COORDINATED MANEUVERS OF WORK MACHINES

Abstract

A work machine (10) unloads material through a discharge opening (115) onto a moving discharge target (272) in a coordinated maneuver (240), during which the discharge target (272) is confined to a limited area (transport machine loading platform 315). A distance control mechanism (219) selects path information (D W ) to a dwell location (237) of the coordinated maneuver (240). Sensors (130) generate corresponding signals that indicate a relative position of the discharge opening (115) to the limited area (315) during the coordinated maneuver (240). A transmitter (225) outputs the selected path information (D W ) to enforce the relocation of the limited area (315) accordingly.

Description

Technical area

[0001] The present disclosure relates generally to the guidance and positioning of vehicles, and more particularly to coordinated maneuvers of work machines, such as between a milling machine and a truck, for milling road surfaces. State of the art

[0002] Pavement milling is a surface preparation process that involves removing the old pavement to replace it with new material. Generally, pavement milling is performed using two construction machines, one to remove the old pavement (referred to herein as a milling machine or cold planer), and the other to collect the removed material for further distribution (referred to herein as a haulage machine). Typically, a rotary cutter installed on the milling machine removes the pavement and conveys it to an elevated shaft from which it is ejected. The removed material is ejected from the shaft and is carried through the air along a projectile trajectory that terminates in the bed of the haulage machine.The coordinated maneuver performed by the milling machine operator and the haulage machine operator is a dance aimed at maintaining relative motion between the two machines so that the projectile trajectory ends at the target positions in the haulage machine bed. Experienced operators can maintain relative speed and position so that the target positions change over the course of the maneuver and the ejected pavement is distributed across the haulage machine bed. Furthermore, experienced operators can perform the maneuver without having to stop either vehicle. It would be desirable if the same maneuvers could be performed by less experienced operators, or in a manner that reduces the workload for the experienced operators.

[0003] Various mechanisms have been employed to assist machine operators in performing the coordinated milling operation described above. For example, U.S. Patent 10,526,755 discloses a truck position control system for milling operations. The control system may include a sensor indicative of the speed of a mobile machine and / or the distance between the mobile machine, such as a road milling machine, and a receiver, such as a bed of a haulage machine. A display system provides information about the mobile machine and the receiver to a receiver operator. A controller, based at least in part on the sensor signal, determines a relative speed of the receiver with respect to the mobile machine and generates a visual display on the display system indicative of the relative speed of the receiver with respect to the mobile machine.

[0004] US Patent 11,273,752 relates to a lighting control system for a first mobile machine used in cooperation with other mobile machines. The lighting control system controls a lighting lamp mounted on the first mobile machine to point in the direction of travel of the first mobile machine. The lighting control system also includes a positioning / locating device mounted on the first mobile machine and configured to determine an immediate distance of the first mobile machine relative to a second mobile machine moving in the direction of travel in order to cooperate with the first mobile machine in performing an operation. An electronic controller may be configured to adjust the lighting lamp mounted on the first mobile machine based on the determined distance.

[0005] US Patent 9,267,249 relates to a work train comprising a milling device and a transport device with a sensor device for distance monitoring, a milling device with a sensor device, and a method for distance monitoring with a work train. An automatic distance monitoring device monitors the distance between the transport device and the milling device. The distance monitoring device displays the actually measured distance, and the milling device operator then transmits commands to the transport device driver.

[0006] While the above example illustrates some solutions that machine operators can use to maneuver work machines, research, engineering, and product development continue to improve efficiency in operations such as road milling through improved techniques for performing such maneuvers. Brief description

[0007] In one aspect of the present inventive concept, a work machine discharges material through a discharge opening onto a moving discharge target in a coordinated maneuver, during which the discharge target is confined to a confined area. A distance control mechanism selects path information to a dwell location for the coordinated maneuver. Sensors generate corresponding signals indicating the relative position of the discharge opening to the confined area during the coordinated maneuver. A transmitter communicates the selected path information to enforce a relocation of the confined area accordingly.

[0008] In another aspect, a system performs a coordinated maneuver between work machines. A work machine includes an update timer that generates a time signal consistent with operator-selectable signal parameters. A transmitter is coupled to the update timer and changes a transmitter state according to a state of the time signal defined by the signal parameters. Sensors generate corresponding signals indicating a position of the work machine relative to another work machine during the coordinated maneuver, the other work machine traversing a trajectory over which the coordinated maneuver is performed in response to the transmitter as individual maneuver relocations and intermediate dwell locations where the other work machine is stationary.

