Self-propelled ground treatment machine, control method therefor and method of treating ground therewith

Abstract

The invention relates to a self-propelled ground treatment machine, in particular a road milling machine, having a machine frame (3) supported by a travel mechanism; a ground treatment device, in particular a milling drum (10), arranged on the machine frame (3); and a lifting device (4A, 5A, 6A, 7A) assigned to the travel mechanism (4, 5, 6, 7). The ground treatment machine is characterized by a transverse inclination model determination device (17) which provides information about the transverse inclination (a) of the machine frame (3) or the milling drum (10) to be set after a preceding work process in order to carry out a work process following the preceding work process, so that the subsequent work process can be carried out even if there is no suitable reference surface on one side of the treated route section to determine the distance value for the milling depth control. Furthermore, the invention relates to a method for controlling a ground treatment machine and a method for treating a ground surface with one or more self-propelled ground treatment machines.

Description

Technical Field

[0001] This invention relates to a self-propelled ground treatment machine (particularly a road milling machine) having a mechanical frame supported by a traveling mechanism; a ground treatment device (particularly a milling drum) arranged on the mechanical frame; and a lifting device assigned to the traveling mechanism. Furthermore, this invention relates to a method for controlling the self-propelled ground treatment machine (particularly a road milling machine). Additionally, this invention relates to a method for treating the ground with a self-propelled ground treatment machine (particularly a road milling machine), wherein adjacent tracks are treated by the ground treatment machine in continuous operation, and to a method for simultaneously treating a first track with a first self-propelled ground treatment machine (particularly a road milling machine) and a second track with a second self-propelled ground treatment machine (particularly a road milling machine). This invention also relates to a mechanical combination of multiple ground treatment machines for simultaneously treating the ground. Background Technology

[0002] In the following text, the term "ground handling machinery" is understood to refer to construction machinery suitable for removing materials from the ground. The ground to be handled may be, for example, an existing traffic area (road) from which materials are to be milled.

[0003] In road construction, self-propelled road treatment machinery of various designs is used. These machines include known road milling machines, which can remove existing road layers from the road superstructure. Known road milling machines have a rotary milling drum equipped with milling tools for treating the road surface. The milling drum is mounted on a height-adjustable mechanical frame relative to the road to be treated. The height adjustment of the mechanical frame is achieved via lifting devices assigned to each of the various walking mechanisms (tracks or wheels). To mill the damaged road surface, the mechanical frame is lowered so that the milling drum penetrates the road surface. The lifting devices not only allow for height adjustment of the mechanical frame or the milling drum but also allow for the setting of a predetermined tilt of the mechanical frame or the milling drum relative to the horizontal direction or the road surface.

[0004] To accurately set the milling depth and the lateral tilt in a direction transverse to the working direction of the road milling machine, known road milling machines have a milling depth control device or leveling system, which includes one or more measuring devices for measuring the distance between a reference point on the road milling machine and the road surface to be treated, or another surface or line (e.g., a plane crossed by a laser or tension line). The milling depth control device or leveling system typically also includes a measuring device for measuring the lateral tilt of the machine frame.

[0005] A leveling device for a road milling machine is known from DE 10 200 6 020 293 A1. This leveling device has distance measuring devices on both the left and right sides of the road milling machine for detecting the actual value of the milling depth. The milling depth on the left and right sides of the machine can be controlled based on the deviation between the measured actual value and the target value.

[0006] The road to be processed can have different profiles, where the lateral slope can vary. In a right-hand curve, the road surface slopes to the right relative to the horizontal in the direction of travel, while in a left-hand curve it slopes to the left. The road can slope to one side or the other on straight sections. Therefore, the lateral slope of the road can change as the route progresses.

[0007] At the start of the milling operation, the ground treatment machinery is positioned on the driveway. The lifting device assigned to the traveling mechanism is then retracted, causing the machinery frame to descend along with the milling drum. The machinery frame descends until the milling tools of the rotating milling drum just contact the road surface. This process is called "scraping." In this case, the milling drum, or its axis, should be oriented with a predetermined lateral tilt relative to the horizontal direction (specifically parallel to the road surface to be treated), thus determining the orientation of the machinery frame on which the milling drum is mounted. This lateral tilt can also be zero.

[0008] To treat a portion of the road on the inside of a lane, the milling depth can be measured on both sides of the road milling machine. For this purpose, the distance from a reference point relative to the machine frame and located on the left side of the milling drum in the working direction to the untreated ground on the left can be measured, and the distance from a reference point relative to the machine frame and located on the right side of the milling drum to the untreated ground on the right can be measured. To mill the portion of the road on the outside of the lane, the milling depth can be measured on the left side of the milling drum. However, a suitable reference surface does not exist on the right side of the construction machinery. For this reason, distance measurements at the right lane edge are not easy to perform. Guide wires can be laid for distance measurements on the right side of the construction machinery, but this has proven to be relatively complex in practice.

[0009] In the current situation, the milling depth on the right side of the ground handling machinery can also be controlled by the lateral tilt of the machinery frame or milling drum relative to the horizontal direction, which can be detected by a tilt sensor during machinery movement. Tilting the ground handling machinery to the left results in a decrease in the milling depth on the right side, and tilting the milling machinery to the right results in an increase in the milling depth on the right side. However, in order to set the right-side milling depth by changing the lateral tilt of the machinery frame, the tilt to be set (target value) must be known throughout the entire route. For this reason, additional information (data) about the tilt profile along the section of the route to be processed must be provided before the milling operation begins. In practice, this requires walking along the section of the route to be processed, measuring the lateral tilt, and applying appropriate markings to the lane.

[0010] DE 10 201 4 018 082 A1 describes an automated method for controlling a milling machine, wherein a camera is used to detect markings attached to a lane in order to generate control commands assigned to the markings. Summary of the Invention

[0011] The object of this invention is to create a ground treatment machine capable of precisely treating the ground, particularly allowing precise treatment without requiring additional information about the lateral slope of the ground surface prior to milling operations, even when a suitable reference surface for determining distance values ​​is absent on one side of the section of the route to be treated. Furthermore, the object of this invention is to specify a corresponding method for controlling the ground treatment machine, and a method for treating the ground with the machine during continuous operation or simultaneously with two or more ground treatment machines, allowing precise treatment even when a suitable reference surface is absent on one side of the machine, particularly when no additional information about the lateral slope of the ground surface is provided prior to milling operations. In this case, precise treatment of the ground should also be possible if the lateral slope of the section of the route to be treated changes during the course of the route (e.g., in curves or during the transition from a straight section to a curve, or vice versa).

[0012] These objectives are achieved according to the invention by the features of the independent claims. The subject matter of the dependent claims relates to advantageous embodiments of the invention.

[0013] The embodiments of the invention described below may include one or more features or combinations of features mentioned below. If the indefinite article is not to be construed as an explicit indication of use only once, the feature indicated by the indefinite article may also appear multiple times. Features indicated by numbers, such as "first" and "second," do not preclude these features from appearing more times than the number indicated by numbers. Throughout the description of all embodiments, the expression "may" should also be understood as "preferably" or "conveniently."

[0014] The self-propelled ground treatment machinery (particularly a road milling machine) according to the invention has a mechanical frame supported by a traveling mechanism and ground treatment devices (particularly milling drums) arranged on the mechanical frame. A lifting device is assigned to the traveling mechanism, which can retract or extend to lower or raise the traveling mechanism relative to the mechanical frame. Furthermore, the ground treatment machinery has a control device configured to generate control signals for the lifting device. This control device may be at least partially part of the central control and computing unit of the ground treatment machinery, or may form a separate component, wherein the control device may also comprise multiple units. The lifting device is designed such that the traveling mechanism retracts or extends according to the control signals.

[0015] The self-propelled ground treatment machinery according to the invention is characterized by a lateral tilt model determining device, which provides information on the lateral tilt to be set about the longitudinal axis of the mechanical frame or ground treatment device (especially the milling drum) required for performing subsequent operations during previous operations, so that subsequent operations can be performed even if a suitable reference surface for determining distance values ​​is not available on one side of the route to be treated.

