Milling machine control method, milling hydraulic system and milling machine

Abstract

The invention relates to the technical field of engineering machinery, and particularly discloses a milling machine control method, a milling hydraulic system and a milling machine, the milling machine control method is implemented through the milling machine, and when the milling machine works through the milling machine control method, due to the fact that the displacement of a milling pump and the displacement of a milling motor can be both adjusted, the milling machine can work stably. S20, the displacement of the milling pump and / or the displacement of the milling motor are / is adjusted, so that the rotating speed V < actual > of the milling drum is equal to V < set >. S40, judging whether the real-time pressure value P < actual > in a milling hydraulic system of the milling machine is larger than the set allowable maximum pressure value P < set >, if yes, indicating that the working resistance of a milling drum is large, and executing S40, and setting P as the maximum pressure value borne by the milling hydraulic system: reducing the rotating speed of the milling drum or reducing the running speed of the milling machine, and if not, judging that the working resistance of the milling drum is large; therefore, the pressure P < actual > in the milling hydraulic system is reduced. According to the arrangement, the rotating speed of the milling drum and the rotating speed of the engine are respectively and independently controlled, the requirements of various working conditions are met, the construction energy consumption is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of engineering machinery, and in particular to a milling machine control method, a milling machine hydraulic system and a milling machine. Background Art

[0002] Milling machines are road maintenance construction equipment, widely used in large-scale removal and stripping of surface diseases on highways, municipal transportation asphalt pavements of various grades, airport runways and port terminals, as well as roughening of cement pavements. They are large-scale road maintenance equipment that is indispensable in modern mature road maintenance construction processes. The milling drum is the main working device of the milling machine, and mainly relies on the milling cutter on the milling drum to perform cutting operations to achieve the stripping of the road surface. Among them, the milling drum works in two ways: vertical feeding and horizontal feeding. During operation, the milling machine moves forward or downward at the working speed. The milling drum rotates to drive the milling cutters evenly distributed on the drum and arranged in a spiral line. The milling cutters sequentially contact the surface of the road surface, and the road surface material is broken into particles under the impact and extrusion of the milling cutter on the milling drum.

[0003] In the prior art, the power is transmitted between the engine and the milling drum of the milling machine through the milling hydraulic system. Specifically, the milling hydraulic system includes a milling pump and a milling motor. The engine drives the input shaft of the milling pump to rotate, and the milling pump works to provide high-pressure oil to the milling motor, thereby achieving the effect of the milling motor driving the milling drum to rotate. Since the displacement of the milling pump and the milling motor are fixed, the engine speed and the milling drum speed are positively correlated, and the engine speed and the milling drum speed cannot be controlled separately, and various working conditions cannot be met, such as low engine speed and high milling speed, high engine speed and low milling speed, etc. At the same time, there are also problems of high construction energy consumption and low construction efficiency.

[0004] Therefore, a milling machine control method is urgently needed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a milling machine control method, a milling hydraulic system and a milling machine, so as to solve the problems in the related technology that the engine speed and the milling drum speed are positively correlated, the engine speed and the milling drum speed cannot be separately controlled, various working conditions cannot be met, and there are high construction energy consumption and low construction efficiency.

[0006] On the one hand, the present invention provides a control method for a milling machine, which is implemented by a milling machine, wherein the milling hydraulic system of the milling machine comprises a milling pump and a milling motor, wherein the engine of the milling machine is drivingly connected to the milling pump, the milling pump is used to provide high-pressure oil to the milling motor, the milling motor is drivingly connected to the milling drum, the displacement of the milling pump and the displacement of the milling motor can be adjusted, and the method is characterized in that it comprises:

[0007] S10: Set the milling drum speed V according to the required milling machine working effect 设 , the working effect includes the total energy consumption of the milling machine and the milling quality;

[0008] S20: Adjust the displacement of the milling pump and / or the displacement of the milling motor to make the rotation speed V of the milling drum 实 =V 设 ;

[0009] S30: The real-time pressure value of the milling hydraulic system is P 实 , judge P 实 Is it greater than P 设 If yes, execute S40, P 设 is the maximum pressure value that the milling hydraulic system can withstand;

[0010] S40: reduce the rotation speed of the milling drum and / or reduce the travel speed of the milling machine, and return to S30.