[0009] In yet another aspect of the present inventive concept, a method performs a coordinated maneuver between work machines. A timing signal is generated that conforms to operator-selectable signal parameters. A transmitter is activated according to one state of the timing signal defined by the signal parameters and deactivated according to another state of the timing signal defined by the signal parameters. A work machine is driven to follow a trajectory over which the coordinated maneuver is performed in response to the transmitter as individual maneuver relocations and intermediate dwell locations where the work machine is stationary. Material is accepted at a discharge destination defined by a position of the work machine relative to another work machine from which the material is discharged.

[0010] In another aspect of the present inventive concept, a system is constructed to perform a coordinated maneuver between work machines. A work machine in the system includes a distance control mechanism for selecting path information to a staging location for the coordinated maneuver. Sensors in the work machine generate corresponding signals indicating a relative position of the discharge opening to the restricted area during the coordinated maneuver. The work machine also includes a transmitter indicating the selected path information to enforce a relocation of the restricted area accordingly. The work machine further includes a transmitter that transmits the selected path data to a receiver in another work machine configured to receive the selected path data.The other working machine includes an automatic drive designed to drive the other working machine to the stopover locations according to the selected route data. Short description of the drawings Fig. 1 is a representation of an embodiment of work machines in which the present inventive concept can be implemented. Fig. 2A is a top view of a transport machine participating in an exemplary embodiment of a coordinated maneuver of the present inventive concept. Fig. Figure 2B is an illustration of an exemplary maneuver scheduling scheme that may implement the present inventive concept. Fig. 3 is a block diagram of an exemplary system of work machines with which the present inventive concept may be implemented. Fig. 4 is a schematic block diagram of an exemplary set of work machines equipped to implement the present inventive concept. Fig. 5 is a flow diagram of a coordinated maneuvering process by which the present inventive concept can be implemented. Detailed description

[0011] The present inventive concept is best described by specific embodiments, which are described in more detail herein with reference to the accompanying drawings, wherein like reference numerals refer to like features throughout. It is to be understood that the term inventive concept and the term invention, when used herein, refer to the inventive concept underlying the embodiments described below, and not just the embodiments themselves. It is further to be understood that the general inventive concept is not limited to the embodiments illustrated below, and the following descriptions should be read with that in mind.

[0012] Additionally, the word exemplary is used herein to mean "serving as an example, instance, or illustration." Any embodiment of structure, process, design, technique, etc., identified herein as exemplary is not necessarily to be construed as preferred or advantageous over other such embodiments.

[0013] The figures described herein include schematic block diagrams illustrating various interacting functional modules. Such representations are not intended as electrical schematics, and the illustrated connections are intended to show signal flow, various interactions between functional components, and / or processes, and are not necessarily direct electrical connections between such components. Furthermore, the functionality illustrated and described by separate components may not be distributed as shown, and the discrete blocks in the diagrams are not necessarily intended to represent discrete electrical components.

[0014] The techniques described herein relate to coordinated maneuvers in which one work machine, such as a milling machine, signals another work machine, such as a haulage machine, to start and stop, so that the discharged material is distributed across the entire bed of the haulage machine according to a signal that can be modified by the work machine operator based on changes in the machine's operation. After reviewing this disclosure and appreciating the concepts disclosed herein, one of ordinary skill in the art will recognize other contexts in which the present inventive concept may be applied. The scope of the present invention is intended to encompass all such alternative implementations.

[0015] Fig. 1 is an illustration of one embodiment of work machines in which the present inventive concept may be implemented. A milling machine 10 (also referred to as a cold milling machine) is deployed on a construction site 12, such as a roadway where milling work is being performed. As part of the milling operation, the milling machine 10 may mill a surface 14 of the road and transfer the milled material into a bed 16 of a haulage machine 18. The haulage machine 18 may be controlled by an operator located at its operator station 17. The operator of the haulage machine may use mirrors 19 mounted on the machine 18 and one or more control devices (e.g., a throttle control, a brake control, a steering device, etc.) in the operator station 17 to cause the haulage machine 18 to travel in front of or alongside the milling machine 10 to pick up milled material as the milling machine 10 traverses the surface 14.When the loading area 16 reaches its capacity, the transport machine 18 can move away from the milling machine 10 to transport the milled material to a warehouse, processing plant, or other facility, and a second transport machine can position itself relative to the milling machine 10 as a replacement for the transport machine 18 so that the milling operation can continue.

