Self-propelled ground processing machine

Abstract

A self-propelled ground processing machine comprises a mechanical frame. A ground processing device; the traveling mechanism is used for bearing the mechanical frame; the utility model relates to a ground processing machine, comprising a travel drive for driving the ground processing machine in a travel movement, and an operating device for controlling the travel drive, the operating device comprising a travel switch that can be deflected from a reference position and a control device, the control device is designed to detect a deflection of the travel switch relative to the reference position and to actuate the travel drive in accordance with the detected deflection in order to cause a travel movement, the control device being switchable between a first operating mode and a second operating mode, in a first operating mode, the control device (61) assigns a first amount of motion to a deflection of the travel switch in accordance with a first correspondence and controls the travel drive in accordance with the first amount of motion, in the second operating mode, the control device assigns a second amount of movement, which differs from the first amount of movement, to the deflection of the travel switch in accordance with the second correspondence and controls the travel drive in accordance with the second amount of movement rather than in accordance with the first amount of movement.

Description

Technical Field

[0001] The utility model relates to a self-propelled ground processing machine, which comprises

[0002] - Mechanical frame,

[0003] - Ground processing devices carried by a mechanical frame,

[0004] - a travelling mechanism that carries the machine frame,

[0005] - a travel drive for driving the floor processing machine in a travel direction, and

[0006] - an operating device for controlling the travel drive,

[0007] Therein, the operating device comprises a travel switch which can be deflected from a basic position and a control device, wherein the control device is designed to detect a deflection of the travel switch relative to the basic position and to actuate a travel drive in order to bring about a travel movement as a function of the detected deflection. Background Art

[0008] On self-propelled ground working machines, in particular on such stripping ground working machines, a travel lever is known as a travel switch, which can be tilted from a neutral position, wherein a control device interprets the deflection direction indicatively as the direction of travel desired by the machine driver and the deflection amount in this sense correspondingly as a desired theoretical travel speed, i.e. a larger deflection corresponds to a higher desired theoretical travel speed than a smaller deflection.

[0009] The disadvantage of an operating mode in which the control device drives the ground working machine to reach a theoretical driving speed according to the deflection degree of the driving switch is that the driving switch must be maintained in the desired deflection position during the entire driving operation, because a decrease or increase in the deflection amount means a change in the desired theoretical driving speed, which usually means a change in the actual driving speed.

[0010] This is particularly problematic in the case of ground working machines which have more than one complete operating panel for controlling the travel of the ground working machine and more than one travel switch if the machine operator wishes to change the operating panel while the ground working machine is already being driven.

[0011] Furthermore, self-propelled ground working machines are known which have a travel lever as a travel switch, which can be deflected from a neutral position, wherein a control device interprets the deflection direction indicatively as a travel direction desired by the machine driver and the deflection amount in this sense correspondingly as a desired theoretical travel acceleration, i.e. a greater deflection corresponds to a higher desired theoretical travel acceleration than a smaller deflection.

[0012] In the last-mentioned travel switch operating mode, the travel speed of the ground-working machine is changed as soon as the travel switch is deflected out of the neutral position, more precisely by a travel acceleration corresponding to the deflection amount. A deflection direction of the travel switch opposite to the current direction of movement accordingly causes a deceleration as a negative acceleration.

[0013] This has the advantage that the travel switch only needs to be actuated for a change in the driving state that has been reached once, if the ground processing machine is to cover a longer section in a uniform movement, in which case the travel switch does not need to be actuated again after the desired uniform movement has been achieved.

[0014] Furthermore, the travel control by means of which the deflection amount of the travel switch corresponds to the travel acceleration amount by the travel drive can also control the travel operation of a machine having multiple control stations by each control station, wherein the ground processing machine that is already in motion allows the machine operator to switch from one control station to another without changing the driving state, in particular the driving speed. Such a travel control can be implemented, for example, on a large road milling machine that has a driver's cab with more than one control station. The control stations are arranged at a distance from each other in the transverse direction of the machine, so that the machine operator can observe the ground processing operation of the machine from the control station of his choice close to the machine edge on the right side in the driving direction or close to the machine edge on the left side in the driving direction.

[0015] A second disadvantage of the travel control is the start-up of the ground working machine, since humans and machine operators generally do not have a natural feel for the travel acceleration, so that a metered start is difficult to achieve, especially when the ground working device is working simultaneously, with the force reaction that fluctuates greatly depending on the feed speed provided by the travel drive. The travel speed achieved is not very intuitively related to the actuation duration of the travel switch. Summary of the invention

[0016] The objective technical object of the invention described in this application is therefore to simplify the control of the travel operation of a ground-working machine without complicating the operating device for this purpose.

[0017] The utility model achieves the object on the ground processing machine mentioned at the beginning in the following manner, namely, the control device can switch between a first operating mode and a second operating mode, in the first operating mode, the control device assigns a value of a first movement amount to the deflection of a travel switch according to a first corresponding relationship and controls the travel drive according to the first movement amount, and in the second operating mode, the control device assigns a value of a second movement amount different from the first movement amount to the deflection of the travel switch according to a second corresponding relationship and controls the travel drive according to the second movement amount, wherein the control device does not control the travel drive based on the first operating amount according to the first corresponding relationship in the second operating mode.

[0018] According to the self-propelled ground processing machine of the utility model, the self-propelled ground processing machine includes a mechanical frame; a ground processing device supported by the mechanical frame; a traveling mechanism supporting the mechanical frame; a traveling drive for driving the ground processing machine to travel along a direction of movement; and an operating device for controlling the traveling drive, wherein the operating device includes a traveling switch that can be deflected from a reference position and a control device, wherein the control device is configured to detect the deflection of the traveling switch relative to the reference position and control the traveling drive according to the detected deflection to cause the traveling movement, wherein the control device can be switched between a first operating mode and a second operating mode, in which the control device assigns a value of a first movement amount to the deflection of the traveling switch according to a first corresponding relationship and controls the traveling drive according to the first movement amount, and in the second operating mode, the control device assigns a value of a second movement amount different from the first movement amount to the deflection of the traveling switch according to a second corresponding relationship and controls the traveling drive according to the second movement amount, wherein the control device does not control the traveling drive based on the first operating amount according to the first corresponding relationship in the second operating mode.

[0019] The control device can always switch between the first operating mode and the second operating mode to control the travel operation of the ground processing machine with a single travel switch on the operator's console. Depending on whether the machine operator prefers to control the travel drive via the control device based on the first operating variable or the second operating variable, the switchover of the control device between the operating modes can activate the operating mode deemed appropriate. As will be described in detail below, the appropriate operating mode can also be selected or activated without the involvement of the machine operator based on objective criteria of the respective operating conditions of the travel drive and / or the actuation of the travel switch.

[0020] The ground processing machine can be any ground processing machine, for example a spreading ground processing machine, such as a road paver; or a stripping ground processing machine, such as a road milling machine, a recycling machine or an open-pit miner. Preferably, the ground processing device of the ground processing machine is used for stripping ground processing. Usually, the ground processing device includes a stripping roller equipped with a stripping tool, such as a milling roller or a cutting roller. The stripping roller as a milling roller carries a milling cutter as a stripping tool, and the stripping roller as a cutting roller carries, for example, a grinding wheel as a stripping tool. The stripping roller in the ground processing device is preferably rotatable around a roller axis extending in the transverse direction of the machine. For operational safety, the stripping roller is preferably accommodated in a known roller box that is open to the ground to be processed and is encapsulated by the roller box.

[0021] The running gear comprises a plurality of rolling running gears. A single running gear or all running gears may be a wheeled running gear or a crawler running gear. Preferably, the two running gears are running gears of the same type, i.e., two wheeled running gears or two crawler running gears, and the two running gears form a common running gear axis based on their arrangement in a common longitudinal region of the ground processing machine. Preferably, all running gears of the running gear are running gears of the same type.

