Self-propelled construction machine for working on ground

Abstract

The utility model relates to a self-propelled building machine which is used for working on the ground, in particular to a stabilizing machine or a regenerating machine. The building machine is provided with a control device (22) used for automatically reversing the advancing direction, and the control device (22) interacts with a driving device (21) used for the wheels (2 and 3) or the crawler belt. The control device (22) is configured such that, after receiving the travel direction reversal control signal, the drive device (21) reduces a predetermined first speed at which the construction machine travels in the first travel direction until the construction machine is stationary, and drives the wheels or tracks in the opposite direction after the construction machine is stationary, wherein the drive device increases the speed in the second direction of travel up to a predetermined second speed. One specific aspect of the utility model is that not only the driving device but also other parts of the building machine are automatically controlled according to different driving conditions.

Description

Technical Field

[0001] The utility model relates to a self-propelled construction machine for working on the ground, in particular to a stabilizing machine or a regenerating machine. Background Art

[0002] In order to stabilize unstable ground, stabilizers are known which introduce powder or liquid binders into the ground to increase its load-bearing capacity. Known recyclers differ from stabilizers in that recyclers are not only used to improve or consolidate the ground, but also to repair damaged coverings of roads or paths.

[0003] The stabilizer or regenerator has a machine frame supported by wheels or tracks standing on the ground, and a roller housing arranged on the machine frame, in which a rotatable milling / mixing roller is arranged for working the ground. In the following, ground working refers to all working steps by which the ground can be removed or milled and / or the removed or milled ground can be mixed. The ground to be worked can be, for example, an existing traffic surface (street) to which material is to be milled, filled, backfilled, or a natural ground.

[0004] In order to drive the wheels or tracks, known stabilizers or regenerators have a drive device, which usually includes a plurality of hydraulic motors associated with the individual wheels or running gear. In order to control the drive device, a control device is provided, which provides a first drive mode, in which the running gear is driven so that the construction machine is driven in a first direction of travel at a predetermined speed, and a second drive mode, in which the wheels or tracks are driven so that the construction machine travels in a second direction of travel opposite to the first direction of travel at a predetermined speed. The first direction of travel is the main direction of travel, which travels generally forward. The first drive mode can therefore correspond to forward travel and the second travel mode can correspond to backward travel. The vehicle driver can set a desired speed for forward or backward travel.

[0005] For manual control by the vehicle driver, the self-propelled construction machine has an operating unit with different operating elements. The vehicle driver can start or stop the construction machine by actuating the operating elements and specify a desired speed for forward or reverse travel. These settings can be performed by the vehicle driver during a transport mode, in which the construction machine is moved from one location to another, or during a working mode, in which the construction machine performs work on the ground.

[0006] During the transport mode and the working mode of the construction machine, problems arise in the operation of reversing the direction of travel, i.e. reversing from forward travel to reverse travel or vice versa. Reversing the direction of travel places relatively high demands on the vehicle driver, since the construction machine must first be stopped from a given speed and then be accelerated back to the given speed in the opposite direction of travel. It must be taken into account that the vehicle driver must not only control the drive device when reversing the direction of travel, but is also responsible for the proper functioning of all other components of the construction machine. Utility Model Content

[0007] The object of the utility model is to provide a self-propelled construction machine which can be easily and safely operated by the vehicle driver in different driving situations.

[0008] This object is achieved by the following features.

[0009] The embodiments of the utility model described below may include one or more features or combinations of features mentioned below. If the indefinite article should not be understood as explicitly referring to a single use, the features specified with the indefinite article may also exist more than once. Features specified with numerical words (such as "first and second") do not exclude that the number of these features may be greater than the number indicated by the numerical words. In the description of all embodiments, the expression "may" should also be understood as "preferably" or "conveniently".

[0010] The self-propelled construction machine according to the invention has a control device for automatically reversing the direction of travel, which interacts with a drive device for the wheels or tracks. A drive device is hereinafter understood to mean a device by which the wheels or tracks are moved. The drive device may be any drive device, such as a hydraulic, mechanical, pneumatic or electric drive device, which may include a plurality of drive components, such as a hydraulic motor, wherein a hydraulic motor may be associated with each wheel or track. Preferably, the self-propelled construction machine is a stabilizer or a regenerator.

[0011] The control device is configured such that, after receiving a control signal for reversing the direction of travel, the drive device reduces a predetermined first speed at which the construction machine travels in a first direction of travel until the construction machine comes to a standstill, and drives the wheels or tracks in the opposite direction after the construction machine comes to a standstill, wherein the drive device increases the speed in the second direction of travel to a predetermined second speed.

[0012] The reduction or increase in speed can be carried out according to a predetermined speed profile, wherein the same or different speed profiles can be specified for both directions of travel, for example different speed profiles for forward travel in transport or working mode or for reverse travel in transport or working mode. The speed profile can depend on different operating parameters, for example on a previously specified forward speed, engine load, milling roller rotation speed, load on a lifting column of the construction machine, etc.

[0013] The reversal of the direction of travel may be initiated by a control signal for reversing the direction of travel, wherein the reversal of direction occurs automatically after receipt of the control signal. The control signal may be generated by the machine operator actuating an operating element, so that the machine operator can determine when the machine will reverse the direction of travel. However, the reversal of the direction of travel may also be initiated by automatically generating a control signal for reversing the direction of travel, for example when the construction machine is in a specific position, such as when the end of a lane has been reached. The position may be detected by known technical means, for example by a global navigation satellite system (GNSS) or based on detecting predetermined markers. The control signal may also be generated after covering a predetermined distance or after expiration of a predetermined time interval.