[0016] The lateral tilt model determining device according to the invention includes a lateral tilt sensor designed to determine a series of lateral tilt values ​​describing the lateral tilt of the treated ground in a direction transverse to the working direction, particularly for milling the route portion on the outer side of the lane, during the advance of the ground treatment machinery, in a previous operation (particularly during milling of the route portion on the inner side of the lane). Furthermore, the lateral tilt model determining device includes an evaluation device designed to create a lateral tilt model describing the lateral tilt from the series of lateral tilt values. Additionally, the lateral tilt model determining device includes a storage device for storing the lateral tilt model determined in the previous operation.

[0017] The control device is configured to provide a lateral tilt recording mode for a previous trajectory, wherein during the advance of the ground handling machinery, a lateral tilt value is determined in the previous trajectory using a lateral tilt sensor, and an evaluation device is used to create a lateral tilt model from the lateral tilt value for following the previous trajectory, and the lateral tilt model is stored in a storage device.

[0018] Furthermore, the control device is configured to provide a lateral tilt control mode for a trajectory following a previous trajectory, wherein, as the ground handling machinery advances in the subsequent trajectory, control of at least one lifting device is performed based on a lateral tilt value determined from a lateral tilt model read from a storage device. As a result, ground handling is simplified and accelerated.

[0019] For the basic principles of this invention, the design of the lateral slope model is irrelevant. However, the lateral slope model should be designed such that all information (data) required for controlling the lateral slope is provided to the model. Suitable models for this purpose are known to those skilled in the art. A particularly suitable model is the known TIN model (Triangular Irregular Network model), which models the lateral slope of the desired terrain surface using a triangular mesh. Through interpolation, the TIN model allows the determination of the lateral slope at all points located within or on the triangles forming the TIN model. The methods or algorithms required for this purpose are known to those skilled in the art.

[0020] The above-described embodiments of the ground handling machinery allow the same machinery to handle adjacent lanes in consecutive operation steps. However, it is also possible to handle adjacent lanes simultaneously with two or more ground handling machines. If one ground handling machine is running ahead of another in the longitudinal direction of the route progress, i.e., the ground handling machines are not running adjacent to each other at the same level, it is impossible to achieve a seamless transition between individual lanes, which is precisely our goal.

[0021] A combination of one of two ground handling machines according to the invention and another ground handling machine according to the invention for performing ground handling has a lateral tilt model transmission device, which has a data transmission device, wherein the data transmission device is designed such that the lateral tilt model is sent to a data receiving device of another ground handling machine traveling on another track or to a cloud. The control device is configured to provide a lateral tilt recording mode in which, during the movement of the ground handling machine on one track, a lateral tilt value is determined using a lateral tilt sensor, and a lateral tilt model is created from the lateral tilt value using an evaluation device, and the lateral tilt model is sent to a data receiving device of another ground handling machine traveling on another track or to a cloud, such that the lateral tilt of the mechanical frame or ground handling device (particularly the milling drum) of the other ground handling machine can be automatically set using the information (data) provided by the lateral tilt model.

[0022] The other ground handling machinery has a lateral tilt model transmission device with a data receiving device designed to receive a lateral tilt model from a data transmission device of the ground handling machinery or from the cloud, wherein the control device is configured to provide a lateral tilt control mode in which, while the ground handling machinery is advancing on a trajectory other than a trajectory with a determined lateral tilt, the control of at least one lifting device is performed at least based on a lateral tilt value determined based on the lateral tilt model.

[0023] However, the two ground handling machines can also have data transmission and data receiving devices, allowing them to perform two tasks simultaneously. The two machines can also have storage devices for storing lateral tilt models, enabling either machine to handle the ground during continuous operations instead of the other.

[0024] The control device of the self-propelled ground treatment machinery preferably includes a first measuring device and a second measuring device. The first measuring device is used to measure the distance from a reference point on the ground treatment machinery to the surface of the untreated ground on one side of the ground treatment machinery along the operating direction of the ground treatment machinery. The second measuring device is used to measure the distance from the reference point on the ground treatment machinery to the surface of the untreated ground on the other side of the ground treatment machinery along the operating direction of the ground treatment machinery. The term "the other side" should be understood as referring to the side opposite to the first side. The first side can be the left side in the operating direction, and the other side can be the right side in the operating direction, and vice versa. However, both measuring devices are only necessary for the preceding operation process. For leveling in subsequent operations, since lateral tilt control is performed in subsequent operations, the measuring device is only needed on one of the two sides.

[0025] To create a lateral tilt model, the control device can be configured to control the lifting device in lateral tilt recording mode, such that during the advance of the ground handling machinery, the milling depth detected by a first measuring device on one side of the ground handling machinery and by a second measuring device on the other side of the ground handling machinery remain substantially constant (contour milling), regardless of the nature of the milled surface. The milling depth specified on both sides of the ground handling machinery during previous operations defines the lateral tilt, based on which subsequent operations can be performed.

[0026] In the lateral tilt control mode, the control device can be configured to control at least one of the lifting devices such that, during the advance of the ground handling machinery, if two measuring devices are present, the milling depth detected by one of the two measuring devices remains substantially constant on one side of the ground handling device, regardless of the nature of the ground surface. Subsequently, at least one lifting device is controlled such that, based on a lateral tilt value determined according to the lateral tilt model, the lateral tilt adopted by the mechanical frame during the advance of the ground handling machinery corresponds to the lateral tilt predetermined by the lateral tilt model.

[0027] Ground-based processing machinery can have a position determination device, wherein the control unit is designed to determine position-related lateral tilt values ​​from lateral tilt values ​​in order to generate a lateral tilt model, wherein the position-related lateral tilt values ​​can involve a coordinate system independent of the ground-based processing machinery. If lateral tilt values ​​are recorded at specific path points, these path points (position points) can be determined by coordinates in a coordinate system independent of the ground-based processing machinery. The position-related lateral tilt values ​​can include the x and y coordinates of these position points (where the lateral tilt is measured by a lateral tilt sensor), which are determined by the position determination device in an independent coordinate system. The position determination device used to determine the position-related lateral tilt values ​​can, for example, be a Global Navigation Satellite System (GNSS).

[0028] The first and / or second measuring devices may have at least one distance sensor, which may be a contact or non-contact distance sensor. Such a distance measurement system is prior art. For example, optical, inductive, capacitive, or ultrasonic distance sensors can be used as non-contact distance sensors. For example, the edge protection device of a road milling machine, typically located next to the milling drum, can also be used as a contact sensor for the distance measuring device. For example, a traction line sensor can detect the position of the left and / or right edge protectors relative to the machine frame in the working direction, the protectors being floated on the surface to be treated. If the milling depth increases, the amount by which the edge protectors move upward relative to the machine frame corresponds to the change in milling depth. Conversely, if the milling depth decreases, the amount by which the edge protectors move downward relative to the machine frame corresponds to the change in milling depth.

[0029] The method for controlling a self-propelled ground handling machine (particularly a road milling machine) according to the invention, and the method for handling ground according to the invention, are characterized by a lateral tilt recording mode, in which, during the advance of the ground handling machine on a trajectory, a series of lateral tilt values ​​describing the lateral tilt of the handled ground in the direction transverse to the working direction are determined, a lateral tilt model describing the lateral tilt is created from the series of lateral tilt values, and the lateral tilt model is stored. Furthermore, the method according to the invention is characterized by a lateral tilt control mode, in which, during the advance of the ground handling machine on a trajectory other than the trajectory for which the lateral tilt values ​​have been determined, the control of at least one lifting device is performed at least based on the lateral tilt values ​​determined based on the stored lateral tilt model.

[0030] Furthermore, the present invention relates to a method for treating a ground surface with a self-propelled ground treatment machine (particularly a road milling machine), the self-propelled ground treatment machine having a mechanical frame supported by a traveling mechanism; a ground treatment device, particularly a milling drum, arranged on the mechanical frame; and a lifting device assigned to the traveling mechanism for raising and lowering the traveling mechanism relative to the mechanical frame. In the method according to the invention, adjacent tracks are treated by the ground treatment machine in continuous operation. The method according to the invention is characterized in that, during the treatment of a previous track, while the ground treatment machine is advancing, a series of lateral tilt values ​​describing the lateral tilt of the treated ground in a direction transverse to the working direction are determined; a lateral tilt model describing the lateral tilt for treating subsequent tracks is created from the series of lateral tilt values; the lateral tilt model is stored; and during the treatment of a track following the previous track, while the ground treatment machine is advancing, control of at least one lifting device is performed at least based on the lateral tilt values ​​determined based on the stored lateral tilt model. Therefore, the method according to the invention includes a lateral tilt recording mode and a lateral tilt control mode.