[0011] As a preferred technical solution of the milling machine control method, S10 specifically includes:

[0012] S101: Retrieving a mathematical model under a working gear corresponding to a required working effect from a database, wherein different working gears define different ranges of the milling drum speed, and the mathematical model is a model regarding the milling drum (3) speed, the driving speed of the milling machine, and the milling depth;

[0013] S102: Determine the preset rotation speed V of the milling drum according to the driving speed and the milling depth of the milling machine 设 , V 设 Included in the selected working gear.

[0014] As a preferred technical solution of the milling machine control method, the steps of establishing the database include:

[0015] B10: Establishing the database for the historical construction data of the milling machine;

[0016] B20: dividing the rotation speed of the milling drum into a plurality of working gears, each working gear corresponding to the milling machine having a different working effect;

[0017] B30: Establishing the preset speed V of the milling drum at different working gears 设 At the same time, the mathematical model of the driving speed and the milling depth of the milling machine, V 设 Included in the milling drum speed range defined by the corresponding working gear.

[0018] As an optimal technical solution for the milling machine control method, in B20, the rotation speed of the milling drum includes three working gears, namely, a high-speed working gear, a medium-speed working gear and a low-speed working gear. The rotation speed of the milling drum in the high-speed working gear is V1, 140r / min≤V1<160r / min, the rotation speed of the milling drum in the medium-speed working gear is V2, 110r / min≤V2<140r / min, and the rotation speed of the milling drum in the low-speed working gear is V3, 90r / min≤V3<110r / min.

[0019] As a preferred technical solution of the milling machine control method, S101 specifically includes:

[0020] S1011: Determine whether the working effect can determine the corresponding working gear, if yes, execute S1012, if not, execute S1013;

[0021] S1012: selecting the mathematical model under the working gear corresponding to the required working effect, and executing S102;

[0022] S1013: Select the mathematical model under the working gear with the lowest total energy consumption of the milling machine among the multiple working gears, and execute S102.

[0023] As a preferred technical solution of the milling machine control method, S40 specifically includes:

[0024] S400: Determine the milling drum speed V 实 Is it greater than the lowest speed in the selected working gear? If yes, execute S401; if no, execute S402;

[0025] S401: reducing the milling drum speed V 实 , and returns to S30;

[0026] S402: The driving speed of the milling machine is reduced, and the process returns to S30.

[0027] On the other hand, the present invention provides a milling hydraulic system that executes the milling machine control method in any of the above-mentioned schemes, wherein the milling hydraulic system includes a milling pump and a milling motor, the engine is transmission-connected to the milling pump, the milling pump is used to provide high-pressure oil to the milling motor, the milling motor is transmission-connected to the milling drum, and the displacement of the milling pump and the displacement of the milling motor can be adjusted.

[0028] As an optimal technical solution for the milling hydraulic system, the milling machine also includes a pressure sensor, a rotation speed sensor, a speed sensor and a depth sensor. The pressure sensor is used to detect the pressure of the milling hydraulic system, the rotation speed sensor is used to detect the rotation speed of the milling drum, the speed sensor is used to detect the driving speed of the milling machine, and the depth sensor is used to detect the milling depth of the milling drum.

[0029] As a preferred technical solution of the milling hydraulic system, the milling hydraulic system further includes a display panel, and the display panel is used to display information detected by the pressure sensor, the rotation speed sensor, the speed sensor and the depth sensor.

[0030] In yet another aspect, the present invention provides a milling machine that implements the milling hydraulic system in any of the above-mentioned schemes.