[0014] The first speed at which the construction machine moves in the first direction of travel is preferably greater than the second speed at which the construction machine moves in the second direction of travel.It is assumed that the construction machine moves faster in forward travel than in reverse travel.

[0015] The first speed and / or the second speed before and / or after the direction of travel is reversed can be a speed specified by the vehicle driver. The vehicle driver only needs to set one of the two speeds, in particular only the first speed, and then the second speed, which is preferably slower than the first speed, can be automatically determined.

[0016] An embodiment of a construction machine according to the utility model has an input and / or operating unit and a memory unit, which are configured so that values ​​suitable for the first speed and the second speed can be input using the input unit and can be stored in the memory unit. The control device is configured so that the control device reads out values ​​suitable for the first speed and the second speed from the memory unit. Thus, using the input unit, the vehicle driver can input the speed and can also change the speed at any time. The input and / or operating unit can have operating elements such as a joystick, a pedal or a touch screen.

[0017] Another embodiment of the construction machine according to the utility model provides a construction machine having an input and / or operating unit and a memory unit, which is configured so that a value suitable for the first speed can be input using the input and / or operating unit and can be stored in the memory unit. The control device is configured so that the value suitable for the second speed stored in the memory unit is calculated from the value suitable for the first speed according to a predetermined functional relationship stored in the memory unit. The functional relationship can be, for example, a linear equation.

[0018] A special aspect of the invention is that not only the drive device but also other components of the construction machine are automatically controlled according to different driving situations.

[0019] One embodiment of the construction machine according to the invention has a milling / mixing roller adjustment device for adjusting the height of the milling / mixing roller relative to the ground, wherein the control device interacts with the milling / mixing roller adjustment device so that the height of the milling / mixing roller relative to the ground is adjusted during a reversal of the travel direction. In this embodiment, the machine operator is also relieved of the control of adjusting the height of the milling / mixing roller during a reversal of the travel direction.

[0020] Another embodiment of the construction machine according to the invention has a front roller flap facing the main direction of travel and a rear roller flap facing the direction opposite to the main direction of travel, which can at least partially close the milling / mixing chamber of the roller housing, and has a roller flap adjustment device for adjusting the position of the front roller flap and the rear roller flap. In the following, the front roller flap is understood to refer to the roller flap facing the main direction of travel, and the rear roller flap is understood to refer to the roller flap facing the direction opposite to the main direction of travel, wherein the main direction of travel is usually forward travel. The control device interacts with the roller flap adjustment device so that the front roller flap and / or the rear roller flap are adjusted during the reversal of the travel direction. In this embodiment, the machine driver operator also releases the control of the roller flap during the reversal of the travel direction.

[0021] The control device can provide a transport mode, in which the control device controls the milling / mixing roller adjustment device so that the milling / mixing roller is raised to an upper position in which the milling / mixing roller does not engage with the ground, and a working mode, in which the control device controls the milling / mixing roller adjustment device so that the milling / mixing roller is lowered to a bottom position in which the milling / mixing roller engages with the ground. Engagement with the ground is hereinafter understood to mean that the milling / mixing roller mills the ground and / or mixes the ground that has been milled away.

[0022] A further embodiment of the construction machine according to the invention provides that the control device is configured such that, during a reversal of the direction of travel, the control device controls the milling / mixing roller adjustment device in such a way that there is an automatic change from working mode to transport mode or from transport mode to working mode. In this embodiment, for a reversal of the direction of travel, for a change from working mode to transport mode or vice versa, the machine operator only needs to specify whether the machine is to perform a steering maneuver.

[0023] Depending on different driving situations, the construction machine according to the present invention can provide the following control modes, which can be activated by the travel direction reversal control signal. The different control modes allow the machine operator to easily and safely control the construction machine in different driving situations.

[0024] For a first travel direction reversal control mode with travel direction reversal in transport mode, the control device can be configured so that the control device controls the milling / mixing roller adjustment device so that the position of the milling / mixing roller is maintained during the travel direction reversal, and controls the roller flap adjustment device so that the position of the roller flap is maintained during the travel direction reversal. The machine operator can specify this control mode if the machine is only moved from one position to another.

[0025] For a second travel direction reversal control mode with a travel direction reversal in the work mode, the control device can be configured so that the control device controls the milling / mixing roller adjustment device so that the position of the milling / mixing roller is maintained during the travel direction reversal, and the control device controls the roller flap adjustment devices of the front roller flap and the rear roller flap before the direction reversal so that the front roller flap is in a raised position and the rear roller flap rests in a floating position on the ground, and after the direction has been reversed, the original rear roller flap now facing the new travel direction is in a raised position and the front roller flap rests in a floating position on the ground. If the construction machine is to travel backward in the same lane, the machine operator can specify this control mode in order to mix the milled material after reversing the travel direction.

[0026] For a third travel direction reversal control mode for reversing the travel direction with the change from the transport mode to the working mode, the control device may be configured so that the control device controls the milling / mixing roller adjustment device so that the milling / mixing roller is lowered from an upper position in which the milling / mixing roller is not engaged with the ground to a bottom position in which the milling / mixing roller is engaged with the ground. Subsequently, if the construction machine is to move in the opposite travel direction, such as at the beginning or end of a lane, the machine operator may specify this control mode in order to work the ground.