[0031] In the lateral tilt recording mode, the lifting device can be controlled such that, during the forward movement of the ground treatment machinery, the milling depth detected by the first measuring device and the milling depth detected by the second measuring device remain substantially constant, regardless of the nature of the ground. The first measuring device is arranged on one side of the ground treatment device along the working direction, and the second measuring device is arranged on the other side of the ground treatment device (i.e., the side opposite to the first side) along the working direction.

[0032] To create a lateral tilt model, position-related lateral tilt values ​​can be determined from lateral tilt values ​​identified in a lateral tilt recording pattern. These position-related lateral tilt values ​​include the x and y coordinates describing the location of the points, and the lateral tilt determined at those points. To create the lateral tilt model, it is sufficient to detect the lateral tilt at only a few feature points of the lateral tilt profile.

[0033] Furthermore, the present invention relates to a method for simultaneously processing a ground surface using a first self-propelled ground processing machine and a second self-propelled ground processing machine, the first and second being, in particular, road milling machines. Both the first and second machines have a mechanical frame supported by a traveling mechanism; a ground processing device, in particular a milling drum, arranged on the mechanical frame; a lifting device assigned to the traveling mechanism for raising and lowering the traveling mechanism relative to the mechanical frame; and a control device for actuating the lifting device, wherein adjacent first and second tracks are processed simultaneously by the first and second ground processing machines, respectively. The method according to the invention is not limited to processing the ground surface using only two ground processing machines. The ground surface can also be processed using more than two ground processing machines. Crucially, during the operation of one machine, information regarding the lateral tilt α of the mechanical frame or milling drum, necessary for performing the operation with another machine or other machinery, is provided.

[0034] In the lateral tilt recording mode, during the processing of the first trajectory and the forward movement of the first ground handling machinery, a series of lateral tilt values ​​describing the lateral tilt of the processed ground in the direction transverse to the working direction can be determined. A lateral tilt model describing the lateral tilt can be created from this series of lateral tilt values, and the lateral tilt model can be transmitted to the second ground handling machinery. In the lateral tilt control mode, during the processing of the second trajectory with the second ground handling machinery, the control of at least one lifting device can be performed at least based on the lateral tilt values ​​determined from the lateral tilt model received from the first ground handling machinery. Information (data) can be transmitted via the cloud. Attached Figure Description

[0035] Exemplary embodiments of the ground processing machinery according to the present invention will now be described in detail with reference to the accompanying drawings.

[0036] As shown below:

[0037] Figure 1 This is a side view of an exemplary embodiment of the ground handling machinery according to the present invention;

[0038] Figure 2 It is a simplified schematic representation of the various components of ground handling machinery;

[0039] Figure 3 This is a plan view of the road being processed by ground handling machinery, specifically the section of the road on the inside of the lanes.

[0040] Figure 4 yes Figure 3 Rear view of the ground handling machinery;

[0041] Figure 5 It is the lateral slope profile in the curve;

[0042] Figure 6 This is a plan view of the road being processed by ground handling machinery, where the machinery is processing the section of the road outside the lanes;

[0043] Figure 7 yes Figure 6 Rear view of the ground handling machinery;

[0044] Figure 8 This is a plan view of a traffic area, which is simultaneously processed by two ground handling machines in a mechanical combination.

[0045] Figure 9 This is a plan view of a traffic area in another exemplary embodiment, wherein the traffic area is simultaneously processed by a combination of multiple ground handling machines.

[0046] Figure 10 This is a plan view of a traffic area in another exemplary embodiment having multiple ground handling machines;

[0047] Figure 11 This is a plan view of a traffic area in another exemplary embodiment having multiple ground handling machines; and

[0048] Figure 12 It is a plan view of a road processed by ground handling machinery, in which the road has straight sections that transition into curves. Detailed Implementation

[0049] Figure 1 This is a side view of an exemplary embodiment of a self-propelled ground treatment machine 1. In this exemplary embodiment, the ground treatment machine is a road milling machine, and the ground to be treated is a road. Hereinafter, one side of the ground treatment machine along the working direction is referred to as the left side of the ground treatment machine, and the other side of the ground treatment machine along the working direction is referred to as the right side of the ground treatment machine, wherein the ground treatment machine is intended for treating roads for right-hand traffic. Figure 2 The various components of the ground handling machinery 1 are shown in a simplified schematic representation, wherein corresponding components are given the same reference numerals.

[0050] The ground handling machinery 1 has a base frame 2 and a mechanical frame 3. The base frame 2 has a left front traveling mechanism 4 and a right front traveling mechanism 5 in the working direction A, and a left rear traveling mechanism 6 and a right rear traveling mechanism 7 in the working direction A. Track units or wheels can be configured as traveling mechanism units.

[0051] To adjust the height and / or tilt of the mechanical frame 3 relative to the ground surface 8 (road surface), the ground handling machinery 1 has lifting devices 4A, 5A, 6A, and 7A, which are assigned to the respective traveling mechanisms 4, 5, 6, and 7 and support the mechanical frame 3. Each lifting device 4A, 5A, 6A, and 7A has a piston / cylinder arrangement structure 9 for adjusting the traveling mechanism unit.

[0052] The rear travel mechanisms 4 and 5 of the ground handling machine 1 are hydraulically coupled to each other, such that raising the left rear travel mechanism 4 causes lowering the right rear travel mechanism 5, and lowering the left rear travel mechanism 4 causes raising the right rear travel mechanism 5. However, the travel mechanisms can also be mechanically coupled. Instead of the rear axle, the front axle can also be force-coupled, for example, in the case of some compact or small milling machines. For example, a hydraulic coupling of the front axle's travel mechanism is described in DE 196 17 442 C1. However, all four travel mechanisms can also be force-coupled (EP 1 855 899 A1). Instead of a front or rear force-coupled axle, the corresponding axle can also be formed by a single central travel mechanism. For the present invention, the chassis design is ultimately irrelevant.

[0053] The ground handling machinery 1 also has a milling drum 10, which is equipped with milling tools and is arranged in the milling drum housing 11 between the front travel mechanisms 4, 5 and the rear travel mechanisms 6, 7 in the mechanical frame 3. The milling drum housing 11 is closed on the longitudinal side by a left edge protector 12 and a right edge protector 13.

[0054] The piston / cylinder arrangement structure 9 of the retractable and extendable lifting devices 4A, 5A, 6A, and 7A allows the height and / or inclination of the mechanical frame 3 and the milling drum 10 arranged on the mechanical frame to be set relative to the base surface 8. A conveyor device with a conveyor belt is provided for removing the milled road surface.

[0055] The ground handling machinery 1 has a first distance measuring device 14 and a second distance measuring device 15. The first distance measuring device 14 is on the left side in the working direction and is designed to measure the distance between a first left reference point RL associated with the machinery frame 3 and the ground surface 8. The second distance measuring device 15 is on the right side in the working direction and is designed to measure the distance between a second right reference point RR associated with the machinery frame 3 and the ground surface 8.

[0056] In this exemplary embodiment, the two distance measuring devices 14 and 15 are contact measuring devices utilizing a left edge protector 12 or a right edge protector 13, which are laterally arranged beside the milling drum 10 on the left or right side of the mechanical frame 3 along the working direction between the front traveling mechanisms 4 and 5 and the rear traveling mechanisms 6 and 7. The first measuring device 14 or the second measuring device 15 has a left traction line sensor 12A or a right traction line sensor 13A, wherein the slack end of the traction lines 12AA and 13AA is fastened to the left edge protector 12 or the right edge protector 13. Figure 4 The left edge protector 12 or the right edge protector 13 rests on the ground surface 8. Traction line sensors 12A and 13A measure the distance the edge protectors 12 and 13 move up and down. Therefore, the distance between a reference point RL or RR and the ground surface 8 on which the edge protector 12 or 13 rests can be measured. If the edge protectors are secured to an adjustable height via two hydraulic cylinders (offset in the direction of travel), the height of the edge protectors can also be detected by a displacement sensor system integrated into the hydraulic cylinders.