[0022] The travel drive can be a hydraulic drive that has proven itself on ground processing machines, wherein preferably each chassis of the travel gear has a suitable drive motor. However, the travel drive can also be an electric drive, wherein preferably each chassis of the travel gear has a suitable drive motor. It is also possible to drive only a portion of the chassis of the travel gear, wherein each chassis in this portion has its own drive motor, and the remaining chassis as follower chassis only passively roll on their supporting ground by the drive of the driven chassis.

[0023] Preferably, the machine frame is arranged to be height-adjustable relative to the running gear, for example, by means of a lifting column, which connects the machine frame to the running gear. Here, only the running gear on one running gear axis can be connected to the machine frame via the lifting column, while the running gear on another running gear axis cannot be connected to the machine frame in a height-adjustable manner relative to the machine frame. Similarly, all running gears of the running gear can be connected to the machine frame via the lifting column. The lifting column can hydraulically or / and electromechanically or / and pneumatically change its length dimension extending in the machine height direction and thereby enable the machine frame to move in height relative to the running gear.

[0024] A driver's cab with at least one operating console is preferably arranged on the machine frame, from which the machine operator can control the operation of the soil working machine, in particular also the driving operation of the soil working machine.

[0025] In principle, the control device can be switched between two, in particular at least two, operating modes, which is advantageously independent of which different movement quantities are used as the first movement quantity and the second movement quantity. This opens up the possibility of driving the floor working machine with two different control characteristics by means of one and the same travel switch.

[0026] According to the described embodiment, the first movement variable comprises or preferably is the theoretical travel speed of the ground working machine. The deflection variable thus predetermines the theoretical travel speed of the ground working machine desired by the machine operator and thus to be achieved. The desired travel direction can preferably be set via the deflection direction. A deflection of the travel switch in the forward travel direction moves the ground working machine in the forward travel direction. The same applies to a deflection of the travel switch in the reverse travel direction.

[0027] It also applies that a greater deflection of the travel switch indicates a greater theoretical travel speed to be achieved by the ground working machine and that a smaller deflection of the travel switch indicates a smaller theoretical travel speed to be achieved by the ground working machine.

[0028] The relationship between the deflection of the travel switch and the value of the respectively corresponding setpoint driving speed is defined by a first correspondence. The first correspondence can be stored in a data memory of the control device, for example as a characteristic curve, a characteristic curve, a formula relationship, a correspondence table, etc. However, the first correspondence can additionally or alternatively be defined by a corresponding design or installation of the travel switch, for example in that the travel switch actuates an electrical adjustment mechanism, such as a potentiometer, via its deflection, and the electrical adjustment mechanism outputs an electrical variable, the value of which is dependent on the corresponding operating state or deflection of the electrical adjustment mechanism.

[0029] The relationship between the deflection amount of the travel switch and the respectively corresponding numerical value of the setpoint driving speed can be a linear relationship, which can be grasped particularly easily and intuitively by the machine driver. However, the relationship can also be a progressive or degressive relationship, according to which, starting from the achieved deflection amount, an increase or decrease of a certain number of percentage points relative to the maximum deflection of 100% leads to an increase or decrease of the setpoint driving speed by a larger number of percentage points (progressive) or to an increase or decrease of a smaller number of percentage points (degressive).

[0030] The ground working machine preferably has at least one speed sensor, which detects the current actual driving speed of the ground working machine and outputs it to the control device, so that the control device can recognize when it is no longer necessary to accelerate or decelerate the ground working machine by comparing the desired theoretical driving speed represented by the deflection of the driving switch with the actual driving speed detected by the at least one speed sensor, because the actual driving speed corresponds sufficiently accurately to the theoretical driving speed.

[0031] Likewise preferably, according to the described embodiments, the second movement variable can include either a setpoint travel acceleration of the ground working machine, in particular a travel drive, or an operating variable interacting with the travel acceleration of the ground working machine.

[0032] Usually, the ground processing machine does not have an acceleration sensor, so the control device cannot directly control the travel drive by comparing the actual travel acceleration with the theoretical travel acceleration. Instead, the control device directly controls the device that affects the travel acceleration caused by the travel drive. For example, the control device can control the electrical quantity supplied to the corresponding electric motor in the case of an electric travel drive, such as the motor current. In this case, the control device itself does not need to directly output the electrical quantity supplied to the electric motor, but can control a numerically larger electrical quantity such as voltage and / or current, especially the motor current, via a small electrical control signal output to an electrical switch component, such as a thyristor or / and a diode, such as a control current or / and a control voltage. Therefore, by considering the corresponding operating characteristics of the participating electrical components and the electric travel drive, a larger deflection amount of the travel switch causes a larger numerical theoretical travel acceleration, and vice versa. Correspondingly, it is also applicable to other drive types.

[0033] For example, the control device can output a control signal that changes linearly with the deflection amount of the travel switch, and the control signal also causes a linear change in the driving force or driving torque output by the travel drive. However, since the magnitude of the losses in the drive train, such as friction and flow losses, depends on the current travel speed and must be compensated by the output driving force or driving torque, the effective travel acceleration of the ground processing machine does not have a linear relationship with the deflection amount of the travel switch, even though the control device and the travel drive have a linear relationship with the deflection amount of the travel switch.

[0034] At the time of the present application, in the case of hydraulic drives common to many ground working machines, the control device can output a signal, preferably an electrical signal, whose signal strength, for example, voltage and / or current strength, is correlated to the deflection of the travel switch. The electrical signal causes the actuation of at least one hydraulic component in a known manner to change the flow of the hydraulic medium in the hydraulic circuit of the travel drive or / and to change the throughput of the hydraulic drive motor or hydraulic drive pump. Thus, by taking into account the operating characteristics of the participating components, a change in the travel acceleration of the ground working machine as a function of the deflection of the travel switch is achieved.

[0035] For example, the control device can output a control current of 0 to 1 A, preferably 100 to 900 mA, particularly preferably 200 to 600 mA, as a function of the deflection of the travel switch and can thus control another electrical component as a function of the strength of the output signal current.

[0036] It is obviously necessary to note here that when using the theoretical travel speed as the first movement variable and when the actual travel speed differs from the theoretical travel speed, the travel acceleration of the ground processing machine is absolutely necessary in order to reach the theoretical travel speed indicated by the deflection of the travel switch starting from the actual travel speed.

[0037] It is advantageous here that a small difference between the actual travel speed and the theoretical travel speed is overcome by a travel acceleration of a smaller value than a larger value. Starting from an actual travel speed of 0 m / min, i.e., from a stop of the ground processing machine, in a preferred design the ground processing machine accelerates with a smaller travel acceleration to a smaller theoretical travel speed and with a larger travel acceleration to a higher theoretical travel speed. This means that in the first operating mode, the deflection of the travel switch in the example case not only directly indicates the desired theoretical travel speed, but also indirectly indicates the theoretical travel acceleration that needs to be set to reach the theoretical travel speed. Therefore, as mentioned above, it cannot be ruled out that in the first operating mode, the control device controls the travel drive not only according to the first movement quantity but also according to the second movement quantity.

[0038] Likewise, in the second operating mode, the speed of the ground processing machine is always necessarily achieved by accelerating the ground processing machine according to the deflection of the travel switch. However, in contrast to the first operating mode, the speed achieved by the ground processing machine in the second operating mode is not only related to the deflection of the travel switch, but also to the deflection duration. Instead, the control device controls the travel drive to accelerate the ground processing machine in the direction indicated by the deflection direction until the deflection of the travel switch ends or until the maximum speed is reached, or in the case of accelerated travel opposite to the current travel direction, until the ground processing machine stops. In principle, it is conceivable that even in the case of initially negative travel acceleration, the ground processing machine first decelerates and then accelerates in the opposite direction when the deflection continues until the deflection ends or until the maximum value of the acceleration is reached. However, for reasons of greater operational safety, it is preferred that the ground processing machine accelerates (decelerates) against its current direction of movement until the ground processing machine stops even when the travel switch continues to be deflected, but not beyond this stop.

[0039] The maximum speed that can be achieved in the second operating mode can be a maximum speed that is inherently set in the construction of the ground working machine. This is the maximum speed at which all components involved in the movement of the ground working machine are decelerated overall due to friction or the like, which corresponds in value to the travel acceleration caused by the travel drive, thereby achieving a balance between the travel drive and the travel resistance.