[0027] For controlling the milling / mixing roller, the control device can be configured in a third travel direction reversal control mode such that the control device controls the milling / mixing roller adjustment device so that the milling / mixing roller is lowered at a predetermined speed, wherein the speed at which the milling / mixing roller is lowered is a speed that remains constant over the distance covered by the construction machine or a speed that varies over the distance covered by the construction machine. The change in milling depth can be started before and / or during the reduction in speed of the construction machine, and / or when the construction machine is stationary, and / or during an increase in speed. The change in milling depth while lowering the milling / mixing roller can be adapted to different circumstances and can depend on different operating parameters, such as the advance of the construction machine, the nature of the ground to be worked, or the amount of adhesive added.

[0028] To control the roller flaps, the control device can be configured in the third travel direction reversal control mode so that the control device controls the roller flap adjustment device for the front roller flap and the rear roller flap so that after lowering the milling / mixing roller in the working mode, the front roller flap is in the raised position and the rear roller flap rests in a floating position on the ground, or the rear roller flap is in the raised position and the front roller flap rests in a floating position on the ground. Thus, depending on the travel direction, the roller flaps automatically enter a position suitable for the working mode.

[0029] The control device may provide a fourth travel direction reversal control mode for reversing the travel direction with the change from the working mode to the transport mode, in which the control device controls the milling / mixing roller adjustment device so that the milling / mixing roller is raised from a bottom position in which the milling / mixing roller engages the ground to an upper position in which the milling / mixing roller does not engage the ground. The machine operator may specify this control mode if the construction machine is to be reversed after working on the ground, for example at the end of a lane.

[0030] In the fourth travel direction reversal control mode, the control device can be configured such that the control device controls the milling / mixing roller adjustment device so that the milling / mixing roller is raised at a predetermined speed, wherein the speed of the milling / mixing roller raising is a speed that remains constant over the distance covered by the construction machine, or a speed that varies over the distance covered by the construction machine. The change in milling depth can be started before and / or during a reduction in the speed of the construction machine, and / or when the construction machine is stationary, and / or during an increase in speed. The change in milling depth during the raising of the milling / mixing roller can be adapted to different circumstances and can depend on different operating parameters, such as the advance of the construction machine, the nature of the ground to be worked, or the amount of adhesive added.

[0031] The lowering and raising of the milling / mixing roller from transport mode to working mode or from working mode to transport mode can be carried out according to a speed profile specified by the control device. The speed profile can be a fixed predetermined profile stored in the memory device, or the speed profile can be determined depending on the current operating parameters of the construction machine.

[0032] When changing from the transport mode to the operating mode, the device for adding adhesive can also be automatically activated, thereby adding adhesive in the operating mode. Conversely, when changing from the operating mode to the transport mode, the device for adding adhesive can be automatically deactivated, thereby not adding adhesive in the transport mode.

[0033] During the reversal of the direction of travel, in principle all settings of the operating parameters of the self-propelled construction machine can be made, or specified settings can be changed, or certain operating states can be set or changed in order to adapt the operating parameters or operating states to the new direction of travel. These settings can in turn be made depending on whether the construction machine is in a specific mode, in particular a transport mode or a working mode.

[0034] For example, self-propelled construction machines typically provide certain steering modes in which steering is performed using only the front wheels or tracks, using only the rear wheels or tracks, using both the front wheels or tracks in the same direction, or using both the front wheels or tracks in opposite directions. For example, during a reversal of direction from forward travel to reverse travel, it is possible to switch from a steering mode in which steering is performed using only the front wheels or tracks to a steering mode in which steering is performed using both the front wheels or tracks in the same direction. This change in steering mode during a reversal of travel direction from forward travel to reverse travel at the end of a lane allows the construction machine to move sideways relative to the lane in reverse travel so that the construction machine can be driven off the lane.

[0035] In the event of a reversal of the direction of travel, assistance systems of the construction machine can also be activated or deactivated, or their settings can be changed. If the construction machine has an assistance system, for example based in particular on satellite navigation, which allows the construction machine to travel back in the same lane after a reversal of direction, this assistance system can be activated after the direction has been reversed so that the construction machine travels back in the same lane.

[0036] If the construction machine has a camera system for monitoring surrounding obstacles, the backup camera can be activated, for example, during a reversal of the direction of travel from forward travel to reverse travel. The front camera can then be deactivated. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various embodiments of the present invention will be explained in more detail below with reference to the accompanying drawings.

[0038] In the attached picture:

[0039] Figure 1 An embodiment of a self-propelled construction machine according to the present invention is shown in a partial cross-sectional view;

[0040] Figure 2 Shown for illustration Figure 1 A diagram of the functions of the various components of a construction machine;

[0041] Figure 3 is a greatly simplified view of a construction machine in transport mode during forward travel;

[0042] Figure 4 is a greatly simplified view of a construction machine in working mode during forward travel;

[0043] FIG. 5A to FIG. 5D showing the movement of a construction machine during automatic reversal of the direction of travel;

[0044] Figure 6 is a highly simplified view of a construction machine in working mode during reverse travel;

[0045] Fig. 7A and Figure 7B An embodiment showing movement of a construction machine during a reversal of direction of travel to change from a transport mode to a working mode;

[0046] Fig. 8A and Figure 8B Another embodiment of the movement of a construction machine during a reversal of direction of travel from a transport mode to a working mode is shown;

[0047] Fig. 9A and Fig. 9B Another embodiment of the movement of a construction machine during a reversal of direction of travel from a transport mode to a working mode is shown;

[0048] Fig. 10A and Fig. 10B An embodiment showing movement of a construction machine during a reversal of direction of travel from a working mode to a transport mode;