[0031] The beneficial effects of the present invention are:

[0032] The present invention provides a milling machine control method, a milling hydraulic system and a milling machine. The displacement of the milling pump and the displacement of the milling motor in the milling hydraulic system of the milling machine can be adjusted. When the milling machine works by the milling machine control method, the set speed V of the milling drum corresponding to the working effect to be achieved by the milling machine is first determined according to the road surface to be milled. 设 Since the displacement of the milling pump and the displacement of the milling motor can be adjusted, S20: adjust the displacement of the milling pump and / or the displacement of the milling motor to make the milling drum speed V 实 =V 设 In this process, the speed of the milling drum and the speed of the engine are independently controlled; the real-time pressure value in the milling hydraulic system of the milling machine is determined to be P 实 Is it greater than the maximum allowable pressure value P? 设 If yes, it means that the working resistance of the milling drum is large, and the pressure P in the milling hydraulic system is 实 Exceeding reasonable working pressure 设 Therefore, it is necessary to execute S40: reduce the milling drum speed and / or reduce the milling machine driving speed to reduce the pressure P in the milling hydraulic system. 实 The above settings realize independent control of the speed of the milling drum and the speed of the engine, meeting the requirements of various working conditions, thereby reducing construction energy consumption and improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Flow chart of the milling machine control method in an embodiment of the present invention;

[0034] Figure 2 It is a schematic structural diagram of a milling machine in an embodiment of the present invention.

[0035] In the figure:

[0036] 1. Milling pump; 2. Pressure sensor; 3. Milling drum; 4. Speed ​​sensor; 5. Speed ​​sensor; 6. Depth sensor. DETAILED DESCRIPTION

[0037] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] like Figure 1As shown, this embodiment provides a control method for a milling machine, wherein the milling hydraulic system of the milling machine comprises a milling pump 1 and a milling motor, wherein the engine of the milling machine is connected to the milling pump 1 by transmission, the milling pump 1 is used to provide high-pressure oil to the milling motor, the milling motor is connected to the milling drum 3 by transmission, and the displacement of the milling pump 1 and the displacement of the milling motor can be adjusted, including:

[0042] S10: Setting the rotation speed V of the milling drum 3 according to the desired working effect of the milling drum machine 设 .

[0043] S10 specifically includes:

[0044] S101: Retrieve a mathematical model under a working gear corresponding to the required working effect from a database, wherein different working gears limit different speed ranges of the milling drum 3 , and the mathematical model is a model about the speed of the milling drum 3 , the driving speed of the milling machine, and the milling depth.

[0045] The database used in this step is established at the factory. The specific establishment steps include:

[0046] B10: Establishing the database for the historical construction data of the milling machine.

[0047] In this step, a database is established for the historical construction data of the milling machine. This step is to collect the historical construction data of the milling machine and establish a database, which includes the rotation speed of the milling drum 3, the working effect corresponding to the rotation speed of the milling drum 3, the driving speed of the milling machine and the milling depth.

[0048] B20: The rotation speed of the milling drum is divided into multiple working gears, and each working gear corresponds to a different working effect of the milling machine.

[0049] In this step, by analyzing the data in the database, the rotation speed of the milling drum 3 is divided into a plurality of working gears, and each working gear corresponds to a different working effect of the milling machine. The working effect may include energy saving effect, milling pattern effect, or a comprehensive performance combining energy saving effect and milling pattern effect.

[0050] Specifically, the rotation speed of the milling drum 3 includes three working gears, namely, a high-speed working gear, a medium-speed working gear and a low-speed working gear. The rotation speed of the milling drum 3 in the high-speed working gear is V1, 140r / min≤V1<160r / min, and this high-speed working gear corresponds to a better milling pattern effect; the rotation speed of the milling drum 3 in the medium-speed working gear is V2, 110r / min≤V2<140r / min, and this medium-speed working gear corresponds to a better milling comprehensive performance; the rotation speed of the milling drum 3 in the low-speed working gear is V3, 90r / min≤V3<110r / min, and this low-speed working gear corresponds to a better energy-saving effect. This application lists three working gears and three working effects corresponding to the three working gears, but is not limited to the above three working gears and three working effects corresponding to the three working gears.