[0040] However, for reasons of operational safety, it is not preferred to accelerate the soil working machine to a speed which is determined in terms of construction only by the components used on the soil working machine and which therefore differs from one another due to manufacturing tolerances of the different implementations.

[0041] The maximum speed is therefore preferably defined below the maximum speed determined in terms of construction in the second operating mode, starting from the maximum speed determined in terms of construction, and the ground working machine does not accelerate further in the second operating mode. In order to check whether the maximum speed predefined by the control device is reached, the ground working machine preferably comprises at least one speed sensor for detecting the respective travel speed of the ground working machine and transmitting it to the control device. However, the maximum speed predefined by the control device is preferably independent of the deflection of the travel switch, so that the control device preferably does not control the travel drive in the second operating mode as a function of the combination of the deflection of the travel switch and the first movement quantity.

[0042] In a less preferred embodiment, but still within the scope of the invention, the control device can assign the value of the first movement quantity to the detected travel switch deflection according to another assignment in the second operating mode and can also control the travel drive according to the first movement quantity. The other assignment is different from the first assignment. It is conceivable that in this assignment, for example, the maximum speed that can be achieved in the second operating mode changes to a certain extent, in particular slightly, for example not more than ±10% of the preset maximum speed, depending on the deflection of the travel switch.

[0043] Although the ground processing machine is preferably steerable, the movement or drive direction that can be input by the travel switch is preferably limited to the opposite directions "forward" and "backward", and the control device controls the travel drive along this movement or drive direction to move the ground processing machine. In principle, the steering rotation does not play a role in the control input of the travel drive of the running gear of the running gear. However, for reasons of operational reliability, the maximum speed and / or the maximum achievable acceleration can be reduced to a value lower than in the case of straight-line travel without a steering rotation. In the second operating mode, the maximum speed preset in terms of control technology for forward travel can be different from that for backward travel, preferably higher than that for backward travel. Similarly, the first and / or second assignment can be different for forward travel and backward travel.

[0044] As described above in the example of the setpoint driving speed as the first movement variable and the setpoint driving acceleration as the second movement variable, the control device therefore generally assigns the value of the second movement variable to the deflection of the travel switch in the first operating mode according to the third assignment and also controls the travel drive according to the second movement variable.

[0045] In principle, the third correspondence can be a separate correspondence different from the first and / or second correspondence, which is used, for example, only in the first operating mode. However, for machine operators who control the driving operation of the ground processing machine both in the first operating mode and in the second operating mode, it has been found that it is advantageous for the intuitive operability of the operating device if the third correspondence is the second correspondence. In the case of a set driving acceleration or an operating variable that interacts with the driving acceleration of the ground processing machine, in particular the driving drive, as the second movement variable, this means that a travel switch deflection of the same value causes an operating acceleration of the same value in both the first and second operating modes.

[0046] In principle, it is conceivable to arrange a switch, which is referred to below as a "switch" and can be operated independently of the travel switch, on the control panel, or if necessary even on the travel switch itself, and by which the machine driver can switch the control device between the first and second operating modes by targeted actuation of the switch. However, observations of ground processing machines in operation have shown that travel control in the first operating mode is advantageous for very specific operating situations, and travel control in the second operating mode is advantageous for very specific other operating situations. These operating situations are in particular travel situations caused by the travel switch and its actuation itself. Therefore, in order to relieve the machine driver, it is advantageous to design the control device so that, depending on the actuation state of the travel switch, the first operating mode is terminated by a movement of the travel switch and control of the travel drive in the second operating mode is initiated by the same or different movement of the travel switch.

[0047] In the preferred case of the setpoint speed as the first movement variable, the travel control in the first operating mode is advantageous in particular when the ground working machine is starting from a standstill. If the ground working machine has reached the setpoint speed desired by the machine operator as the actual travel speed, the travel control in the second operating mode, which is dependent on acceleration, is preferred. Usually only a small correction of the travel speed is required, which correction can be caused by occasional short-term actuation of the travel switch in the second operating mode, which is dependent on acceleration.

[0048] However, it should not be excluded that, in addition to the aforementioned automatic switching from the first operating mode to the second operating mode by movement of the travel switch depending on the operating state of the travel switch, there is also the aforementioned converter, which is able to, for example, adjust the ground processing machine in one of the two operating modes, for example in the first operating mode, independently of the operating state of the travel switch, for example for loading onto a transport vehicle.

[0049] It has proven to be particularly advantageous in terms of intuitiveness and ergonomics to use a travel switch movement that changes the travel switch deflection as the above-mentioned movement of the travel switch, in particular for travel switch actuation at the end of the first operating mode, in particular when changing from the first operating mode to the second operating mode. Preferably, the change in the travel switch deflection is greater than or equal to a predetermined tolerance distance in value, in order to avoid the end of the first operating mode, in particular the change from the first operating mode to the second operating mode, due to unintentional movements, for example triggered by mechanical jolts or impacts, or at least to reduce the number of such unintentional changes.

[0050] After the first operating mode has been terminated, the control device can continue to control the travel drive in the second operating mode. The start of the control of the travel drive in the second operating mode can also advantageously be associated with a travel switch movement, in particular an actuation, which changes the travel switch deflection. In order to be able to provide a defined initial state for the start of the control of the travel drive in the second operating mode, the travel switch movement or actuation that ends the first operating mode can be different from the movement or actuation that starts the control of the travel drive in the second operating mode.

[0051] In principle, the travel switch movement or actuation that causes the first operating mode to end can be any movement of the travel switch, for example a movement orthogonal to a movement or actuation that causes actuation in the forward or reverse driving direction. However, it has been found to be advantageous if the travel switch movement that causes the first operating mode to end does not occur in a direction that differs from the movement of the travel switch that causes actuation in the forward or reverse driving direction.

[0052] Preferably, the control device is designed to terminate the first operating mode when the travel switch deflection that has been reached decreases in value. In the above-mentioned preferred case of the setpoint travel speed as the first movement variable, this means that the control device automatically terminates the first operating mode whenever the machine driver controls the travel drive via the travel switch in the first operating mode and as soon as the selected deflection decreases in value by at least a predetermined tolerance distance (for example, because the ground working machine has reached the setpoint travel speed indicated by the machine driver in the first operating mode by means of the travel switch deflection). As a result of the termination of the first operating mode, further changes in the travel switch deflection no longer cause a change in the travel state of the ground working machine according to the first assignment.

[0053] Preferably, after the first operating mode, the control device does not take into account the deflection of the travel switch until the travel switch reaches a predetermined position, preferably a reference position. It is thus possible to achieve a change in the travel state of the ground working machine based on the deflection of the travel switch starting from a predetermined position, so that the predetermined position is preferably a reference position. In addition, it cannot be stipulated that the machine driver who has reached the desired travel state of the ground working machine in the first operating mode wishes to start changing the travel state by reducing the deflection by at least a tolerance distance. This applies in particular when the deflection of the travel switch is further reduced. In this case, the machine driver does not want to perform a control intervention based on a deflection that reduces at least the tolerance distance, but rather performs a control intervention based on a second correspondence that is different from the first correspondence. Although such a construction of the control device can in principle be included in the present invention, it is not very intuitive.

[0054] The control device controls the travel drive in the second operating mode, starting with the return of the travel switch to a predetermined position, preferably a reference position, or / and with the change of the deflection of the travel switch to a greater value. This is because the deflection of the travel switch from the reference position and the reversal of the movement direction of the travel switch from a movement toward the reference position to a movement away from the reference position can indicate the intention of the machine operator and lead to a change in the driving state.

[0055] The machine operator can then control the travel drive of the ground working machine according to the second assignment by deflecting the travel switch only the next time and thus input a travel acceleration or deceleration of the ground working machine in the direction of movement corresponding to the deflection direction, in particular by deflecting the travel switch in the corresponding direction.