[0049] Fig.11A and Fig. 11B Another embodiment of the movement of a construction machine during a reversal of direction of travel from a working mode to a transport mode is shown;

[0050] Fig. 12A and Fig. 12B Another embodiment showing movement of a construction machine during a reversal of direction of travel from a working mode to a transport mode; and

[0051] Fig.13A and Fig. 13BAnother embodiment of the movement of a construction machine during a reversal of direction of travel from a working mode to a transport mode is shown. DETAILED DESCRIPTION

[0052] Figure 1 A side view of a self-propelled construction machine 1 is shown, which is described in detail in EP 2 977 514 B1. The construction machine 1 has a chassis 1A which comprises two front wheels 2 and two rear wheels 3 in the main travel direction (forward travel). A lifting column 4 carrying a machine frame 5 is fastened to each of the wheels 2, 3, so that the height of the machine frame can be adjusted relative to the ground 6. A driver's cab 7 is located on the machine frame 5, in which an operating unit 23 is arranged, which operating unit 23 may have a touch screen. The wheels are driven by a drive device ( Figure 1 The drive means comprises a hydraulic motor (not shown) associated with the wheel. Figure 1 not shown).

[0053] Arranged between the running gears on the machine frame 5 is a roller shell 8 which is open at the bottom and forms a milling / mixing chamber, in which the milling / mixing roller 9 is located. The direction of rotation of the milling / mixing roller is indicated by the arrow 10. The roller shell 8 has a roller flap 12 at the front in the main working direction 11 (forward travel) and a roller flap 13 at the rear in the main working direction, which can both be pivoted about a pivot axis 14 or 14' extending transversely to the longitudinal direction of the machine frame. The roller shell is closed on the sides by side parts 15 which extend in the longitudinal direction and are only in the longitudinal direction. Figure 1 Shown in outline.

[0054] In order to adjust the height of the milling / mixing roller 9, the ground milling machine has a milling / mixing roller adjustment device 16, which in the present embodiment comprises a piston-cylinder assembly 17 with a piston 17A and a cylinder 17B. By actuating the piston 17A of the piston-cylinder assembly 17, the height of the milling / mixing roller 9 can be adjusted relative to the machine frame 5 or the ground 6, wherein the axis of the milling / mixing roller moves on a circular path. Alternatively or additionally, the height of the milling / mixing roller 9 relative to the ground 6 can also be adjusted by retracting or extending the lifting column 4.

[0055] In order to adjust the position of the front roller flap 12 and the rear roller flap 13 in the main working direction, a roller flap adjustment device 19 is provided, which has an actuator 20, 20' acting on the respective roller flap 12, 13. In the present embodiment, the actuator is a piston-cylinder assembly 20, 20', the piston 20A, 20A' of which is pivotally fastened to the machine frame 5 and the cylinder 20B, 20B' of which is fastened to the front roller flap 12 or the rear roller flap 13. By moving the relevant piston, the front roller flap 12 or the rear roller flap 13 can be pivoted upwards or downwards, so that the lower edge 12A, 13A of the front roller flap 12 or the rear roller flap 13 is raised or lowered relative to the ground 6.

[0056] The drive device for the drive wheel, the milling / mixing roller adjustment device and the roller flap adjustment device include further components, in particular hydraulic components, such as hydraulic pumps, hydraulic valves, hydraulic lines, sensors, etc., which are not shown for simplicity but are generally known to those skilled in the art.

[0057] A control device is provided for controlling the individual components of a drive device for a drive wheel, a milling / mixing roller adjustment device and a roller flap adjustment device. The control device can include a plurality of control units, one or more of which can be part of a central control device of a construction machine. For example, the drive device for a drive wheel, the milling / mixing roller adjustment device and the roller flap adjustment device can each have their own control unit, which is understood below as a common control device.

[0058] The control device may have, for example, a general purpose processor, a digital signal processor (DSP) for continuously processing digital signals, a microprocessor, an application specific integrated circuit (ASIC), an integrated circuit composed of logic elements (FPGA), or other integrated circuits (IC) or hardware components to perform the control of the actuator. The data processing program (software) may run on the hardware components.

[0059] Figure 2 A diagram illustrating the functions of the various components of a construction machine is shown. Figure 2 Shown in a highly simplified manner are a drive device 21 for the drive wheel, a milling / mixing roller adjustment device 16 having a piston-cylinder assembly 17 for adjusting the height of the milling / mixing roller 9, a roller flap adjustment device 19 for actuating the roller flaps 12, 13 via a piston-cylinder assembly 20, 20', and a control device 22. Figure 2 Also shown is an operating unit 23 arranged in the driver's cab, which has a touch screen 24 on which a plurality of buttons 25 , 29 , 30 are shown, which can be actuated by the machine operator in order to select different control modes.

[0060] The construction machine according to the invention, which can be operated in a transport mode or in a working mode, allows automatic reversal of the direction of travel. Figure 3 A highly simplified view of the construction machine 1 is shown in a transport mode in which the milling / mixing roller 9 is raised and not engaged with the ground 6 , and Figure 4 A highly simplified view of a construction machine 1 is shown in a working mode in which the milling / mixing roller 9 is lowered and engages the ground 6. Figure 1 and Figure 2 The same reference numerals are used throughout.

[0061] The control device 22 is configured such that different control modes can be specified depending on the control signal.