[0051] B30: Establish the preset speed V of the milling drum 3 at different working gears 设 At the same time, the mathematical model of the milling machine's driving speed and milling depth, V 设 It is included in the rotation speed range of the milling drum 3 defined by the corresponding working gear.

[0052] In this step, the preset speed V of the milling drum 3 at different working gears is established by data modeling software. 设 At the same time, a mathematical model of the milling machine's driving speed and milling depth is established, and each working gear corresponds to a mathematical model; the data modeling software can be matlab, Python, etc.

[0053] Optionally, S101 specifically includes:

[0054] S1011: Determine whether the required working effect can determine the corresponding working gear in the database, if yes, execute S1012, if not, execute S1013; in this step, taking the working gear including only high-speed working gear, medium-speed working gear and low-speed working gear as an example, when the selected working effect is relative to one of the above three working gears, then execute S1012; when the selected working effect is not relative to any of the above three working gears, then execute S1013.

[0055] S1012: Select the mathematical model under the working gear corresponding to the required working effect, and execute S102.

[0056] S1013: Select the mathematical model for the working gear with the lowest total energy consumption of the milling machine among multiple working gears, and execute S102.

[0057] In this step, since the selected working effect is not corresponding to any of the three working gears, a suitable working gear cannot be matched, so the mathematical model of the working gear with the least total energy consumption of the milling machine among multiple working gears is directly selected.

[0058] S102: Determine the preset rotation speed V of the milling drum (3) according to the driving speed and milling depth of the milling machine 设 , V 设 Included in the selected working gear.

[0059] According to the mathematical model corresponding to the selected working gear, the preset speed V of the milling drum 3 is determined by the driving speed and milling depth of the milling machine. 设 , V 设 By bringing the detected driving speed and milling depth of the milling machine into the mathematical model corresponding to the selected working gear, the preset speed V of the milling drum 3 can be obtained. 设 .

[0060] S20: Adjust the displacement of the milling pump 1 and / or the displacement of the milling motor to make the rotation speed V of the milling drum 3 实 =V 设 .

[0061] In this step, since the milling pump 1 in the milling hydraulic system is a variable hydraulic pump and the milling motor is a variable hydraulic motor, the speed V of the milling drum 3 can be adjusted without adjusting the engine speed by adjusting the displacement of the milling pump 1 and / or the displacement of the milling motor. 实 =V 设 , in order to achieve independent adjustment of the engine and the milling drum 3.

[0062] S30: The real-time pressure value in the milling hydraulic system is P 实 The maximum pressure allowed by the milling hydraulic system is P 设 , judge P 实 Is it greater than P 设 If yes, then execute S40, otherwise, execute S50. In this step, factors such as the rotation speed of the milling drum 3, the travel speed of the milling machine, the milling depth of the milling drum 3 and the road material to be milled will affect the milling force of the milling drum 3, thereby changing the real-time pressure value P in the milling hydraulic system. 实 In order to ensure the normal operation of the milling hydraulic system, it is necessary to 实 ≤P 设 .

[0063] S40: Reduce the rotation speed of the milling drum 3 or reduce the driving speed of the milling machine, and return to S30.

[0064] S40 specifically includes:

[0065] S400: Determine whether the rotation speed V real of the milling drum 3 is greater than the lowest rotation speed in the selected working gear. If yes, execute S401; if not, execute S402.

[0066] In this step, the real-time pressure value P in the milling hydraulic system is adjusted. 实 When the milling drum 3 is rotated at real time V 实 It is located in the selected working gear. Therefore, it is necessary to determine the speed V of the milling drum 3 实 Is it greater than the minimum speed in the selected working gear?

[0067] S401: Reduce the speed of the milling drum 3 V 实 , and returns to S30.