[0057] Furthermore, the ground handling machinery 1 has a control device 16, which can be a standalone component or at least partially part of the central control and computing unit (not shown) of the construction machinery. The control device 16 may have, for example, a general-purpose processor, a digital signal processor (DSP) for continuous processing of 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 perform actuation of the lifting device and capture and evaluation of measured values. Data processing programs (software) can run on the hardware components. Combinations of various components are also possible. The control device 16 is configured to perform the various steps of the method for controlling the ground handling machinery according to the invention.

[0058] Control device 16 is connected to the traction line sensors 12A and 13A of distance measuring devices 14 and 15 via signal line 17E or data line, and generates control signals for lifting devices 4A, 5A, 6A, and 7A. Lifting devices 4A, 5A, 6A, and 7A are designed such that their piston / cylinder arrangement 9 retracts or extends according to the control signal (or as a function of the control signal), thereby raising or lowering the traveling mechanisms 4, 5, 6, and 7 relative to the mechanical frame 3. The control signal is transmitted via control or data line 18c.

[0059] See below for reference. Figure 2 and Figures 3 to 7 The schematic representation of the ground handling machinery is used to describe exemplary embodiments of the ground handling machinery and its control method according to the present invention.

[0060] The traffic area to be processed can have different contours, where the lateral slope α can vary. In a right-hand curve, the road surface can slope to the right relative to the horizontal direction in the direction of travel, and in a left-hand curve it can slope to the left. The road can slope to one side or the other on straight sections. Therefore, the lateral slope of the road can change as the route progresses. Figure 5 The lateral slope profile in the curve on the right is shown. The lateral slope of the road increases towards the center of the curve (route section a), remains the same at the center of the curve (route section b), and decreases again after the center of the curve (route section c).

[0061] In this exemplary embodiment, the ground treatment machine 1 is intended for milling the road surface from the right lane of the road. The control device 16 of the ground treatment machine 1 is configured to perform the steps described below.

[0062] Figure 3 , Figure 4 and Figure 6 , Figure 7 The road surface 8, centerline 8M, and right edge strip 8A of the left lane 8L and right lane 8R of road S are shown. In this exemplary embodiment, the working width of the milling drum 10 roughly corresponds to half the width of lane 8L or 8R. Here, the working width (milling trajectory) of the milling drum is slightly larger than half the width of the lane. The ground treatment machine 1 is used to mill the left half 8I (left milling trajectory) of the right lane 8R in the first working step I, and to mill the right half 8II (right milling trajectory) of the right lane 8R in the second working step II. Figure 3 and Figure 4 The plan view of road S and the rear view of ground handling machinery 1 in the first operation step I are shown. Figure 6 and Figure 7 A plan view of road S and a rear view of ground handling machinery 2 are shown in the second operation step II. In this exemplary embodiment, road S has a lateral inclination α to the right edge band 8A, for example, 1%, which can vary along the road's route. For better illustration, the lateral inclination α... Figure 4 and Figure 7 The claim is exaggerated.

[0063] At the start of the milling operation, the left distance measuring device 14 and the right distance measuring device 15 are calibrated; specifically, a zero point is set. The left distance measuring device 14 and the right distance measuring device 15 measure the distances between reference points RL, RR and the untreated ground surface 8. To set the zero point, with the ground milling machine 1 oriented parallel to the ground, the lifting devices 4A, 5A, 6A, and 7A are configured such that the milling drum 10 contacts the ground surface 8 only with the cylindrical side surface described by the tip of the milling tool. For this purpose, the lifting devices 4A, 5A, 6A, and 7A are retracted until the milling tool of the rotating milling drum 10 begins to scrape the ground, with the milling drum axis 10A oriented parallel to the ground surface. This process is also called scraping. When the milling tool contacts the ground surface 8, the left distance measuring device 14 and the right distance measuring device 15 are set to zero. As the lifting devices 4A, 5A, 6A, and 7A are further retracted and the milling drum 10 penetrates the substrate, a negative distance value is determined. The amount of the distance value corresponds to the milling depth. In this exemplary embodiment, a milling depth of, for example, 40 mm is set. For this purpose, for example, the left front travel mechanism 4 is lowered by 40 mm and the right front travel mechanism 5 is lowered by 40 mm, and the left rear travel mechanism 6 is lowered by 40 mm together with the right rear travel mechanism 7, resulting in a milling depth of 40 mm.

[0064] In this exemplary embodiment, the road surface to be processed by the milling drum 10 represents an untreated surface, i.e., a road surface with approximately the same layer thickness is removed across the entire width of the milling drum in the longitudinal direction of the road S, such that the lateral slope α of the road S remains substantially unchanged. This process is also known as contour milling. However, the lateral slope of the road can also be changed, wherein the surface of the milled road does not extend parallel to the untreated road surface.

[0065] During the forward movement of the ground handling machine 1, the current milling depth on the right and left sides of the milling drum 10 is detected by two measuring devices 14 and 15. If one of the measuring devices 14 and 15 detects a deviation in milling depth, a corresponding correction is performed.

[0066] The control device 16 is configured to generate control signals for the lifting devices 4A, 5A, 6A, and 7A, causing the lifting devices to retract or extend according to the measurement signals of the traction line sensors 12A and 13A, so that the milling depth on the left and right sides of the milling drum 10 along the working direction remains substantially constant during the advance of the road milling machine, regardless of the nature of the ground.

[0067] In the ground handling machinery according to the present invention, the control device 16 has a lateral tilt model determining device 17 ( Figure 2 ), which will be described below.

[0068] The lateral tilt model determination device 17 includes a lateral tilt sensor 17A, which is designed to determine a series of lateral tilt values ​​describing the lateral tilt of the ground being treated (road) in a direction transverse to the working direction A during the advance of the ground handling machinery. The lateral tilt sensor 17A measures the absolute lateral tilt α of the machinery frame 3 and the milling drum 10 or the milling drum axis 10A relative to the horizontal direction during road handling. The lateral tilt sensor 17A can be positioned at any point on the machinery frame 3. Because the machinery frame is rigid, the lateral tilt α measured at every point on the machinery frame is the same.

[0069] Furthermore, the lateral tilt model determining device 17 has an evaluation device 17B designed to create a lateral tilt model describing the lateral tilt α from a series of lateral tilt values. This lateral tilt model describes the lateral tilt α of a (future) milling trajectory (in this exemplary embodiment, the right half of the right lane 8R) other than the milling trajectory currently being processed by the ground processing machinery. The ground processing machinery lateral tilt model is designed to extrapolate the lateral tilt α detected in the left milling trajectory currently being processed by the ground processing machinery to the lane portions to the right and / or left of that trajectory. The portion covered by the lateral tilt model should have a width sufficient to allow the portion to reach at least the next (right) milling trajectory, but it can also be selected to be wide enough to cover two or more laterally adjacent milling trajectories on the left and / or right. Typically, because the road S has the same lateral tilt α across its entire width, the lateral tilt in the lane portions to the right and / or left of the milling trajectory currently being processed by the ground processing machinery corresponds to the lateral tilt of the currently processed milling trajectory. Furthermore, the lateral tilt model determination device 17 includes a storage device 17C configured to store the lateral tilt model.

[0070] The control device 16 is configured to set a lateral tilt recording mode in which, during the forward movement of the ground handling machinery 1, a lateral tilt value is determined using a lateral tilt sensor 17A, and a lateral tilt model is created from the lateral tilt value using an evaluation device 17B, and the lateral tilt model is stored in a storage device 17C.

[0071] When the ground handling machinery processes the inner half 8I of the right lane 8R, the machinery operates in lateral tilt recording mode to create a lateral tilt model for processing the outer half 8II of the right lane 8R. In lateral tilt recording mode, the lateral tilt α of the road S is detected continuously or discontinuously using a lateral tilt sensor 17A during the movement of the ground handling machinery. Lateral tilt α can be measured at specific time intervals, covering specific distances. These time intervals can be determined by a predetermined clock frequency. During the movement of the ground handling machinery, the lateral tilt can be measured at regular intervals (e.g., from 10 cm to 100 cm) while the travel speed remains constant. These distances can also be larger or smaller; for example, the distance can be statically or dynamically changed based on machinery parameters (particularly based on milling width or the current steering angle). Lateral tilt α can also be detected at irregular intervals.