[0062] The control device 22 is configured such that the piston-cylinder assembly 17 of the milling / mixing roller adjustment device 16 is actuated after receiving the control signal, so that after receiving the control signal, the milling / mixing roller 9 is lowered from the upper position to the bottom position to adjust the milling / mixing roller 9 from the upper position to the bottom position. Figure 3 The transport mode shown in the Figure 4 and after receiving the control signal, the milling / mixing roller 9 moves from the bottom position ( Figure 4 ) to the upper position ( Figure 3 ) to change from transport mode to operation mode.

[0063] The control device is also configured so that the front piston-cylinder assembly 20 or the rear piston-cylinder assembly 20' of the roller flap adjusting device 19 is actuated after receiving the control signal, so that the roller flaps 12, 13 in the transport position are in a downward folded position, in which the roller flaps at least partially close the roller shell 8 at the front and rear sides.

[0064] Furthermore, the control device 22 is configured such that, after receiving the control signal, the rear roller flap 13 in the working mode is in a floating position in which it rests on the milled ground with a specified contact force, so that the roller housing 8 is at least partially closed on the rear side. A device for positioning the roller flap in the floating position belongs to the prior art (DE 10 200 4 012 382 B4). In the working mode, the front roller flap 12 is adjusted by the control device 22 so that it is in a specified, preferably slightly raised position so that it does not get stuck when the construction machine is moving forward ( Figure 4 ).

[0065] The control device 22 of the construction machine according to the utility model can be used for specifying multiple travel direction reversal control modes depending on the reception of the travel direction reversal control signal associated with the corresponding travel direction reversal control mode. In the present embodiment, the operating unit 23 is configured to generate a travel direction reversal control signal when the vehicle driver selects the travel direction reversal control mode by actuating a button of the touch screen 24 or one of the buttons 25 to generate the travel direction reversal control signal. However, the travel direction reversal control signal can also be generated by other units, such as a satellite navigation system 26 (GNSS) configured to generate a control signal at a specific path point in a coordinate system. However, the unit can also be configured so that the control signal is generated when a predetermined mark is detected on the path covered by the construction machine. The control signal may also be present after a predetermined distance has been covered or after a predetermined time interval has expired. Figure 2 In the diagram, such units 26, 27 which interact with the control device for generating a control signal for reversing the direction of travel are shown only in outline.

[0066] The individual travel direction reversal control modes are described in detail below and can be selected by the machine operator by actuating the associated button 25 of the touch screen 24 and / or after receiving a corresponding control signal from one of the units 26, 27 mentioned by way of example.

[0067] FIG. 5A to FIG. 5D Shown in Figure 3 A travel direction reversal control mode for automatic travel direction reversal in the transport mode shown in . The control device 22 controls the milling / mixing roller adjustment device 16 so that the position of the milling / mixing roller 9 is maintained during the reversal of the travel direction, and the control device 22 controls the roller flap adjustment device 19 so that the position of the roller flaps 12, 13 is maintained during the reversal of the travel direction.

[0068] The construction machine 1 initially travels at a speed V1 which can be specified by the vehicle driver before the direction of travel is reversed. In the following, index 1 indicates the speed of the construction machine before the direction of travel is reversed, and index 2 indicates the speed after the direction of travel is reversed. The vehicle driver can specify the speed V1, for example, by actuating an operating element 29 on the operating unit 23, wherein the speed V1 is stored in a control unit 22 ( Figure 2 ) is read from the memory 28. The vehicle driver can determine the speed V1 depending on whether the construction machine is in transport mode or working mode. Generally, the speed V1 in working mode should be slower than the speed in transport mode.

[0069] If the vehicle driver actuates the button 25 to select the associated traveling direction reversal control mode, the associated traveling direction reversal control signal ( Figure 5AAfter receiving the travel direction reversal control signal at time T1, the drive device 21 moves according to the specified speed curve ( Figure 5B ) reduces a predetermined first forward speed V1 of the construction machine in the first direction of travel until the construction machine comes to a standstill at time T2. The speed profile is specified by the control device 22. In the present embodiment, the control device 22 specifies a specific (e.g. non-linear) speed profile for braking forward travel, which speed profile may depend on various machine parameters, such as a previously specified first speed V1, engine load, milling roller speed, load on a lifting column of the construction machine, etc. After the construction machine has stopped, the drive device 21 drives the wheels 2, 3 in the opposite direction, wherein the drive device increases the speed back to a predetermined second speed V2 in the second direction of travel. In the present embodiment, the construction machine accelerates immediately after coming to a standstill until time T3, so that the construction machine does not come to a standstill within a predetermined time interval ΔT ( Figure 5C The construction machine then moves at a second speed V2 ( Figure 5D ).

[0070] The machine operator can also specify a second speed V2 by actuating an operating element 30 on the operating unit 23, wherein the speed V2 is also stored in the memory 28 which is read by the control device 22 ( Figure 2 ). The speed V2 may again depend on whether the construction machine is in transport mode or working mode. Typically, the speed V2 should be slower in working mode than in transport mode. In the figures, the speed curves are shown only by way of example.

[0071] An alternative embodiment provides for automatically determining the speed V2 depending on the first speed V1. Then, the control device 22 calculates the second speed V2, for example according to the following equation:

[0072] V2=V1×k,

[0073] Where k is a factor greater than 0 and less than 1.

[0074] The following describes the Figure 4 Another travel direction reversal control mode in which the travel direction is automatically reversed in the working mode shown in the figure, wherein the control device 22 controls the milling / mixing roller adjustment device 16 so that the position of the milling / mixing roller 9 is maintained during the reversal of the travel direction, but controls the roller flap adjustment device 19 so that the position of the roller flaps 12 and 13 is changed during the reversal of the travel direction.

