working direction (A) including a right distance value relating to the position of the right front walking mechanism (5) relative to the machine frame (3), and the control mechanism (22) is configured to set the lift position of the lifting mechanism (7A) of the right rear walking mechanism (7) such that the difference (ΔV) of the distance values (VL, VR) measured with the left distance sensor (4B) and the right distance sensor (5B) is minimized when the road milling machine is fed.

7. The self-propelled road-milling machine according to any one of claims 1 to 3, characterized in that, The lateral inclination detection mechanism (21) has a distance sensor (4B) on the left side in the working direction (A) including a left distance value (VL) relating to the position of the left front walking mechanism (4) relative to the machine frame (3) and a distance sensor (5B) on the right side in the working direction (A) including a right distance value relating to the position of the right front walking mechanism (5) relative to the machine frame (3), and is provided with an inclination measurement mechanism (30) configured to derive a machine frame inclination value (αH) describing the inclination of the machine frame (3) relative to the horizontal (H), wherein The control mechanism (22) is configured to derive a lateral inclination value describing the lateral inclination of the ground surface (8) relative to the reference plane of the machine frame (3) transverse to the working direction (A) of the road milling machine from the left distance value (VL) and the right distance value (VR), and to derive a lateral inclination theoretical value from the lateral inclination value and the machine frame inclination value for successively consecutive travel points, wherein the lift position of the lifting mechanism (7A) of the right rear walking mechanism (7) is set such that the difference (ΔV) between the lateral inclination theoretical value and the machine frame inclination value is minimized when the road milling machine is fed.

8. The self-propelled road-milling machine according to any one of claims 1 to 3, characterized in that, The distance measurement mechanism (18) is configured such that a reference point (R) with respect to the machine frame (3) is located on the longitudinal side of the machine frame (3).

9. A method for controlling a self-propelled road milling machine, wherein, The road milling machine has: a machine frame supported by a running mechanism having a left front walking mechanism and a right front walking mechanism and a left rear walking mechanism and a right rear walking mechanism, a milling roller arranged on the machine frame, a lifting mechanism assigned to the front walking mechanisms and the rear walking mechanisms, which lifting mechanism can be retracted or extended in order to lift or lower the front walking mechanisms and the rear walking mechanisms relative to the machine frame, wherein the lifting mechanisms of the front walking mechanisms are positively coupled to one another such that a lifting of the left front walking mechanism causes a lowering of the right front walking mechanism and a lowering of the left front walking mechanism causes a lifting of the right front walking mechanism, or a lifting mechanism assigned to the front walking mechanisms and the rear walking mechanisms, which lifting mechanism can be retracted or extended in order to lift or lower the front walking mechanisms and the rear walking mechanisms relative to the machine frame, wherein the lifting mechanisms of the front walking mechanisms are positively coupled to one another such that a lifting of the left front walking mechanism causes a lowering of the right front walking mechanism and a lowering of the left front walking mechanism causes a lifting of the right front walking mechanism, or To the rear traveling mechanisms are assigned lifting mechanisms which can be retracted or extended respectively to lift or lower the rear traveling mechanisms relative to the machine frame, wherein the front traveling mechanisms are connected to the machine frame in a swingably supported manner such that a lifting of the left front traveling mechanism causes a lowering of the right front traveling mechanism and a lowering of the left front traveling mechanism causes a lifting of the right front traveling mechanism, a distance between a reference point relative to the machine frame and the ground surface is measured and a distance value is derived, characterized in that a position of the left front traveling mechanism and / or of the right front traveling mechanism relative to the machine frame is detected and a transverse inclination value which describes a transverse inclination of the ground surface transverse to the working direction of the road milling machine is derived from the position of the left front traveling mechanism and / or of the right front traveling mechanism, and the lifting mechanisms of at least the rear traveling mechanisms are actuated depending on at least the distance value and the transverse inclination value such that the longitudinal axis of the milling roller is oriented substantially parallel to the ground surface to be processed.

10. The method of claim 9, wherein, The derived transverse inclination values are monitored during the feed of the road milling machine, wherein at least one of the rear traveling mechanisms is lifted or lowered by an amount after a change in the transverse inclination between successively consecutive track points of a track traveled by the road milling machine has been found, such that the longitudinal axis of the milling roller is again oriented substantially parallel to the ground surface to be processed.

11. The method of claim 10, wherein, Only after a preset time interval has elapsed or after a preset track has been traveled, at least one of the rear traveling mechanisms is lifted or lowered by an amount after a change in the transverse inclination between successively consecutive track points has been found, wherein the preset time interval is determined depending on the feed speed of the road milling machine.

12. The method according to any one of claims 9 to 11, characterized in that, The transverse inclination values derived at successively consecutive points in time and / or at successively consecutive track points are stored.

13. The method according to any one of claims 9 to 11, characterized in that, The reference point relative to the machine frame is located on the longitudinal side of the machine frame.

14. The method according to any one of claims 9 to 11, characterized in that, A left distance value which relates to the position of the left front traveling mechanism relative to the machine frame in the working direction and a right distance value which relates to the position of the right front traveling mechanism relative to the machine frame in the working direction are derived, wherein when the left distance value decreases and the right distance value increases during the feed of the road milling machine, the right rear traveling mechanism is lifted relative to the machine frame, and when the left distance value increases and the right distance value decreases during the feed of the road milling machine, the right rear traveling mechanism is lowered, such that the longitudinal axis of the milling roller remains substantially parallel to the unprocessed ground surface during the feed of the road milling machine.

15. The method of any one of claims 9-11, wherein, A left distance value which relates to the position of the left front traveling mechanism relative to the machine frame in the working direction and a right distance value which relates to the position of the right front traveling mechanism relative to the machine frame in the working direction are derived, characterized in that the lift position of the lifting mechanism of the right rear traveling mechanism is set during the feed of the road milling machine such that the difference between the distance values measured with the left and right distance sensors is minimized.

16. The method of any one of claims 9-11, wherein, a left spacing value relating to the position of the left front walking mechanism relative to the machine frame in the working direction and a right spacing value relating to the position of the right front walking mechanism relative to the machine frame in the working direction are derived, wherein a transverse inclination value describing the transverse inclination of the ground surface relative to the reference plane of the machine frame transverse to the working direction of the road milling machine is derived from the left spacing value and the right spacing value, and a transverse inclination theoretical value is derived from the transverse inclination value and the machine frame inclination value for the successive consecutive stroke points, which transverse inclination theoretical value is compared with the machine frame inclination value, wherein the lift position of the lifting mechanism of the right rear walking mechanism is set when the road milling machine is fed such that the difference between the transverse inclination theoretical value and the machine frame inclination value is minimized.

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