[0056] In the present invention, it may be advantageous for the machine operator to continue to correct the driving state of the ground working machine in the first operating mode or to continue to control the travel drive of the ground working machine within a predefined range in the first operating mode after reaching the local maximum deflection in the first operating mode. For this purpose, the control device may define a correction range with respect to the local maximum deflection reached in the first operating mode, within which a change in the travel switch deflection causes the travel drive to be controlled in the first operating mode. The reaching of the local maximum deflection may be detected by the control device by deactivating the travel switch or by reversing its direction of movement.

[0057] The local maximum deflection of the travel switch is therefore the travel switch position which is reached during actuation of the travel switch without exceeding the deflection amount without exhausting the maximum adjustment travel of the travel switch.

[0058] The correction range preferably includes a first correction path extending from the local maximum deflection reached in the direction away from the reference position. By adjusting the travel switch in the correction range along the first correction path in the direction away from the local maximum deflection reached, the machine operator can control the travel drive in the first operating mode.

[0059] The correction range can have a second correction path that runs from the local maximum deflection reached in the direction of the reference position. By adjusting the travel switch in the correction range along the second correction path in the direction away from the local maximum deflection reached, the machine operator can control the travel drive in the first operating mode. In this case, adjustments along the first and second correction paths starting from the local maximum deflection reached usually have opposite effects due to their opposite adjustment directions. For example, adjusting the travel switch away from the local maximum deflection reached along the first correction path can adjust the travel drive to a higher speed, while adjusting the travel switch away from the local maximum deflection reached along the second correction path can adjust the travel drive to a lower speed.

[0060] The first and second correction paths can be of the same or different sizes. The first correction path can reach the maximum possible deflection of the travel switch, but does not exceed the maximum possible deflection, i.e. the maximum possible adjustment path of the travel switch. The second correction path can reach the reference position, but preferably does not exceed the reference position. More preferably, the second correction path is not greater than the tolerance distance, particularly preferably less than the tolerance distance. If the second correction path is less than the tolerance distance, then preferably adjusting the travel switch via the second correction path, but not exceeding the tolerance distance, has no effect on the travel drive. This adjustment does not end the first operating mode.

[0061] A travel switch deflection that exceeds the first correction path starting from the local maximum deflection reached preferably does not cause a change in the travel speed. Further optionally, the control device also ends the control of the travel drive in the first operating mode when the first correction path is exceeded. In this respect, keeping the correction range on the side of the first correction path in the direction away from the reference position has the same effect on the control of the travel drive by the control device as if the tolerance distance was exceeded when adjusting the travel switch towards the reference position.

[0062] The first and / or second correction path and / or the tolerance distance may be an absolute extension or angle of the deflection, which is stored in a data memory of the control device. The first and / or second correction path and / or the tolerance distance may be a portion of the deflection amount used in the first operating mode based on the local maximum deflection achieved, for example a percentage, for example 50%, 40%, 30%, 20%, 10%, 5% or 3%, which is stored in a data memory of the control device. In the latter case, the value of the first and / or second correction path and / or the tolerance distance is related to the amount of the local maximum deflection achieved.

[0063] The first correction path can always reach the point of the maximum possible deflection. For example, if, except for starting from rest, it is not desired to control the speed for a long time in the first operating mode, the first correction path can be zero.

[0064] In a preferred specific embodiment, the second correction path can be zero if, in the first operating mode, the traction drive needs to be controlled only in one sense, for example only to a higher driving speed.

[0065] The machine operator can achieve successively different deflections, which are detected by the control device, respectively by being stationary or by the movement of the deflected travel switch in the opposite direction. In the case of the latter preferred embodiment in particular, its correction range has only a first correction path and therefore extends only from the respectively achieved local maximum deflection in the direction away from the reference position, the local maximum deflections of the travel switch achieved successively in time being progressively further away from the reference position. As soon as the local maximum deflection is reached, a reduction in the deflection amount of the travel switch by less than the tolerance distance has no effect on the travel drive and the first operating mode is not terminated. Only when the previously achieved local maximum deflection of the travel switch in the direction away from the reference position is exceeded by less than the first correction path, the travel switch causes a change in the operating behavior of the travel drive corresponding to the travel switch deflection, via the deflection of the control device.

[0066] If a plurality of local maximum deflections of the travel switch are reached in succession, each deflection preferably has its own correction range. The correction range can be shifted along with the respectively reached maximum deflection, if necessary by adapting its dimensions. Alternatively, the correction range can be defined only at the first or predetermined deflection of the plurality of reached local maximum deflections and taken into account by the control device.

[0067] In order to configure the ground processing machine according to the skills and preferences of the respective machine operator, the machine operator can input parameters defining the first and / or second correction path and / or tolerance distance into the control device. The control device can therefore preferably have an input device.

[0068] Preferably, the travel switch has a neutral position, wherein the control device controls the travel drive to neither accelerate nor decelerate as long as the travel switch is in the neutral position. More preferably, when the machine driver or a person or a device does not apply an operating force or an operating torque to the travel switch, the travel switch is biased into the neutral position and returns to this position. This significantly simplifies the work of the machine driver. This also simplifies the establishment of multiple operating stations, each of which has a travel switch for controlling the travel operation. When the machine driver changes the operating station and does not act on any travel switch, all the travel switches are uniformly located in the neutral position. More preferably, the neutral position is the above-mentioned reference position, and the magnitude and direction of the deflection relative to the reference position are obtained by the control device or by at least one position sensor that detects the position of the travel switch and cooperates with the control device.

[0069] After the above description of a preferred transition from the first operating mode to the second operating mode, a preferred transition into the first operating mode, preferably from the second operating mode to the first operating mode, is described below:

[0070] In principle, as described above, the machine operator can switch in a targeted manner, in particular from the second operating mode to the first operating mode, by means of the switch. In order to relieve the machine operator, the control device is preferably additionally or alternatively designed to terminate the second operating mode as a function of the driving state of the ground processing machine and as a function of the actuation position or deflection of the travel switch and preferably to start controlling the travel drive in the first operating mode. This change of the operating mode by the control device can be carried out automatically without the machine operator having to intentionally actuate the switch. Therefore, after the second operating mode has ended, the next actuation of the travel switch, in particular the next deflection from the reference position, results in the control of the travel drive in the first operating mode.

[0071] In a preferred case, the first operating mode is used for starting the ground working machine from a standstill, and the control device is preferably configured to start controlling the travel drive in the first operating mode when the ground working machine has a travel speed not higher than a predetermined threshold speed and the travel switch is in a neutral position. Preferably, the predetermined threshold speed is zero, i.e. the ground working machine is stopped. Each actuation of the travel switch then starts the ground working machine.

[0072] In principle, the control device may have more operating modes than the first and second operating modes described above. However, in order to be able to learn as quickly as possible and even intuitively operate the travel switch to control the travel of the ground processing machine, it is preferred that the control device only has the first and second operating modes, as described and improved above.

[0073] The above-mentioned operating device is preferably used on a ground processing machine having at least two travel switches arranged at a spatial distance from each other and capable of being deflected from a reference position. Preferably, each travel switch cooperates with a control device to control a travel drive according to a deflection detected by one of the two travel switches to cause a travel movement. In principle, it is also conceivable that each travel switch cooperates with its own control device. However, preferably, a control device is provided for all travel switches of the ground processing machine, whereby only a single control device controls the travel drive of the ground processing machine, but the control device can obtain command inputs via multiple travel switches. In normal operation, even if there are multiple travel switches, only one is always operated, because the machine driver can always only carry out work at one operating console at the same time.

[0074] In principle, it is conceivable in the present invention to take into account the operating state of the ground working machine when selecting the operating mode of the control device for controlling the travel movement, for example whether the ground working machine is in engagement with the ground, in particular in a peeling engagement. In order not to place excessive demands on a machine operator who is accustomed to operating the machine in a specific machine behavior due to an unnecessarily large number of switching conditions for switching between the operating modes of the control device, the control device is preferably designed to select the first and / or the second operating mode as the active operating mode independently of the operating state of the ground working machine.