[0075] Figure 4The positions of the front roller flap 12 and the rear roller flap 13 during forward travel 11 at a speed V1 are shown. Before the direction of travel is reversed, the control device 22 controls the roller flap adjustment devices 19 of the front roller flap 12 and the rear roller flap 13 so that the front roller flap 12 is in a predetermined raised position and the rear roller flap 13 rests in a floating position on the raised ground. Figure 6 The positions of the front roller flap 12 and the rear roller flap 13 are shown during backward travel in the opposite travel direction 11 'at a speed V2. After the reversal of the travel direction, the previous rear roller flap 13 is in a raised position and the previous front roller flap 12 is in a floating position on the ground. After the change of direction, the rear roller flap 13 assumes a position identical to that of the front roller flap 12 before the change of direction, for example an open or closed position.

[0076] Refer to the following Fig. 7A , FIG. 7B to FIG. 13A and Fig. 13B Describes an additional travel direction reversal control mode, which shows that the travel direction is automatically reversed while the operating mode is changed from transport mode to work mode ( Fig. 7A , FIG. 7B to FIG. 9A , Fig. 9B ), or the operating mode changes from operation mode to transport mode ( Fig. 10A , FIG. 10B to FIG. 13A , Fig. 13B ).

[0077] For each travel direction reversal control mode which can be selected by the machine operator or automatically specified, the control device 22 is configured so that when a reversal of the travel direction on the terrain is initiated, the construction machine 1 moves as follows and a subsequent setting of the milling / mixing roller 9 and / or roller flaps 12, 13 is carried out.

[0078] Fig. 7A and Figure 7B A travel direction reversal control mode is shown, which is used for travel direction reversal for changing from transport mode to work mode. The construction machine 1 initially moves at a speed V1 specified by the vehicle driver. At time T1, the speed V is reduced according to a specified non-linear speed curve until the construction machine is stationary at time T2 (V=0). The construction machine is stationary for a time interval ΔT until time T3. The drive device 21 then drives the wheels 2, 3 of the construction machine in the opposite travel direction, wherein the speed of the construction machine increases again according to a specific non-linear speed curve that is different from the speed curve before the travel direction reversal, until the construction machine reaches a speed V2 (which is slower than the speed V1) at time T4. Fig. 7A ).

[0079] In this embodiment, the change from the transport mode to the working mode occurs within the time interval ΔT. The control device controls the milling / mixing roller adjustment device 19 at time T2, so that the milling / mixing roller 9 is adjusted from the upper position ( Figure 3 ) drops to the bottom position ( Figure 7B In the present embodiment, the milling / mixing roller 9 is lowered at a constant speed so that the milling depth F increases continuously. The milling / mixing roller 9 starts to be driven backwards in the opposite direction of travel at the moment T3 ( Fig. 7A ) reaches the bottom position. During this travel direction reversal control mode, the change from transport mode to working mode is automatically initiated as soon as the construction machine comes to a standstill. Alternatively, however, this change can also only take place when the control device receives a corresponding control signal, which is generated when the machine operator actuates an operating element on the operating unit.

[0080] The control device can also be configured to make the roller flaps 12, 13 move from Figure 3 The position of the at least partially closed roller shell 8 shown in FIG. 1 is moved to a position in which the front roller flap 12 is in a raised position and the rear roller flap 13 rests in a floating position on the ground, or the rear roller flap is in a raised position and the front roller flap rests in a floating position on the ground ( Figure 4 ), depending on the direction of travel. In addition, the control device 22 can also make further interventions in the machine control in order to start milling / mixing. The control device can in particular activate a device for adding adhesive provided on the construction machine.

[0081] Fig. 8A and Figure 8B The figure shows another travel direction reversal control mode for reversing the travel direction from the transport mode to the work mode. Fig. 7A and Figure 7B The control mode of FIG. 1 differs in that the time interval ΔT is shorter and in that when the control device 22 starts to reduce the speed V of the construction machine 1 at time T1, the control device has already started to lower the milling / mixing roller 9. At time T2, the construction machine stops. At time T3, the milling / mixing roller 9 is in the bottom position and the construction machine starts to move again in the opposite direction of travel, in this embodiment, the milling / mixing roller 9 is lowered at a constant speed, so that the milling depth F increases continuously.

[0082] Fig. 9A and Fig. 9B The figure shows another travel direction reversal control mode for reversing the travel direction from the transport mode to the work mode. Fig. 8A and Figure 8BThe control mode of FIG. 2 differs in that the construction machine 1 does not stop within the predetermined time interval. The control device 22 accelerates the construction machine 1 back in the opposite direction of travel at time T2. The milling / mixing roller is lowered during the time interval ΔT=T3-T1, while the construction machine decelerates and accelerates during the time interval ΔT=T3-T1.

[0083] Fig. 10A and Fig. 10B The figure shows a travel direction reversal control mode for reversing the travel direction for changing from the working mode to the transport mode. The construction machine 1 initially moves at a speed V1 specified by the vehicle driver. At time T1, the speed V decreases following a predetermined nonlinear speed curve that is different from Fig. 7A , Fig. 8A and Fig. 9A The construction machine is stationary for a time interval ΔT until time T3. The drive device 21 then drives the wheels 2, 3 of the construction machine in the opposite direction of travel, wherein the speed V of the construction machine increases again according to a specified nonlinear speed profile that is different from the speed profile before the reversal of the direction of travel, until the construction machine reaches a speed V2 that is slower than the speed V1 at time T4. Fig. 10A The speed curve in Fig. 7A , Fig. 8A and Fig. 9A The difference between the curves in is that the reduction in speed occurs slowly at first and then gradually occurs faster.