[0068] When the milling drum speed V 实 When the speed is greater than the minimum speed in the selected working gear, the milling drum 3 speed V 实 , thereby reducing the real-time pressure value P in the milling hydraulic system 实 .

[0069] S402: The driving speed of the milling machine is reduced, and the process returns to S30.

[0070] In this step, when the milling drum 3 speed V 实 When the minimum speed in the selected working gear is not established, the milling drum 3 speed V can no longer be reduced. 实 , to reduce the real-time pressure value P in the milling hydraulic system 实 Therefore, by reducing the traveling speed of the milling machine, the real-time pressure value P real in the milling hydraulic system can be reduced.

[0071] In summary, when the milling machine works by the milling machine control method, the set speed V of the milling drum 3 corresponding to the working effect to be achieved by the milling machine is first determined according to the road surface to be milled. 设 Since the displacement of the milling pump 1 and the displacement of the milling motor can be adjusted, S20: adjust the displacement of the milling pump 1 and / or the displacement of the milling motor so that the speed V of the milling drum 3 实 =V 设 In this process, the rotation speed of the milling drum 3 and the rotation speed of the engine are independently controlled; the real-time pressure value P in the milling hydraulic system of the milling machine is determined. 实 Is it greater than the maximum allowable pressure value P? 设 If yes, it means that the working resistance of the milling drum 3 is large, and the pressure P in the milling hydraulic system is 实 Exceeding reasonable working pressure 设 Therefore, it is necessary to execute S40: reduce the speed of the milling drum 3 or reduce the speed of the milling machine to reduce the pressure P in the milling hydraulic system.实 The above arrangement realizes the independent control of the rotation speed of the milling drum 3 and the rotation speed of the engine, meets the requirements of various working conditions, thereby reducing construction energy consumption and improving construction efficiency.

[0072] like Figure 2 As shown, this embodiment also provides a milling hydraulic system to execute the milling machine control method in the above scheme. The milling hydraulic system includes a milling pump 1 and a milling motor. The engine is connected to the milling pump 1 by transmission. The milling pump 1 is used to provide high-pressure oil to the milling motor. The milling motor is connected to the milling drum 3 by transmission. The displacement of the milling pump 1 and the displacement of the milling motor can be adjusted. In this embodiment, when the output power of the engine does not change, the speed of the milling drum can be adjusted by adjusting the displacement of the milling pump 1 and / or the displacement of the milling motor.

[0073] Optionally, the milling hydraulic system also includes a pressure sensor 2, a rotation speed sensor 4, a speed sensor 5 and a depth sensor 6. The pressure sensor 2 is used to detect the pressure of the milling hydraulic system, the rotation speed sensor 4 is used to detect the rotation speed of the milling drum 3, the speed sensor 5 is used to detect the driving speed of the milling machine, and the depth sensor 6 is used to detect the milling depth of the milling drum 3.

[0074] Optionally, the milling hydraulic system further comprises a display panel, which is used to display information detected by the pressure sensor 2, the rotation speed sensor 4, the speed sensor 5 and the depth sensor 6. In this embodiment, the staff can intuitively grasp the current state of the milling hydraulic system through the display panel.

[0075] This embodiment also provides a milling machine, including the milling hydraulic system in the above scheme.

[0076] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A milling machine control method, implemented by a milling machine, wherein the milling hydraulic system of the milling machine comprises a milling pump (1) and a milling motor, the engine of the milling machine is connected to the milling pump (1) by transmission, the milling pump (1) is used to provide high-pressure oil to the milling motor, the milling motor is connected to the milling drum (3) by transmission, the displacement of the milling pump (1) and the displacement of the milling motor can be adjusted, and the method is characterized in that: include: S10: Setting the rotation speed V of the milling drum (3) according to the desired working effect of the milling machine 设 , the working effect includes the total energy consumption of the milling machine and the milling quality; S20: adjusting the displacement of the milling pump (1) and / or the displacement of the milling motor so that the rotation speed V of the milling drum (3) is 实 =V 设 ; S30: The real-time pressure value of the milling hydraulic system is P 实 , judge P 实 Is it greater than P 设 If yes, execute S40, P 设 is the maximum pressure value that the milling hydraulic system can withstand; S40: reducing the rotation speed of the milling drum (3) and / or reducing the travel speed of the milling machine, and returning to S30.