[0075] Preferably, the ground processing machine of the present invention transmits data by means of a data bus suitable for the vehicle, such as a CAN bus. The control device obtains information, such as sensor information, via the data bus not continuously but in a clocked manner, depending on the working mode of the selected data bus. Therefore, in these cases, the position of the travel switch is inherently detected by the control device system with an uncertainty determined at least by the information transmission clock. Each position of the travel switch described in the present application is therefore understood to be the arrangement of the travel switch in an uncertainty area around the position. The uncertainty area can be, for example, 1% of the maximum deflection path of the travel switch in the corresponding direction in each deflection direction of the travel switch, preferably 0.8%.

[0076] If the travel switch is biased into a reference position, preferably a neutral position, a play in the movement of the travel switch in the reference position may occur over time. In the present invention, any position of the travel switch that can be brought into the reference position without the machine driver exerting a force under the effect of preload is a reference position. Preferably, the travel switch has a play compensation region around its reference position, out of which the travel switch must be moved before the control device actuates the travel drive based on the travel switch deflection. The play compensation region in each deflection direction of the travel switch is, for example, 1%, preferably 1.5% of the maximum deflection path of the travel switch in the corresponding direction.

[0077] In order to avoid incorrect operation of the travel switch, preferably only one switching gate is provided for the travel switch in the direction of movement or operation, and particularly preferably, no switching gate is provided for the travel switch. The travel switch without a switching gate can advantageously be deflected independently of the current operating mode and independently of its deflection in the direction of movement to change the travel speed perpendicular to the direction of movement, thereby changing the travel direction, as described above.

[0078] This preferably applies to each travel switch of the ground working machine, which interacts with the control device in order to control the travel drive as a function of the detected deflection of one of the two travel switches, in order to change the travel speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The present invention is explained in detail below with reference to the accompanying drawings. It is shown in the drawings:

[0080] Figure 1 A rough side view of a floor processing machine according to an embodiment of the present invention is shown.

[0081] Figure 2 Shows Figure 1 A front view of a control console of a floor processing machine in FIG. 1 , the control console having two operating panels in operating position,

[0082] Figure 3 A schematic view of an operating device is shown, wherein the travel switch of the operating device is in the basic position when the machine is stationary.

[0083] Figure 4 Shows Figure 3 an operating device in the embodiment of the present invention, the operating device comprising a travel switch of the operating device which is deflected for starting in a forward driving direction in a first operating mode of a control device of the operating device,

[0084] Figure 5 Shows Figure 3 and Figure 4 an operating device which has a return deflection of the travel switch and the resulting termination of the first operating mode,

[0085] Figure 6 Shows Figures 3 to 5 an operating device having a travel switch in a base position and a control device in a second operating mode,

[0086] Figure 7 Shows Figures 3 to 6 an operating device having a control device in a second operating mode and a travel switch that is deflected to accelerate travel in a forward driving direction,

[0087] Figure 8 Shows Figures 3 to 7 an operating device having a travel switch in a base position and a control device in a second operating mode,

[0088] Fig. 9 Shows Figures 3 to 8 an operating device having a control device in a second operating mode and a travel switch that is deflected to accelerate travel in a rearward travel direction or decelerate travel forward,

[0089] Fig.10 Shows Figures 3 to 9 an operating device having a floor-working machine decelerated to a standstill and a travel switch in a reference position and a resulting changeover of the control device from a second operating mode to a first operating mode,

[0090] Fig.11 An exemplary first assignment between the deflection of the travel switch and the setpoint speed is shown as a first operating variable.

[0091] Fig.12 An exemplary second assignment between the deflection of the travel switch and the setpoint acceleration is shown as a second operating variable, and

[0092] Fig.13 An exemplary third assignment between the deflection of the travel switch and the setpoint acceleration is shown as the second operating variable. DETAILED DESCRIPTION

[0093] The drawings are not intended to be scaled.

[0094] exist Figure 1 1, a ground working machine according to the invention in the form of a large rotary tiller or a large road milling machine is generally indicated by 10. The ground working machine comprises a machine frame 12 which forms a chassis for a machine body 13. The machine body 13 comprises the machine frame 12 of the machine 10 and components connected to the machine frame 12 and which are movable relative to the machine frame when necessary.

[0095] The machine body 13 includes a front lifting column 14 and a rear lifting column 16, which are connected to the machine frame 12 at one end and connected to the front running gear 18 or the rear running gear 20 at the other end by means of corresponding running gear connection structures 34, for example, a connecting fork that bridges the running gear in the machine transverse direction Q and can be connected obliquely around an inclined axis parallel to the corresponding winding axis of the crawler 21 winding around the running gear 18 or 20. The running gears 18 and 20 are constructed basically the same and form the running gear 22 of the machine. The distance between the machine frame 12 and the running gears 18 and 20 can be changed by the lifting columns 14 and 16.

[0096] exist Figure 1 It cannot be seen in the side view of FIG. 1 that the machine 10 has in its front end region and in its rear end region two lifting columns 14 and 16 , respectively, which have a chassis 18 and 20 connected thereto, respectively.

[0097] The running gears 18 and 20 are, for example, crawler running gears each having a crawler track 21 guided for a circular motion. Individual and / or all running gears 18 and / or 20 may also be wheeled running gears in a different manner. The running gears 18 and 20 are driven by motors, usually by hydraulic motors 19 arranged on the respective running gear itself.

[0098] The floor working machine 10 can be driven and moved along the travel direction indicated by the double arrow D.

[0099] Figure 1 The observer is facing Figure 1 The machine longitudinal direction orthogonal to the machine transverse direction Q is indicated by L and is parallel to the drawing plane. Figure 1 The mechanical height direction H is also parallel to Figure 1 The drawing plane of FIG. 1 and extends orthogonally to the machine longitudinal direction L and to the machine transverse direction Q. Figure 1 The arrow tip of the machine longitudinal direction L points in the forward direction. The machine height direction H runs parallel to the yaw axis Gi of the machine 10 , the machine longitudinal direction L runs parallel to the roll axis Ro and the machine transverse direction Q runs parallel to the pitch axis Ni.

[0100] The ground working machine 10 has a cab 24 from which a machine operator can control the machine 10 via a control console 26 .

[0101] A ground processing device 28 is arranged under the machine frame 12, here for example as a milling assembly having a milling roller 32 accommodated in a milling roller box 30, which can rotate around a roller axis R extending along the machine transverse direction Q, thereby being able to remove foundation material during ground processing starting from the supporting surface AO of the foundation U at a milling depth determined by the relative height position of the machine frame 12.

[0102] The height adjustability of the machine frame 12 by means of the lifting columns 16 and 18 also serves to set the milling depth or generally the working depth of the machine 10 during ground processing. Alternatively or additionally, the milling roller 32 can be accommodated on the machine frame so that its height can be adjusted relative to the machine frame 12. The ground processing machine 10 shown by way of example is a large milling machine, for which the arrangement of the milling assembly 28 in the longitudinal direction L of the machine between the front chassis 18 and the rear chassis 20 is typical. Such large milling machines or ground stripping machines can generally have a conveyor belt in order to transport the stripped ground material away from the machine 10. In order to make it clearer in Figure 1 The conveyor belt which is basically present in the machine 10 is not shown.

[0103] The driving force source of the machine 10 is formed by an internal combustion engine 36 accommodated on the machine frame 12. In the embodiment shown, the milling roller 32 is driven to rotate by the internal combustion engine. The power of the internal combustion engine 36 also provides a hydraulic pressure accumulator on the machine 10, preferably via a pump transfer box and a hydraulic pump 38 connected thereto, through which the hydraulic motors, in particular the hydraulic motors 19 of the running gears 16 and 18, and the hydraulic actuators on the machine 10 can be operated. The internal combustion engine 36 is therefore also the source of the driving force of the machine 10.

[0104] The hydraulic pump 38 together with the hydraulic motor 19 forms a traction drive 40 of the machine 10 .

[0105] The lifting column 14 and the chassis 18 and / or the lifting column 16 and the chassis 20 can be rotated about corresponding steering axes S by means of a steering device (not shown in detail).