[0072] In this exemplary embodiment, it is assumed that the lateral tilt α of road S is detected discontinuously at constant intervals. Therefore, during the advance of the ground handling machinery, the lateral tilt sensor 17A is used to detect the lateral tilt at consecutive path points PW1, PW2, PW3, ..., PW on road S located on a common axis. n The lateral slope α of the treated ground surface is measured at the location. In this exemplary embodiment, the axis intersects the longitudinal axis 10A of the milling drum 10 at a right angle and extends along the outer right edge of the milling drum or milling track. This assumes that the lateral slope α varies in the longitudinal direction of the road S but not in the lateral direction. This is achieved by measuring the slope α at path points PW1, PW2, PW3, ..., PW... n The lateral tilt is continuously measured at specific intervals, resulting in lateral lines L1, L2, L3, ..., L n The lateral tilt α is the same in every case.

[0073] The lateral tilt model determination device 17 includes a position determination device 17D to determine a position-related lateral tilt value from the lateral tilt value. The position determination device 17D may be a Global Navigation Satellite System (GNSS) that determines path points PW1, PW2, PW3, ..., PW in a coordinate system independent of the ground processing machinery 1 for measuring the lateral tilt α. n The location. At the time point or path point PW1, PW2, PW3, ..., PW... where the lateral tilt was measured. n At that location, the position determination device 17D supplies the position value (x, y) to the measured lateral tilt value (α(x, y)).

[0074] The evaluation device 17B of the lateral tilt model determination device 17 is configured to create a lateral tilt model from a series of position-related lateral tilt values ​​(α(x, y)), which describes the lateral tilt α in a portion of road S located to the right of the milling trajectory of the ground handling machinery in this exemplary embodiment. The lateral tilt model can describe a portion of road S to the left and / or right of the milling trajectory.

[0075] In this exemplary embodiment, the evaluation device 17B evaluates data from path points PW1, PW2, PW3, ..., PW... n The lateral slope α measured at point S creates a lateral slope model that describes the lateral slope of the terrain surface in adjacent sections of road S. The lateral slope model can be a TIN model (Triangular Irregular Network (TIN)) with support points (mass points) K1, K2, K3, ..., K... n From triangle D 11 D 12 D 21 D 22 D 31 D 32 D 41 D 42 D n1 D n2 Mesh the network to create a description of all points located within the network structure (e.g., at point P). 11 P 12 P 13 P 21 P 22 P 23 ... P n1 P n2 P n3 The network structure with a lateral tilt α at the location.

[0076] Thus, in this exemplary embodiment, the path points PW1, PW2, PW3, ..., PW where the lateral tilt is measured are... n Triangle D forming a triangular structure 11 D 12 D 21 D 22 D 31 D 32 D 41 D 42 , ……, D n1 D n2 The inner support point K 11 , K 12 , K 13 , K 14 , ……, K1n However, the lateral inclination α can also be measured at other points on road S. In this exemplary embodiment, the outer support point K... 21 , K 22 , K 23 , K 24 , ……, K 2n At point K, the lateral inclination α is equal to that of the inner support point s. 11 , K 12 , K 13 , K 14 , ……, K 1n The lateral slope α of road S at any point within the triangle of the triangular structure can now be determined by interpolation of a portion of the road on at least one side of the ground handling machinery 1 using a known method or algorithm based on a lateral slope model. The lateral slope model determined using measurements in the inner half 8I is read into the storage device 17C for processing the outer half 8II. Therefore, the information required for processing the outer half 8II regarding the lateral slope α can be obtained.

[0077] Figure 6 and Figure 7 The diagram illustrates how the ground treatment machine 1 processes the outer milling trajectory (half 8II). On this milling trajectory (half 8II), the milling depth cannot be determined using the second right measuring device 15 because the right edge protector 13 is not resting on the lane but on the edge strip 8A, which does not form a suitable reference surface. Therefore, Figure 7 Only the right edge protector 13 is shown, not the right measuring device. For the milling depth on the left side, the control device 16 is set to zero because the left edge protector 12 (which is located on the left side near the milling drum 10 between the left travel mechanisms 4 and 6) rests on the milled ground, that is, 40 mm below the untreated ground surface 8.

[0078] For the processing of the outer half 8II, the control device 16 provides a lateral tilt control mode, in which, during the forward movement of the ground processing machinery, the lifting devices 4A, 5A, 6A, and 7A are controlled at least according to a lateral tilt value determined based on a lateral tilt model stored in the storage device 17C. The control device 16 is configured to continuously determine the relevant point P where the milling drum 10 is located using the position determining device 17D on the outer half 8II during the forward movement of the ground processing machinery. 11 , P 12 , P 13 , P 21 , P 22 , P 23 , ……, P n1, P n2 , P n3 The x / y coordinates of these points are determined, and the target value αsoll of the lateral tilt to be set at these points is determined using a lateral tilt model. These points P 11 , P 12 , P 13 , P 21 ,P 22 , P 23 , ……, P n1 , P n2 , P n3 This can be a point on the milling trajectory of the ground handling machinery, which is related to a reference point of the ground handling machinery (e.g., a reference point on the milling drum axis 10A of the milling drum 10, particularly the vertical center of the milling drum 10). The coordinates (x, y) of the location point, for example, P... 11 (x) 11 y 11 The position determination device 17D determines the lateral tilt α. Therefore, during the forward movement of the ground handling machinery 1, the target value αsoll of the lateral tilt α at each position point on the outer half 8II is continuously determined using the lateral tilt model (α(x,y)). The evaluation device 17B performs the calculations required for this purpose.

[0079] Control device 16 is configured to actuate the front right lifting device 7A such that the actual value of the lateral tilt corresponds to the target value. This ensures that the right milling trajectory is adjacent to the left milling trajectory with the same lateral tilt. Since the lateral tilt of the mechanical frame 3 or the milling drum 10 is controlled, it is not necessary to measure the milling depth on the right side of the mechanical frame 3, which would also be impossible due to the edge band 8A. In the case of ground handling machinery with a front swing shaft, the rear right lifting device is actuated in a similar manner. Ground handling machinery for left-hand traffic provides actuation of the left front lifting device or the left rear lifting device in a similar manner, rather than the actuation of the right front lifting device or the right rear lifting device.

[0080] The above-described operation can be performed using only one ground handling machine, wherein the determined lateral tilt model is read into and retrieved from storage device 17C. See below for reference. Figure 8 This describes an alternative embodiment of ground handling machinery, designed in combination with multiple ground handling machines for simultaneously handling traffic areas. Corresponding components are given the same reference numerals. The traffic area can be, for example, an aircraft landing runway, which will be handled by multiple ground handling machines to reduce processing time.

[0081] Figure 8 Two ground handling machines, 1 and 1', are shown in the combined operation. The individual components are... Figure 8The same reference numerals are used in the accompanying drawings. In the following text, the ground handling machine 1 on the left side of the working direction A is referred to as the first machine, and the ground handling machine 1′ on the right side is referred to as the second machine. The first machine 1 runs ahead of the second machine 1′ in the working direction A. However, more than two machines may also be used, wherein the machines move from each other in a manner that is offset laterally and longitudinally.

[0082] In this exemplary embodiment, there is no edge band that would preclude the use of the left measuring device 14 and the right measuring device 15 for controlling the milling depth; however, the use of the right milling depth control is omitted because the runway on the right side of the second ground processing machine is damaged, making the surface on its right side unusable as a reference surface. Therefore, a reference will be provided for the second machine 1'. Figure 3 , Figure 4 and Figure 6 , Figure 7 The description refers to the control of lateral tilt.

[0083] Figure 8 First ground processing machinery 1 and reference Figure 3 , Figure 4 and Figure 6 , Figure 7 The differences in the described ground processing machinery are: Figure 2 The lateral tilt model transmission device 18 shown has a data transmission device 18A, wherein the data transmission device 18A is designed to send the lateral tilt model to a data receiving device 18B of another ground processing machine traveling on another milling trajectory. Figure 8 The second ground processing machine 1' and Figure 3 , Figure 4 and Figure 6 , Figure 7 The difference between the ground handling machinery lies in the lateral tilt model transmission device 18, which has a data receiving device 18B designed to receive the lateral tilt model of another ground handling machinery 1 traveling in another milling trajectory. However, both ground handling machinery 1 and 1' may have both a data transmission device and a data receiving device. (See reference) Figure 3 , Figure 4 and Figure 6 , Figure 7 The described ground handling machinery can also have Figure 2The data transmission and / or data receiving devices shown enable the widespread use of the ground processing machinery. The data transmission and data receiving devices can be transmitting and receiving devices, which may include a radio transmitter and a radio receiver communicating directly with each other; however, the data transmission device may also transmit relevant data to the cloud, and the data receiving device may receive data from the cloud. The data transmission and data receiving devices may also communicate with each other via a WLAN (Wireless Local Area Network).