[0084] In the present embodiment, the change from the working mode to the transport mode occurs during the time interval ΔT. The control device 22 controls the milling / mixing roller adjustment device at time T2 so that the milling / mixing roller 9 moves from the bottom position ( Figure 4 ) to the upper position ( Figure 3 ). In the present embodiment, the milling / mixing roller 9 is raised at a constant speed so that the milling depth F decreases continuously. The milling / mixing roller 9 reaches the upper position ( T3 ) at the time when the construction machine starts to be driven in the opposite direction of travel. Fig. 10B ).

[0085] When the milling / mixing roller 9 is raised, the control device 22 can control the milling / mixing roller adjustment device 16 so that the roller flaps 12, 13 are moved from Figure 4 Pivot to the position shown in Figure 3 However, the roller flaps 12, 13 can also be adjusted only into a position which at least partially closes the roller shell when the milling / mixing roller 9 is already in the upper position.

[0086] Fig.11A and Fig. 11BAnother travel direction reversal control mode for changing the travel direction from the working mode to the transport mode is shown in the figure. The travel direction reversal control mode is the same as the control mode according to Fig. 10A and Fig. 10B The control mode differs in that the construction machine 1 does not stop within the predetermined time interval. The control device 22 accelerates the construction machine 1 back in the opposite direction of travel at time T2. The milling / mixing roller 9 is raised during the time interval ΔT=T3-T1, during which the construction machine 1 slows down and accelerates. When the milling / mixing roller 9 is raised or after the milling / mixing roller 9 has been in the upper position, the roller flaps 12, 13 can be adjusted again to a position that at least partially closes the roller shell.

[0087] Fig. 12A and Fig. 12B The figure shows another travel direction reversal control mode for reversing the travel direction with the change from the working mode to the transport mode. Fig.11A and Fig. 11B The difference of the control mode is that the milling / mixing roller 9 is raised only at a later time T2 according to a predetermined linear curve. Since the milling / mixing roller 9 is raised only at a later time, the constant speed of the milling / mixing roller raising is greater, which is represented by a steeper curve.

[0088] Fig.13A and Fig. 13B Another travel direction reversal control mode for reversing the travel direction for switching from working mode to transport mode is shown. The construction machine 1 initially travels at a speed V1. At time T1, the speed V is reduced according to a non-linear speed curve until the construction machine stops at time T2. Then, the drive device 21 drives the wheels 2, 3 of the construction machine in the opposite travel direction, wherein the speed of the construction machine is increased again according to a specified non-linear speed curve different from the speed curve before the travel direction reversal, until the construction machine reaches a speed V2' lower than the speed V1 at time T3. Then, the speed remains constant until time T4, when the speed is increased again to the speed V2 according to the non-linear speed curve until time T5. During the time interval ΔT=T3-T2, the milling / mixing roller 9 is raised according to a non-linear curve and during the time interval ΔT=T4-T3 according to a linear curve. This embodiment is intended to illustrate that the milling / mixing roller can be controlled after the travel direction reversal so that the axis of the milling / mixing roller moves on a predetermined trajectory when lifting, which curve can be specified by a predetermined curve.

Claims

1. A self-propelled construction machine for working on the ground, comprising: A machine frame (5) supported by wheels (2, 3) or tracks resting on the ground (6), and a roller shell (8) arranged on the machine frame (5) in which a rotatable milling / mixing roller (9) for working the ground is arranged; A driving device (21) for driving the wheels (2, 3) or tracks; as well as a control device (22) interacting with the drive device (21) to control the drive device (21) and to provide a first drive mode in which the wheels (2, 3) or tracks are driven so that the construction machine travels in a first travel direction (11) at a predetermined speed and a second drive mode in which the wheels (2, 3) or tracks are driven so that the construction machine travels in a second travel direction (11') opposite to the first travel direction at a predetermined speed, the first travel direction being a main travel direction; Features: The control device (22) is configured to automatically reverse the direction of travel so that after receiving a travel direction reversal control signal, the drive device (21) reduces a predetermined first speed of the construction machine in a first travel direction (11) until the construction machine stops, and after the construction machine stops, drives the wheels (2, 3) or crawlers in the opposite direction, and the drive device (21) increases the speed to a predetermined second speed in a second travel direction (11').

2. The self-propelled construction machine according to claim 1, characterized in that A first speed at which the construction machine moves in a first direction of travel (11) is greater than a second speed at which the construction machine moves in a second direction of travel (11').

3. The self-propelled construction machine according to claim 1, characterized in that The construction machine has an input and / or operating unit (23) and a memory unit (28), which is configured so that the values ​​of a first speed and a second speed can be input using the input and / or operating unit and the values ​​of the first speed and the second speed can be stored in the memory unit, and the control device (22) is configured so that the control device reads the values ​​of the first speed and the second speed from the memory unit (28).

4. The self-propelled construction machine according to claim 1, characterized in that The construction machine has an input and / or operating unit (23) and a memory unit (28), which is configured to be able to input a value of a first speed using the input and / or operating unit and the value of the first speed can be stored in the memory unit (28), and the control device (22) is configured to calculate a value of a second speed from the value of the first speed according to a predetermined functional relationship stored in the memory unit (28), and the value of the second speed is stored in the memory unit.