[0106] The driver's cab 24 is covered by a protective roof construction 42 which can be raised and lowered by means of a movement guide 50 and comprises a protective roof 44 which is connected to the machine frame 12 or machine body 13 via a front window assembly 46 and a rear wall assembly 48 .

[0107] exist Figure 2 In the front view, i.e., from the observation position of the machine driver working on the cab 24, a control console 26 is shown, which is substantially mirror-symmetrically constructed with respect to a mirror-symmetrical plane SE parallel to the yaw axis Gi and the roll axis Ro. The control console 26 has a table body 52, a first operating panel 54, and a second operating panel 66. The two operating panels 54 and 66 can be completely introduced into the storage compartment 56 or 72 in the table body 52 and can be pulled out from it through the corresponding loading opening 64 or 65 according to the mirror-symmetrical construction of the control console 26 relative to the table body 52 along the movement track B1 or B2 parallel to the pitch axis Ni. The loading openings 64 and 65 can be closed by a cover 68 or 70 respectively pivotably hinged on the table body 52.

[0108] The operating panels 54 and 66 each include an identical set of operating elements 58. The ground processing machine 10 can be operated by the operating elements 58 of each of the first operating panel 54 and the second operating panel 66. The operating elements 58 of the operating panels 54 and 66 each include a travel joystick 58a or 58b that can be deflected from a neutral position about a deflection axis C1 that is parallel to the pitch axis in the example shown.

[0109] The main body 52 is erected on Figure 2 The lower part of the cab floor (not shown) and fixed thereto is configured as a switch cabinet 60 for accommodating an electric circuit, for example. In particular, a control device 61 connected to the operating element 58 and in particular to the two travel joysticks 58a and 58b and the travel drive 40 in a signal-transmitting manner can be arranged in the switch cabinet 60. Two doors 62 and 63 hinged on the platform body 52 close the switch cabinet 60.

[0110] The control device 61 may have a processor 61a, a data bus 61b, a data memory 61c and / or a database 61d. The data memory 61c may include a hard disk and / or an SSD memory and / or a USB stick and / or an optically readable data memory and / or at least one EPROM and / or at least one EEPROM and the like.

[0111] The control device 61 may be a single control device or may include a plurality of distributed sub-control devices, which are connected in a signal transmission manner and function together as the control device 61 .

[0112] The data memory 61 c is used to prepare the operating system of the control device 61 and to store and, if necessary, delete data transmitted to the control device 61 during operation.

[0113] The processor 61 a includes at least one integrated circuit which is used to process data of the operating system and data transmitted to the control device during operation of the control device 61 , for example data of operating elements and sensors.

[0114] In addition to the two operating panels 54 and 56 that are translationally movable relative to the table body 52, the table body 52 has an additional operating panel 74 that is fixedly arranged on the table body 52 in the central upper region. The additional operating panel 74 can be used as an input mechanism for the control device 61.

[0115] Furthermore, the console 26 has a display mechanism 76 which is constructed separately from the operating panels 54 and 66 and separately from the additional operating panel 74. The display mechanism 76 is an output mechanism of the control device 61 and is displaceable on a guide rail 78 along a movement axis V parallel to the pitch axis Ni and can pivot about it.

[0116] exist Figures 3 to 10 1 and 2 show an operating device 80 of a ground working machine 10 and its travel switch 58a or 58b and its control device 61. The function of the operating device 80 of the machine 10 will be explained below based on a virtual operating process for controlling the travel of the machine 10.

[0117] exist Figures 3 to 10 In each of the drawings, a symbolic tachometer 82 is additionally shown, which displays the speed reached by the machine 10 at the end of the operating situation shown in the corresponding figure. The scale of the symbolic tachometer 82 is a percentage scale for the sake of simplicity and clarity, which ranges from -100% as the maximum speed when driving backwards to +100% as the maximum speed when driving forward. The middle position of the tachometer indicates a speed of 0%, i.e. a stop of the machine 10.

[0118] The current operating mode is displayed in the control device 61 by numbers. Figure 3 The first operating mode is indicated by the number "1".

[0119] In addition Figures 3 to 10, respectively, roughly and symbolically, the control device 61 is connected to the travel drive 40 in a signal transmission manner to control the travel drive, wherein the travel drive includes the hydraulic motor 19 of the running gear 18 and 20 of the machine 10 and the hydraulic pump 38 of the hydraulic circuit. The control device 61 detects the direction and amount of the deflection of the travel control lever 58a or 58b via the position sensor 59.

[0120] In the first operating mode and in the second operating mode, the control device 61 detects the position of the travel switches 58a, 58b relative to the position sensor 59. Figure 3 , the travel switches 58a, 58b are preloaded into the neutral position so that they return to the neutral position without the action of external forces. The neutral position of the travel switches 58a, 58b is therefore their reference position. The travel switches 58a, 58b can be deflected toward the front end of the machine 10 for forward travel and toward the rear end of the machine 10 for rearward travel about a deflection axis C1 parallel to the machine transverse direction Q, wherein only one of the travel switches 58a, 58b is always actuated simultaneously.

[0121] The travel switches 58a, 58b can additionally be pivoted about a second pivot axis parallel to the rolling axis Ro to effect a steering movement of the steerable chassis 18 and 20. In this exemplary embodiment, however, only the amount by which the travel switches 58a, 58b are pivoted about the pivot axis C1 has an influence on the travel speed.

[0122] Figure 3 The neutral position of the travel switches 58a, 58b in the travel position is indicated by the longitudinal axis L58 of the travel switches 58a, 58b in a play compensation region 55 which is defined by a threshold deflection SF in the forward travel direction and by SR in the reverse travel direction. Preferably, the control device 61 controls the travel drive 40 based on the deflection of one of the travel switches 58a, 58b, depending on its deflection direction, from the neutral position only when the latter is deflected by more than a threshold deflection SF or SR. Thus, the detection of the position of the travel switches 58a, 58b is uncertain and any movement play of the travel switches 58a, 58b which may occur over the operating period in the neutral position is compensated in terms of control technology by means of the clock-type interrogation position sensor 59. For a better understanding, only in the case of the travel switches 58a, 58b, the travel switches 58a, 58b are deflected by a threshold deflection SF or SR depending on their deflection direction. Figure 3 A play compensation region 55 around the neutral position is shown in FIG.

[0123] In the first operating mode, the control device 61 assigns a setpoint speed to the deflection amount of the travel switches 58a, 58b and controls the travel drive 40 to reach the setpoint speed indicated by the deflection amount of the travel switches. The direction of the deflection relative to the neutral position provides the driving direction desired by the machine driver.

[0124] In order to avoid an undesired jerky start, the control device 61 controls the travel drive 40 in the first operating mode to bring about a travel acceleration which is greater for a higher theoretical travel speed than for a lower theoretical travel speed. The travel acceleration brought about by the control device 61 by correspondingly controlling the travel drive 40 can be proportional to the theoretical travel speed to be achieved. Alternatively, different levels of travel acceleration can be programmed, for example a low travel acceleration, a medium travel acceleration and a high travel acceleration, wherein the theoretical travel speed can also be divided into a corresponding number of levels, so that in order to achieve a theoretical travel speed in a specific travel speed level, a travel acceleration corresponding to the travel acceleration assigned to the travel speed level is selected. However, in principle, it is also possible to always accelerate with the same travel acceleration regardless of the theoretical travel speed selected by the deflection of one of the travel switches 58a, 58b.

[0125] In the present embodiment, the travel mechanism is driven by the hydraulic motor 19, so that the control device 61 first increases the hydraulic pump 38 to increase the travel acceleration until the maximum delivery capacity of the hydraulic pump is reached. When the maximum delivery capacity of the hydraulic pump 38 is reached, the control device 61 controls the individual hydraulic motors 19 and reduces their fluid intake to further increase the speed of the machine 10. In order to decelerate the traveling machine 10, the control device 61 controls the travel drive 40 in the reverse order and first increases the fluid intake of the hydraulic motor 19 to the maximum intake, and then reduces the delivery capacity of the hydraulic pump 38.