[0084] During the advance of the two ground handling machines 1 and 1', the first machine 1 sends a lateral tilt model to the second ground handling machine 1'. This lateral tilt model was previously determined in the previous route section and describes the lateral tilt α in the route section associated with the second ground handling machine 1'. During the advance of the two ground handling machines 1 and 1', the lateral tilt model determined by the first ground handling machine 1 is transmitted by the data transmission device 18A and received by the data receiving device 18b of the second ground handling machine 1', wherein the second ground handling machine 1' performs lateral tilt control based on the previously determined lateral tilt model, as referenced. Figure 3 , Figure 4 and Figure 6 , Figure 7 The first ground handling machine 1 can also send the lateral tilt model to another ground handling machine (as described above). Figure 8 (not shown in the image), which allows for the simultaneous processing of the landing runway using more than two ground handling machines.

[0085] exist Figure 8 In an exemplary embodiment, the left and right distance measuring devices of the first ground treatment machine 1 in the working direction A are not part of the left or right edge protector. However, for distance measurement, a measuring system called a multiple leveling system 19, 20 is provided on both sides, and multiple distance sensors 19A, 19B, 19C or 20A, 20B, 20C are provided on the left or right side of the machine, arranged separately from each other in the longitudinal direction of the ground being treated below, so that an average value can be calculated from the measurements of the individual sensors. The multiple leveling system may include front distance sensors 19A, 20A, center distance sensors 19B, 20B, and rear distance sensors 19C, 20C. These distance sensors can be fastened to an arm attached to one side of the machine frame 3.

[0086] The second ground handling machine 1' has only a left distance measuring device 14 in the working direction because the right distance measuring device is obsolete due to the lateral tilt control according to the invention based on a lateral tilt model. The left distance measuring device 14 can utilize a left edge protector 12, as referenced. Figure 3 , Figure 4 and Figure 6 , Figure 7 As stated above.

[0087] When a traffic area is processed by two or more ground handling machines, the TIN model must cover a sufficiently wide portion of the traffic area. Using the first ground handling machine, information regarding the desired lateral tilt α can be provided, for example, during a previous operation, for the subsequent operation performed by one or more ground handling machines.

[0088] Figure 9 An exemplary embodiment is shown, in which multiple ground handling machines 1, 1', 1'' simultaneously handle a traffic area. A first ground handling machine 1', moving forward in a central milling trajectory II, operates in a lateral tilt recording mode, wherein the lateral tilt model covers portions of the traffic area on the left and right sides of the central milling trajectory II in the working direction. The first ground handling machine 1 is a pilot machine. Following the first ground handling machine 1 are a second ground handling machine 1' (milling trajectory I) on the left side and a third ground handling machine 1'' (milling trajectory III) on the right side along the working direction. The second and third ground handling machines 1'' are sub-machines that operate in a lateral tilt control mode based on the lateral tilt model determined by the first ground handling machine 1.

[0089] Figure 10 Another exemplary embodiment is shown, wherein a first ground handling machine 1 traveling forward in an outer milling trajectory I operates in a lateral tilt recording mode, wherein the lateral tilt model covers a portion of the traffic area on the right side of the outer milling trajectory I along the working direction. The first ground handling machine 1 is a pilot machine. Following the first ground handling machine is a second ground handling machine 1' in a second milling trajectory II on the right side along the working direction, and following the second ground handling machine 1' is a third ground handling machine 1'' in a third milling trajectory III on the right side along the working direction. The second ground handling machine 1' operates in a lateral tilt control mode based on the lateral tilt model for the second milling trajectory II determined by the first ground handling machine 1. Therefore, the second ground handling machine 1' is a sub-machine of the first machine 1. If the second ground handling machine 1' operates simultaneously in the lateral tilt recording mode, then the second ground handling machine 1' can simultaneously be a pilot machine suitable for the third ground handling machine 1'', and the third ground handling machine 1'' operates in the lateral tilt control mode. Then, the second ground processing machine 1' provides a lateral tilt model that covers the third milling trajectory III, suitable for the third ground machine 1''.

[0090] Figure 11Another exemplary embodiment is shown, in which a traffic area is processed simultaneously by multiple ground handling machines. A first ground handling machine 1, traveling ahead in the outer milling trajectory I, operates in a lateral tilt recording mode, wherein the lateral tilt model covers a portion of the traffic area on the right side of the outer milling trajectory I along the working direction. The first ground handling machine 1 is a pilot machine. Following the first ground handling machine 1 is a second ground handling machine 1' in a second milling trajectory II on the right side along the working direction, wherein following the second ground handling machine is a third ground handling machine 1'' in a third milling trajectory III on the right side along the working direction. The second ground handling machine 1' and the third ground handling machine 1'' are sub-machines that operate in a lateral tilt control mode based on the lateral tilt model determined by the first ground handling machine 1.

[0091] Figure 12 A plan view of a road with a straight section that transitions into a curve is shown, wherein the road is processed by ground handling machinery 1. Figure 12 The right lane of the road on which the ground handling machinery 1 moves is shown. Ground handling machinery 1 is one of the machines described with reference to the foregoing figures. Figure 12 Each component is labeled with the same reference numerals as those in the aforementioned figures. The ground handling machine 1 processes the left half 8I (left milling trajectory) of the right lane in the working direction. As the ground handling machine 1 moves in the working direction, the TIN model of the right half 8II (right milling trajectory) of the right lane is determined. Figure 12 The triangle D of the TIN model is shown. 11 D 12 D 21 D 22 D 31 D 32 D 41 D 42 , ……, D n1 D n2 How does it change at the transition from the straight section to the curve? It is found that the shape of the triangle is determined by the radius of the curve. In the curved region, the lateral sides of adjacent triangles are no longer parallel to each other because their extensions intersect at a point located outside the dotted line. Based on the lateral inclination value determined according to the TIN model, another ground handling machine can then handle the right half of the right lane 8II (right milling track).

Claims

1. A self-propelled ground handling machine, comprising: A mechanical frame (3) supported by a walking mechanism (4, 5, 6, 7), and a ground handling device (10) arranged on the mechanical frame. Lifting devices (4A, 5A, 6A, 7A), which are assigned to the traveling mechanisms (4, 5, 6, 7), and are designed to retract or extend to lower or raise the mechanical frame (3) relative to the ground; and A control device (16) configured to generate control signals for the lifting devices (4A, 5A, 6A, 7A), wherein the lifting devices (4A, 5A, 6A, 7A) are designed such that the traveling mechanisms (4, 5, 6, 7) retract or extend according to the control signals. The control device (16) is characterized in that it has a lateral tilt model determining device (17), wherein the lateral tilt model determining device (17) comprises: Lateral tilt sensor (17A) is designed to determine a series of lateral tilt values ​​during the processing of the route portion on the inside of the lane while the ground processing machinery is advancing. The series of lateral tilt values ​​describes the lateral tilt of the processed ground in a direction transverse to the working direction (A) for the route portion on the outside of the lane. Evaluation device (17B) is designed to create a lateral inclination model describing the lateral inclination from a series of lateral inclination values ​​for the route portion on the outer side of the lane. Storage device (17C), configured to store lateral skew model; and A position determination device (17D) wherein a control device (16) is designed to determine a position-related lateral tilt value from a lateral tilt value, thereby creating a lateral tilt model, wherein the position-related lateral tilt value includes an x-coordinate and a y-coordinate describing a position point (P). 11 , P 12 , P 13 , …… P n1 , P n2 , P n3 The position of the lateral tilt (α) is determined by the position determining device (17D), and the lateral tilt angle (α) is determined by the lateral tilt angle sensor (17A) at these position points; wherein The control device (16) is configured to provide a lateral tilt recording mode for the route portion on the inner side of the lane. In this lateral tilt recording mode, during the advance of the ground handling machinery, a lateral tilt value is determined using a lateral tilt sensor (17A), and an evaluation device (17B) creates a lateral tilt model from the lateral tilt value for the route portion on the outer side of the lane. The lateral tilt model is stored in a storage device (17C). The lateral tilt model is designed to determine the lateral tilt value of a corresponding position point in the route portion on the outer side of the lane by extrapolating the lateral tilt value detected at a position point in the route portion on the inner side of the lane, and to determine the lateral tilt values ​​between corresponding position points in the route portion on the outer side of the lane by interpolation. The control device (16) is configured to provide a lateral tilt control mode for a portion of the route on the outer side of the lane, wherein at least one lifting device (4A, 5A, 6A, 7A) is controlled based on a lateral tilt value determined based on a lateral tilt model read from a storage device (17C).