2. The milling machine control method according to claim 1, characterized in that: S10 specifically includes: S101: Retrieving a mathematical model under a working gear corresponding to a required working effect from a database, wherein different working gears define different speed ranges of the milling drum (3), and the mathematical model is a model regarding the speed of the milling drum (3), the driving speed of the milling machine, and the milling depth; S102: Determine a preset rotation speed V of the milling drum (3) according to the driving speed of the milling machine and the milling depth 设 .

3. The milling machine control method according to claim 2, characterized in that: The steps of establishing the database include: B10: Establishing the database for the historical construction data of the milling machine; B20: dividing the rotation speed of the milling drum into a plurality of working gears, each working gear corresponding to the milling machine having a different working effect; B30: Under different working gears, respectively establish the preset speed V of the milling drum (3) 设 At the same time, the mathematical model of the driving speed and the milling depth of the milling machine, V 设 The rotation speed of the milling drum (3) is contained within the range defined by the corresponding working gear.

4. The milling machine control method according to claim 3, characterized in that: In B20, the rotation speed of the milling drum (3) includes three working gears, namely a high-speed working gear, a medium-speed working gear and a low-speed working gear. The rotation speed of the milling drum (3) in the high-speed working gear is V1, 140r / min≤V1<160r / min, the rotation speed of the milling drum (3) in the medium-speed working gear is V2, 110r / min≤V2<140r / min, and the rotation speed of the milling drum (3) in the low-speed working gear is V3, 90r / min≤V3<110r / min.

5. The milling machine control method according to claim 2, characterized in that: S101 specifically includes: S1011: Determine whether the required working effect can determine the corresponding working gear in the database, if yes, execute S1012, if not, execute S1013; S1012: selecting the mathematical model under the working gear corresponding to the required working effect, and executing S102; S1013: Select the mathematical model under the working gear with the lowest total energy consumption of the milling machine among the multiple working gears, and execute S102.

6. The milling machine control method according to claim 2, characterized in that: S40 specifically includes: S400: Determining the rotation speed V of the milling drum (3) 实 Is it greater than the lowest speed in the selected working gear? If yes, execute S401; if no, execute S402; S401: reducing the rotation speed V of the milling drum (3) 实 , and returns to S30; S402: The driving speed of the milling machine is reduced, and the process returns to S30.

7. A milling hydraulic system, executing the milling machine control method according to any one of claims 1 to 6, characterized in that: The milling hydraulic system comprises a milling pump (1) and a milling motor, the engine is connected to the milling pump (1) by transmission, the milling pump (1) is used to provide high-pressure oil to the milling motor, the milling motor is connected to the milling drum (3) by transmission, and the displacement of the milling pump (1) and the displacement of the milling motor can be adjusted.

8. The milling hydraulic system according to claim 7, characterized in that: The milling hydraulic system further comprises a pressure sensor (2), a rotation speed sensor (4), a speed sensor (5) and a depth sensor (6); the pressure sensor (2) is used to detect the pressure of the milling hydraulic system; the rotation speed sensor (4) is used to detect the rotation speed of the milling drum (3); the speed sensor (5) is used to detect the driving speed of the milling machine; and the depth sensor (6) is used to detect the milling depth of the milling drum (3).

9. The milling hydraulic system according to claim 8, characterized in that: The milling hydraulic system further comprises a display panel, wherein the display panel is used to display information detected by the pressure sensor (2), the rotation speed sensor (4), the speed sensor (5) and the depth sensor (6).

10. A milling machine, characterized in that: Includes the milling hydraulic system as described in claim 8 or 9.

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