[0126] exist Figure 3 The machine 10 is stopped and the travel switches 58a, 58b are in their neutral positions.

[0127] like Figure 4 As shown, starting from the neutral position of one of the travel switches 58a or 58b shown in the front and in dotted lines, the travel switch 58a or 58b is deflected in a deflection direction corresponding to the forward travel direction by a deflection angle The control device 61 then controls the travel drive 40 to accelerate the travel of the machine 10 until a setpoint travel speed corresponding to the deflection amount of the deflected travel switch 58a or 58b is reached.

[0128] Figure 4The deflection of the deflected travel switch 58a or 58b shown reaches a local maximum deflection again indicated by its longitudinal axis L58. A correction region 57 can be defined around the first deflection, which is limited by a threshold deflection CF in the direction away from the neutral position and by a threshold deflection CR in the direction toward the neutral position. Within the correction region 57, the machine operator can move the deflected travel switch 58a or 58b and thereby cause the travel drive 40 to be controlled as a first operating variable according to the deflection amount based on the first assignment and the setpoint speed. Preferably, the size of the correction region 57 is larger than the play compensation region 55, so that in the first operating mode, the travel drive can be controlled beyond the uncertainty region in the position detection of the deflected travel switch 58a or 58b caused by the clock-like information transmission via the data bus 61b.

[0129] In the correction region 57, the deflected travel switch 58a or 58b can be deflected from its locally maximum deflection along a first correction path 1K in a direction away from the neutral position up to a threshold deflection CF. In the correction region 57, the deflected travel switch 58a or 58b can be deflected from its locally maximum deflection along a second correction path 2K in a direction toward the neutral position up to a threshold deflection CR.

[0130] exist Figure 4 In the example of , it is only for the purpose of clarifying that the first correction path 1K is numerically greater than the second correction path 2K. The two paths 1K and 2K can also be numerically equal in size or the second correction path 2K can be numerically greater than the first correction path 1K. One of the two paths or both paths can be zero or can have only a value that avoids the aforementioned uncertainty in the position detection of the deflected travel switch 58a or 58b leading to a control intervention in the travel drive 40. When one of the two paths 1K and 2K is zero, this is preferably the second correction path 2K.

[0131] TT denotes a tolerance path, which the control device 61 ends the first operating mode when it is exceeded in the direction of the neutral position. Figure 4 Unlike the schematic diagram in FIG. , the tolerance path TT can be the entire return path back to the neutral position. The first operating mode is then terminated when the travel switch reaches its neutral position.

[0132] exist Figure 1 The speed sensor 41 in each of the traveling mechanisms 18 and 20, which is only shown symbolically, detects the actual travel speed of the machine 10 and feeds it back to the control device 61. When the control device 61 compares the actual travel speed with the theoretical travel speed and finds that when the theoretical travel speed is reached, the control device 61 controls the travel drive 40 to maintain the reached travel speed.

[0133] Figure 4 Symbolic tachometer 82 in FIG. 8 shows that a setpoint travel speed has been reached, which has been input into control device 61 by the amount of deflection of travel switch 58 a or 58 b .

[0134] After reaching the inputted target travel speed, the machine operator releases the deflected travel switch 58a or 58b, so that the travel switch begins to return to the neutral position due to its preload. Figure 5 The initial position of the deflected travel switch 58a or 58b, i.e., its Figure 4 The position in Figure 5 The deflected travel switch 58a or 58b is in motion towards the neutral position due to its corresponding prestressing.

[0135] As soon as the deflection amount of the deflected travel switch 58 a or 58 b reaches the tolerance path TT in the first operating mode or exceeds the deflection amount in terms of value, the control device 61 ends the first operating mode.

[0136] In the exemplary embodiment shown, despite the objective deflection from the neutral position, the deflected travel switch 58 a or 58 b has no control intervention in the travel drive 40 until the neutral position is returned and the travel speed achieved in the first operating mode is maintained.

[0137] After reaching the neutral position or, if necessary, after the movement direction of the deflected travel switch 58a or 58b has been arbitrarily reversed relative to its preload direction, the control device 61 now assigns a theoretical driving acceleration to the amount of deflection of the travel switch 58a or 58b in the second operating mode. In the second operating mode, the deflection amount is not assigned to the theoretical driving speed as in the first operating mode.

[0138] The correspondence between the deflection amount and the setpoint driving speed and the setpoint driving acceleration can be stored in the data memory 61 c of the control device 61 as a characteristic diagram, a characteristic curve, a function, a table or the like, for example.

[0139] In the second operating mode, when one of the travel switches 58a or 58b is deflected, the machine 10 is accelerated at the theoretical travel acceleration by correspondingly controlling the travel drive 40 through the control device 61 until the machine driver releases the deflected travel switch 58a or 58b or reaches a predetermined maximum travel speed that is preferably also stored in the data memory 61c of the control device 61. Travel acceleration in the travel direction increases the travel speed. Travel acceleration opposite to the current travel direction serves as a deceleration and reduces the travel speed. As in the first operating mode, the direction of the deflection of the travel switch 58a or 58b of the control device 61 shows the desired direction of action of the theoretical travel acceleration.

[0140] exist Figure 6The travel switch 58a or 58b has reached the neutral position. The machine 10 continues to move at the travel speed achieved by deflecting the travel switch 58a or 58b in the first operating mode. Figure 6 For comparison, the deflected travel switch 58a or 58b is shown in dotted lines. Figure 5 The previous position shown in .

[0141] exist Figure 7 In the example of FIG. 1 , the machine driver has deflected the travel switch 58a or 58b again in the forward travel direction, but now in the second operating mode. The amount of this deflection is greater than before in the first operating mode. The machine 10 is accelerated by means of the travel acceleration or setting of the travel drive 40 in the forward travel direction assigned to the amount of this deflection in the control device 61, as if the machine driver keeps the travel switch 58a or 58b in the forward travel direction. Figure 7 The deflected position or until a preset or machine-specific maximum speed is reached. The symbolic tachometer 82 shows that a higher travel speed of the machine 10 is reached after the deflection lasts for a certain period of time.

[0142] After the machine operator reaches the desired travel speed, the travel switch 58a or 58b is released, causing the travel switch to return to the Figure 8 For comparison, in the neutral position Figure 8 The dotted Figure 7 The machine 10 then continues to move forward at the achieved travel speed, as the travel switch 58a or 58b remains in its neutral position.

[0143] exist Fig. 9 4 shows that the machine driver deflects the travel switch 58a or 58b in the second operating mode in the reverse travel direction in order to brake the machine 10, whereby the control device 61 decelerates the travel drive 40 according to the deflection amount of the deflected travel switch 58a or 58b. The deceleration according to the deflection amount is maintained for a period of time, during which the machine driver deflects and holds the deflected travel switch 58a or 58b in the reverse direction opposite to the current travel direction.

[0144] The control device 61 is programmed so that even though the travel switch 58a or 58b continues to be deflected, the control device does not exceed the machine stop, that is, the travel speed is zero, but instead sets the travel drive to invalid when the travel speed reaches zero, so that the machine 10 stops until a travel command is input again through one of the travel switches 58a or 58b. Fig. 9 This situation is shown because the symbolic tachometer 82 has indicated that the machine 10 has stopped. Fig. 9 The midpoint shows Figure 8 The previous position of the deflected travel switch 58a or 58b.

[0145] exist Fig.10 The machine driver releases the previously deflected travel switch 58a or 58b, so that the travel switch returns to its neutral position due to its preload. By reaching the neutral position while the machine 10 is stopped, the control device 61 automatically returns to the first operating state, so that the next start of the machine 10 is again carried out in the first operating mode regardless of the driving direction.

[0146] For shunting operation, the first operating mode or the second operating mode can be permanently activated in the control device 61 by a separate switch 58c, which is only shown as a button by way of example, and remains activated until the switch 58c is operated again. The switch 58c is present on the two operating panels 54 and 66. Instead of the switch 58c shown by way of example only, the operating mode selection switch assembly can be implemented physically or as a screen display on a touch screen.