2. The self-propelled ground processing machinery according to claim 1, characterized in that, The control device (16) has a first measuring device (14) and a second measuring device (15). The first measuring device (14) is used to measure the distance from a reference point (RL) on the ground treatment machine to the surface (8) of the untreated ground along the working direction (A) on one side of the ground treatment device. The second measuring device (15) is used to measure the distance from a reference point (RR) on the ground treatment machine to the surface (8) of the untreated ground along the working direction (A) on the other side of the ground treatment device.

3. The self-propelled ground processing machinery according to claim 2, characterized in that, The control device (16) is configured to actuate the lifting devices (4A, 5A, 6A, 7A) in lateral tilt recording mode so that the milling depth detected by the first measuring device (14) on one side of the ground processing machinery along the working direction (A) and the milling depth detected by the second measuring device (15) on the other side of the ground processing machinery along the working direction (A) remain substantially constant, regardless of the nature of the ground surface.

4. The self-propelled ground processing machinery according to claim 3, characterized in that, The ground handling machinery has the following features along the working direction (A): a forward traveling mechanism (4) on one side of the ground handling machinery along the working direction (A), the forward traveling mechanism (4) being equipped with a forward lifting device (4A) on one side of the ground handling machinery along the working direction (A); a forward traveling mechanism (5) on the other side of the ground handling machinery along the working direction (A), the forward traveling mechanism (5) being equipped with a forward lifting device (5A) on the other side of the ground handling machinery along the working direction (A); a rear traveling mechanism (6) on one side of the ground handling machinery along the working direction (A), the rear traveling mechanism (6) being equipped with a rear lifting device (6A) on one side of the ground handling machinery along the working direction (A); and a rear traveling mechanism (7) on the other side of the ground handling machinery along the working direction (A), the rear traveling mechanism (7) being equipped with a forward lifting device (6A) on one side of the ground handling machinery along the working direction (A). The rear lifting device (7A) on the other side of the machine; wherein the control device (16) is configured to, in the lateral tilt control mode, actuate at least the front lifting device or the rear lifting device (7A) on one side of the ground handling machine along the working direction (A) so that, during the forward movement of the ground handling machine, regardless of the nature of the ground surface, the milling depth detected by the measuring device (14) on one side along the working direction (A) remains substantially constant; wherein, in the lateral tilt control mode, at least the front lifting device or the rear lifting device (7A) on the other side of the ground handling machine along the working direction (A) is actuated at least according to the lateral tilt value determined based on the lateral tilt model so that, during the forward movement of the ground handling machine, the mechanical frame (3) adopts a lateral tilt (α) corresponding to the lateral tilt predetermined by the lateral tilt model.

5. The self-propelled ground processing machinery according to any one of claims 2 to 4, characterized in that, The first measuring device (14) and / or the second measuring device (15) have at least one distance sensor, which is a contact distance sensor or a non-contact distance sensor.

6. The self-propelled ground processing machinery according to claim 1, characterized in that, The self-propelled ground treatment machinery is a road milling machine.

7. The self-propelled ground processing machinery according to claim 1, characterized in that, The ground treatment device (10) is a milling drum.

8. A self-propelled ground handling machine, comprising: A mechanical frame (3) supported by a walking mechanism and a ground handling device (10) arranged on the mechanical frame; Lifting devices (4A, 5A, 6A, 7A), which are assigned to the traveling mechanism (4, 5, 6, 7) and are designed to retract or extend to lower or raise the mechanical frame relative to the ground; as well as A control device (16) configured to generate control signals for the lifting devices (4A, 5A, 6A, 7A), wherein the lifting devices (4A, 5A, 6A, 7A) are designed such that the traveling mechanisms (4, 5, 6, 7) retract or extend according to the control signals. The control device (16) is characterized in that it has a lateral tilt model determining device (17), wherein the lateral tilt model determining device (17) comprises: Lateral tilt sensor (17A) is designed to determine a series of lateral tilt values ​​during the processing of the route portion on the inside of the lane while the ground processing machinery is advancing. The series of lateral tilt values ​​describes the lateral tilt of the processed ground in a direction transverse to the working direction (A) for the route portion on the outside of the lane. Evaluation device (17B) is designed to create a lateral inclination model describing the lateral inclination from a series of lateral inclination values ​​for the route portion on the outer side of the lane; A position determination device (17D) wherein a control device (16) is designed to determine a position-related lateral tilt value from a lateral tilt value, thereby creating a lateral tilt model, wherein the position-related lateral tilt value includes an x-coordinate and a y-coordinate describing a position point (P). 11 , P 12 , P 13 , …… P n1 , P n2 , P n3 The position of the lateral tilt (α) is determined by the position determination device (17D), and the lateral tilt (α) is determined by the lateral tilt sensor (17A) at these position points; the lateral tilt model transmission device (18) has a data transmission device (18A) and a data receiving device (18B), wherein the data transmission device (18A) is designed to send the lateral tilt model to the data receiving device of another ground processing machine or to the cloud, and the data receiving device (18B) is designed to receive the lateral tilt model from the data transmission device of another ground processing machine or from the cloud, wherein The control device (16) is configured to provide a lateral tilt recording mode for the route portion on the inner side of the lane. In this lateral tilt recording mode, during the advance of the ground handling machinery, a lateral tilt value is determined using a lateral tilt sensor (17A), and an evaluation device (17B) is used to create a lateral tilt model from the lateral tilt value for the route portion on the outer side of the lane. The lateral tilt model is then transmitted to a data receiving device of another ground handling machinery or to the cloud. The lateral tilt model is designed to determine the lateral tilt value of a corresponding location point in the route portion on the outer side of the lane by extrapolating the lateral tilt value detected at a location point in the route portion on the inner side of the lane, and to determine the lateral tilt values ​​between corresponding location points in the route portion on the outer side of the lane by interpolation. The control device (16) is configured to provide a lateral tilt control mode for a portion of the route on the outer side of the lane, wherein, during the advance of the ground handling machinery, at least one of the lifting devices (7A) is controlled based on a lateral tilt value determined based on a lateral tilt model received from a data receiving device of another ground handling machinery or from the cloud.

9. The self-propelled ground processing machinery according to claim 8, characterized in that, The control device (16) has a first measuring device (14) and a second measuring device (15). The first measuring device (14) is used to measure the distance from a reference point (RL) on the ground treatment machine to the surface (8) of the untreated ground along the working direction (A) on one side of the ground treatment device. The second measuring device (15) is used to measure the distance from a reference point (RR) on the ground treatment machine to the surface (8) of the untreated ground along the working direction (A) on the other side of the ground treatment device.

10. The self-propelled ground processing machinery according to claim 9, characterized in that, The control device (16) is configured to actuate the lifting devices (4A, 5A, 6A, 7A) in lateral tilt recording mode so that the milling depth detected by the first measuring device (14) on one side of the ground processing machinery along the working direction (A) and the milling depth detected by the second measuring device (15) on the other side of the ground processing machinery along the working direction (A) remain substantially constant, regardless of the nature of the ground surface.