5. The self-propelled construction machine according to any one of claims 1 to 4, characterized in that The construction machine has a milling / mixing roller adjustment device (16) for adjusting the height of the milling / mixing roller (9) relative to the ground (6), and the control device (22) interacts with the milling / mixing roller adjustment device (16) so that the height of the milling / mixing roller relative to the ground is adjusted during a reversal of the travel direction.

6. The self-propelled construction machine according to any one of claims 1 to 4, characterized in that The milling / mixing chamber of the roller shell (8) is at least partially closed by a front roller flap (12) facing the main travel direction and a rear roller flap (13) facing the direction opposite to the main travel direction, and a roller flap adjustment device (19) is provided, which is used to adjust the position of the front roller flap (12) and the rear roller flap (13), and the control device (22) interacts with the roller flap adjustment device (19) so that the front roller flap (12) and / or the rear roller flap (13) are adjusted during the reversal of the travel direction.

7. The self-propelled construction machine according to claim 5, characterized in that The control device (22) provides a transport mode in which the control device controls the milling / mixing roller adjustment device (16) so that the milling / mixing roller (9) is raised into an upper position in which the milling / mixing roller does not engage the ground (6); as well as The control device provides an operating mode in which the control device (22) controls the milling / mixing roller adjustment device (16) so that the milling / mixing roller (9) is lowered into a bottom position in which the milling / mixing roller engages the ground (6).

8. The self-propelled construction machine according to claim 6, characterized in that The control device (22) provides a transport mode in which the control device controls the milling / mixing roller adjustment device (16) so that the milling / mixing roller (9) is raised into an upper position in which the milling / mixing roller does not engage the ground (6); as well as The control device provides an operating mode in which the control device (22) controls the milling / mixing roller adjustment device (16) so that the milling / mixing roller (9) is lowered into a bottom position in which the milling / mixing roller engages the ground (6).

9. The self-propelled construction machine according to claim 7, characterized in that The control device (22) is configured to control the milling / mixing roller adjustment device (16) during a reversal of the travel direction so that there is an automatic change from the working mode to the transport mode or from the transport mode to the working mode.

10. The self-propelled construction machine according to claim 8, characterized in that The control device (22) is configured so that the control device provides a first travel direction reversal control mode for reversing the travel direction in the transport mode, in which the control device (22) controls the milling / mixing roller adjustment device (16) so that the position of the milling and / or mixing roller (9) is maintained during the travel direction reversal, and controls the roller flap adjustment device (19) so that the position of the roller flaps (12, 13) is maintained during the travel direction reversal.

11. The self-propelled construction machine according to claim 8, characterized in that The control device (22) is configured so that the control device provides a second travel direction reversal control mode for reversing the travel direction in the working mode, in which the control device (22) controls the milling / mixing roller adjustment device (16) so that the position of the milling and / or mixing roller (9) is maintained during the travel direction reversal, and the control device (22) controls the roller flap adjustment device (19) of the front roller flap and the rear roller flap before the direction reversal so that the front roller flap (12) is in a raised position and the rear roller flap (13) is resting in a floating position on the ground, and after the direction reversal, the rear roller flap (13) is in a raised position and the front roller flap (12) is resting in a floating position on the ground.

12. The self-propelled construction machine according to claim 7, characterized in that The control device (22) is configured so that the control device provides a third travel direction reversal control mode, which is used to reverse the travel direction as the transport mode changes to the working mode. In the third travel direction reversal control mode, the control device (22) controls the milling / mixing roller adjustment device (16) so that the milling / mixing roller (9) is lowered from an upper position in which the milling / mixing roller does not engage with the ground (6) to a bottom position in which the milling / mixing roller engages with the ground.

13. The self-propelled construction machine according to claim 12, characterized in that The control device is configured so that the control device (22) controls the milling / mixing roller adjustment device (16) in the third travel direction reversal control mode so that the milling / mixing roller (9) is lowered at a predetermined speed, and the speed at which the milling / mixing roller is lowered is a speed that remains constant over the distance covered by the construction machine or a speed that varies over the distance covered by the construction machine.

14. The self-propelled construction machine according to claim 12, characterized in that The control device (22) is configured so that the control device controls the roller flap adjustment device (19) for the front roller flap (12) and the rear roller flap (13) in the third travel direction reversal control mode, so that after lowering the milling / mixing roller (9) in the working mode, the front roller flap (12) is in a raised position and the rear roller flap (13) is resting in a floating position on the ground (6), or the rear roller flap is in a raised position and the front roller flap is resting in a floating position on the ground.

15. The self-propelled construction machine according to claim 7, characterized in that The control device (22) is configured so that the control device provides a fourth travel direction reversal control mode, which is used to reverse the travel direction as the working mode is changed to the transport mode. In the fourth travel direction reversal control mode, the control device (22) controls the milling / mixing roller adjustment device (16) so that the milling / mixing roller (9) is raised from a bottom position where the milling / mixing roller engages with the ground (6) to an upper position where the milling / mixing roller does not engage with the ground.

16. The self-propelled construction machine according to claim 15, characterized in that The control device is configured so that the control device (22) controls the milling and / or mixing roller adjustment device (16) in the fourth travel direction reversal control mode so that the milling / mixing roller (9) is raised at a predetermined speed, and the speed of the milling / mixing roller raising is a speed that remains constant over the distance covered by the construction machine or a speed that varies over the distance covered by the construction machine.

17. The self-propelled construction machine according to claim 1, characterized in that The self-propelled construction machine is a stabilizer or a regenerator.

Images