[0147] exist Fig.11 The figure shows by way of example the travel switch 58a or 58b through the deflection angle (See Figure 4 ) and the travel speed v of the travel drive 40, in particular the theoretical travel speed v soll A first corresponding relationship 84 between the first operating quantities represented.

[0148] The first assignment 84 is linear and associates the deflection of the travel switch 58a or 58b from 0 to the maximum possible deflection angle. The deflection area and the travel drive 40 from a standstill with a speed of 0 up to a preset maximum achievable maximum speed v max The first correspondence 84 need not be linear, but may be increasing or decreasing.

[0149] According to the first assignment 84, in the first operating mode according to the setpoint driving speed v Soll The travel drive 40 is controlled.

[0150] exist Fig.12 The example in FIG. 1 shows the travel switch 58a or 58b again through the deflection angle The deflection and the travel acceleration a of the travel drive 40, in particular the set travel acceleration a Soll A second corresponding relationship 86 between the second operating quantities represented.

[0151] The second assignment 86 is linear and associates the deflection of the travel switch 58a or 58b from 0 to the maximum possible deflection angle. The deflection range of the drive 40 is from acceleration 0 to the preset maximum achievable acceleration a max The second correspondence 86 need not be linear, but may be increasing or decreasing.

[0152] According to the second assignment 86, in the second operating mode according to the setpoint driving acceleration a Soll The travel drive 40 is controlled.

[0153] exist Fig.13 The example in FIG. 1 shows the travel switch 58a or 58b again through the deflection angle The deflection and the travel acceleration a of the travel drive 40, in particular the set travel acceleration a Soll A third corresponding relationship 88 between the second operating quantities represented.

[0154] The third assignment 88 is a combination of a linear and a graduated relationship and assigns the deflection angle of the travel switch 58a or 58b from 0 to the maximum possible deflection angle. The deflection range of the drive 40 is from acceleration 0 to the preset maximum achievable acceleration a max The third correspondence 88 may have the following relationship: Fig.13 Different characteristics.

[0155] In the above exemplary embodiment, in the first operating mode, the third mapping 88 is additionally used according to the setpoint driving acceleration a Soll The travel drive 40 is controlled. Since a theoretical speed as the first operating variable that differs from the actual speed cannot be reached without acceleration, the third data relationship provides the acceleration at which the theoretical speed indicated by the deflection of the travel switch 58a or 58b should be reached. The third data relationship is based on the idea that a higher theoretical speed should be reached with a greater acceleration and a lower theoretical speed with a lower acceleration.

[0156] In the reference state or in the neutral position, in which the desired target speed is 0, the target acceleration is also 0. Until the first small deflection of the travel switch 58a or 58b The theoretical acceleration to be applied is linearly proportional to the deflection of the travel switch 58a or 58b. Increase until the predetermined acceleration a 1 .

[0157] Since the deflection of the travel switch 58a or 58b is reached Initially, when the travel switch 58a or 58b is deflected from Until deflection The acceleration a is also used in the lower deflection zone 1When the travel switch 58a or 58b is deflected Until deflection The larger acceleration a is used in the middle deflection zone 2 When the travel switch 58a or 58b is deflected Until deflection The maximum possible acceleration a is used in the upper deflection zone of max .

Claims

1. A self-propelled ground processing machine, the self-propelled ground processing machine (10) comprising a machine frame (12); a ground processing device (28) carried by the machine frame (12); a travel mechanism (22) carrying the machine frame (12); a travel drive (40) for driving the ground processing machine (10) to travel in a direction of movement; and an operating device (80) for controlling the travel drive (40), wherein: The operating device (80) comprises a travel switch (58a, 58b) that can be deflected from a reference position and a control device (61), wherein the control device (61) is configured to detect the deflection of the travel switch (58a, 58b) relative to the reference position. And according to the detected deflection A travel drive (40) is actuated to cause a travel movement, wherein the control device (61) is switchable between a first operating mode and a second operating mode, in which the control device (61) controls the deflection of the travel switch (58a, 58b) according to a first assignment (84). The invention relates to a method for assigning a value of a first movement quantity (v) and controlling the travel drive (40) according to the first movement quantity (v), wherein in the second operating mode, the control device (61) controls the deflection of the travel switch (58a, 58b) according to a second assignment (86). Assigning a value of a second movement quantity (a) different from the first movement quantity (v) and controlling the travel drive (40) based on the second movement quantity (a), wherein the control device (61) in the second operating mode does not control the travel drive (40) based on the first movement quantity (v) according to the first corresponding relationship (84).

2. The self-propelled ground processing machine according to claim 1, characterized in that: The first movement quantity (v) includes or is a theoretical travel speed of the ground processing machine (10).

3. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The second movement quantity (a) includes or is: a theoretical driving acceleration of the ground working machine (10) or an operating quantity of the ground working machine (10) that interacts with the driving acceleration of the ground working machine.

4. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The control device (61) in the first operating mode controls the deflection of the travel switch (58a, 58b) according to a third assignment (88). The value of the second movement quantity (a) is assigned and the travel drive (40) is also controlled as a function of the second movement quantity (a).

5. The self-propelled ground processing machine according to claim 4, characterized in that: The third corresponding relationship (88) is the second corresponding relationship (86).

6. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The control device (61) is configured to end the first operating mode by moving the travel switches (58a, 58b) according to the operating state of the travel switches (58a, 58b) and / or to start controlling the travel drive (40) in the second operating mode by moving the travel switches (58a, 58b) according to the operating state of the travel switches (58a, 58b).

7. The self-propelled floor processing machine according to claim 6, characterized in that: The control device (61) is configured to change the deflection of the travel switch (58a, 58b) in response to the travel switch (58a, 58b) The movement ends the first operating mode.

8. The self-propelled ground processing machine according to claim 7, characterized in that: The control device (61) is designed to, upon reaching a deflection of the travel switch (58a, 58b), When the value of decreases, the first operating mode is terminated.

9. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The travel switch (58a, 58b) has a neutral position, wherein the control device (61) actuates the travel drive (40) neither to accelerate nor to decelerate as long as the travel switch (58a, 58b) is in the neutral position.

10. The self-propelled ground processing machine according to claim 9, characterized in that: The neutral position is the reference position.

11. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The control device (61) is configured to terminate the second operating mode according to the driving state of the ground working machine (10) and according to the operating position of the travel switch (58a, 58b) or / and to start controlling the travel drive (40) in the first operating mode according to the driving state of the ground working machine (10) and according to the operating position of the travel switch (58a, 58b).

12. The self-propelled ground processing machine according to claim 11, characterized in that: The travel switch (58a, 58b) has a neutral position, wherein the control device (61) controls the travel drive (40) to neither accelerate nor decelerate as long as the travel switch (58a, 58b) is in the neutral position, and the control device (61) is configured to end the second operating mode when the ground processing machine (10) has a travel speed not exceeding a predetermined threshold speed and the travel switch (58a, 58b) is in the neutral position.

13. The self-propelled ground processing machine according to claim 11, characterized in that: The travel switch (58a, 58b) has a neutral position, wherein as long as the travel switch (58a, 58b) is in the neutral position, the control device (61) controls the travel drive (40) to neither accelerate nor decelerate, the neutral position being the reference position, and the control device (61) is configured to end the second operating mode when the ground processing machine (10) has a travel speed not higher than a predetermined threshold speed and the travel switch (58a, 58b) is in the neutral position.

14. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The ground processing machine (10) has at least two travel switches (58a, 58b) which are arranged at a spatial distance from each other and can be deflected from a reference position, wherein each travel switch (58a, 58b) cooperates with the control device (61) to control the ground processing machine (10) according to a detected deflection of one of the two travel switches (58a, 58b). The traction drive (40) is actuated to effect a traction movement.

15. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The control device (61) is designed to select the first or / and the second operating mode as the current operating mode independently of the operating state of the ground processing device (28).

16. The self-propelled ground processing machine according to claim 1 or 2, characterized in that: The self-propelled ground processing machine (10) is a road milling machine, a recycling machine or an open-pit mining machine.

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