11. The self-propelled ground processing machinery according to claim 10, characterized in that, The ground handling machinery has the following features along the working direction (A): a forward traveling mechanism (4) on one side of the ground handling machinery along the working direction (A), the forward traveling mechanism (4) being equipped with a forward lifting device (4A) on one side of the ground handling machinery along the working direction (A); a forward traveling mechanism (5) on the other side of the ground handling machinery along the working direction (A), the forward traveling mechanism (5) being equipped with a forward lifting device (5A) on the other side of the ground handling machinery along the working direction (A); a rear traveling mechanism (6) on one side of the ground handling machinery along the working direction (A), the rear traveling mechanism (6) being equipped with a rear lifting device (6A) on one side of the ground handling machinery along the working direction (A); and a rear traveling mechanism (7) on the other side of the ground handling machinery along the working direction (A), the rear traveling mechanism (7) being equipped with a forward lifting device (6A) on one side of the ground handling machinery along the working direction (A). The rear lifting device (7A) on the other side of the machine; wherein the control device (16) is configured to, in the lateral tilt control mode, actuate at least the front lifting device or the rear lifting device (7A) on one side of the ground handling machine along the working direction (A) so that, during the forward movement of the ground handling machine, regardless of the nature of the ground surface, the milling depth detected by the measuring device (14) on one side along the working direction (A) remains substantially constant; wherein, in the lateral tilt control mode, at least the front lifting device or the rear lifting device (7A) on the other side of the ground handling machine along the working direction (A) is actuated at least according to the lateral tilt value determined based on the lateral tilt model so that, during the forward movement of the ground handling machine, the mechanical frame (3) adopts a lateral tilt (α) corresponding to the lateral tilt predetermined by the lateral tilt model.

12. The self-propelled ground processing machinery according to any one of claims 9 to 11, characterized in that, The first measuring device (14) and / or the second measuring device (15) have at least one distance sensor, which is a contact distance sensor or a non-contact distance sensor.

13. The self-propelled ground processing machinery according to claim 8, characterized in that, The self-propelled ground treatment machinery is a road milling machine.

14. The self-propelled ground processing machinery according to claim 8, characterized in that, The ground treatment device (10) is a milling drum.

15. A mechanical combination of multiple self-propelled ground handling machines according to claim 8.

16. A method for controlling a self-propelled ground handling machine, wherein the ground handling machine has a mechanical frame supported by a traveling mechanism; and a ground handling device arranged on the mechanical frame; A lifting device, which is assigned to the traveling mechanism, for raising and lowering the traveling mechanism relative to the mechanical frame; and a control device for actuating the lifting device; Its features are: The control of the ground handling machinery provides a lateral tilt recording mode, wherein, during the forward movement of the ground handling machinery, a series of lateral tilt values ​​describing the lateral tilt of the treated ground in the direction transverse to the working direction are determined in the trajectory; a lateral tilt model describing the lateral tilt is created from the series of lateral tilt values; and the lateral tilt model is stored. The lateral tilt model is designed to determine the lateral tilt values ​​of corresponding locations in the route portion on the outer side of the lane by extrapolating the lateral tilt values ​​detected at locations in the route portion on the inner side of the lane, and to determine the lateral tilt values ​​between corresponding locations in the route portion on the outer side of the lane by interpolation; and The control of the ground handling machinery provides a lateral tilt control mode, wherein, during the forward movement of the ground handling machinery, in a trajectory other than the trajectory for which the lateral tilt value has been determined, the control of at least one lifting device is performed based at least on the lateral tilt value determined based on a stored lateral tilt model.

17. The method according to claim 16, characterized in that, The self-propelled ground treatment machinery is a road milling machine.

18. The method according to claim 16, characterized in that, The ground treatment device is a milling drum.

19. A method for treating a ground using a self-propelled ground treatment machine, the self-propelled ground treatment machine having a mechanical frame supported by a traveling mechanism; and a ground treatment device arranged on the mechanical frame; A lifting device, which is assigned to the traveling mechanism, for raising and lowering the traveling mechanism relative to the mechanical frame; and a control device for actuating the lifting device, wherein adjacent tracks are processed by ground handling machinery in continuous operation. Its features are: During the processing of the route section on the inside of the lane, in the lateral tilt recording mode, during the advance of the ground processing machinery, a series of lateral tilt values ​​describing the lateral tilt of the processed ground in the direction transverse to the working direction are determined. A lateral tilt model describing the lateral tilt is created from the series of lateral tilt values ​​and stored for the route section on the outside of the lane. The lateral tilt model is designed to determine the lateral tilt values ​​of corresponding positions in the route section on the outside of the lane by extrapolating the lateral tilt values ​​detected at positions in the route section on the inside of the lane, and to determine the lateral tilt values ​​between corresponding positions in the route section on the outside of the lane by interpolation. as well as During the processing of the route portion on the outer side of the lane, in the lateral tilt control mode, during the advance of the ground processing machinery, the control of at least one lifting device is performed based at least on the lateral tilt value determined based on the stored lateral tilt model.

20. The method for treating the ground according to claim 19, characterized in that, The control device is configured such that, in the lateral tilt recording mode, the lifting device is actuated such that, during the forward movement of the ground handling machinery, the milling depth detected by the first measuring device arranged on one side of the ground handling machinery along the working direction and the milling depth detected by the second measuring device arranged on the other side of the ground handling machinery along the working direction remain substantially constant, regardless of the nature of the ground.

21. The method for treating the ground according to claim 20, characterized in that: The ground handling machinery has, in the working direction, a forward traveling mechanism on one side of the ground handling machinery along the working direction, which is equipped with a forward lifting device on one side of the ground handling machinery along the working direction. A forward traveling mechanism on the other side of the ground handling machinery along the working direction is equipped with a forward lifting device on the other side of the ground handling machinery along the working direction. The rear traveling mechanism on one side of the ground handling machinery along the working direction is equipped with a rear lifting device on one side of the ground handling machinery along the working direction. And a rear traveling mechanism on the other side of the ground handling machinery along the working direction, which is equipped with a rear lifting device on the other side of the ground handling machinery along the working direction; wherein, in the lateral tilt control mode, the front lifting device or the rear lifting device on at least one side of the ground handling machinery along the working direction is actuated, such that during the forward movement of the ground handling machinery, the milling depth on one side of the ground handling machinery remains substantially constant regardless of the nature of the ground surface; wherein, in the lateral tilt control mode, the front lifting device or the rear lifting device on at least one side of the ground handling machinery along the working direction is actuated at least according to the lateral tilt value determined based on the stored lateral tilt model, such that during the forward movement of the ground handling machinery, the lateral tilt of the mechanical frame corresponds to the lateral tilt predetermined by the lateral tilt model.

22. The method for treating ground according to any one of claims 19 to 21, characterized in that, To create a lateral tilt model, location-related lateral tilt values ​​are determined from the lateral tilt values.

23. The method for treating the ground according to claim 22, characterized in that, The position-related lateral tilt value includes the x-coordinate and y-coordinate, as well as the lateral tilt (α). The x-coordinate and y-coordinate describe the position point (P). 11 , P 12 ,P 13 ,…… P n1 , P n2 , P n3 The lateral tilt (α) is determined at these locations.

24. The method for treating the ground according to claim 19, characterized in that, The self-propelled ground treatment machinery is a road milling machine.

25. The method for treating the ground according to claim 19, characterized in that, The ground treatment device is a milling drum.

26. A method for simultaneously treating a ground using a first self-propelled ground treatment machine and a second self-propelled ground treatment machine, wherein both the first self-propelled ground treatment machine and the second self-propelled ground treatment machine have a mechanical frame supported by a traveling mechanism; and a ground treatment device arranged on the mechanical frame; A lifting device, which is assigned to a traveling mechanism, for raising and lowering the traveling mechanism relative to a mechanical frame; and a control device for actuating the lifting device, wherein adjacent first and second tracks are processed simultaneously by a first ground handling machine and a second ground handling machine, respectively, the first track being a route portion on the inner side of the lane and the second track being a route portion on the outer side of the lane. Its features are: During the processing of the first trajectory in the lateral tilt recording mode, while the first ground processing machine is advancing, a series of lateral tilt values ​​describing the lateral tilt of the processed ground in the direction transverse to the working direction are determined. A lateral tilt model describing the lateral tilt is created from the series of lateral tilt values, and the lateral tilt model is transmitted to the second ground processing machine. The lateral tilt model is designed to determine the lateral tilt values ​​of corresponding positions in the second trajectory by extrapolating the lateral tilt values ​​detected at positions in the first trajectory, and to determine the lateral tilt values ​​between corresponding positions in the second trajectory by interpolation. as well as During the processing of the second trajectory using the second ground handling machinery in the lateral tilt control mode, at least one lifting device is controlled based on the lateral tilt value determined based on the lateral tilt model received from the first ground handling machinery.

27. The method according to claim 26, characterized in that, The first self-propelled ground treatment machine and the second self-propelled ground treatment machine are road milling machines.

28. The method according to claim 26, characterized in that, The ground treatment device is a milling drum.

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