[0016] The milling machine 10 may include a frame 20 supported by one or more traction devices 22 and a drum housing 24 in which a milling drum is installed, which may include a plurality of cutting tools for breaking up the surface 14. A motor 26 mounted on the frame 20 may be configured to drive the traction devices 22, the milling drum within the drum housing 24, and / or other components. The traction devices 22 may include wheels or tracks connected to actuators 28 that raise and lower the frame 20 relative to the surface 14. It should be noted that raising and lowering the frame 20 may also serve to vary the depth to which the milling drum cuts into the surface 14. In some embodiments, the same or other actuators 28 may also be used to steer the milling machine 10 and / or to adjust the travel speed of the traction devices 22 (e.g.for accelerating or decelerating the traction devices 22). A chute assembly 30 may be pivotally mounted at a front end of the frame 20 and configured to transport material from the roller housing 24 toward a discharge opening 115 and into a receptacle, such as the transport machine 18. Other configurations of the milling machine (e.g., rear loader) and / or other types of receptacles may be used without departing from the spirit and intended scope of the present inventive concept.

[0017] The frame 20 may also support an operator station 32 in which any number of interface devices 34 may be used to control the milling machine 10. The interface devices 34 may include, among other things, one or more displays, warning devices, and input devices (e.g., buttons, levers, dials, switches, knobs, keypads, touchscreen devices, pedals, steering wheels, etc.). Exemplary interface devices or equivalent controls are described below.

[0018] The chute assembly 30 may include a first conveyor 36 communicatively coupled to the drum housing 24 and configured to transfer milled material to a second conveyor 38. The conveyor 38 may be pivotally mounted to the frame 20 to vary the height at which the milled material exits the conveyor 38. The conveyor 38 may also be pivotally mounted to the frame 20 to change the lateral position at which the milled material exits the conveyor 38.

[0019] Embodiments of the present inventive concept may be constructed or designed to support a coordinated maneuver of work machines, e.g., the milling machine 10 and the haulage machine 18. To this end, the milling machine 10 may include one or more transmitters 120 for instructing the haulage machine 18 to move to various locations on the surface 14. As used herein, the term "transmitter" shall refer to mechanisms by which a work machine participating in a coordinated maneuver indicates to another work machine to proceed to the next phase or stage of that maneuver. Transmitters may include semaphores such as signal lights, audible devices such as horns, radio devices such as transmitters, and so on. In some embodiments, the coordinated maneuver is performed via radio waves, optical signals, etc.between a communication device 110a on the milling machine 10 and a communication device 110b on the transport machine 18. Examples of this are provided below.

[0020] Sensors 130 may be installed on the milling machine 10 to generate signals that inform the milling machine operator about aspects of the coordinated maneuver, such as, among others, the position of the milling machine 10 relative to the transport machine 18 and the fill level of the transport machine 18.

[0021] Fig. 2A is an illustration of a haulage machine 18 participating in an exemplary embodiment of a coordinated maneuver of the present inventive concept. The milling machine 10 may move in the direction of the milling operation while the haulage machine 18 remains stationary (although the millings may also be deposited while the haulage machine 18 is in motion). As this occurs, the position of a discharge target 210 in the bed 16 changes, depicted as changing the position at discharge target locations 215a-215d, representatively referred to herein as target location(s) 215, where millings accumulate. The millings deposited at the target locations 215 may accumulate according to factors such as milling machine cutting depth, milling machine conveyor speed, milling machine feed rate, etc. Additionally, the accumulation at various target locations 215 may be determined by the spatial position of the well discharge opening 115.For example, the chute discharge opening 115 on the frame 20 can be rotated (raised and lowered) perpendicular to the loading surface 16, thereby defining a fill spread indicated in the figure by circles of different diameters. Additionally, the chute discharge opening 115 can rotate (swing left and right) transversely to the loading surface 16, thereby defining the lateral positions of the discharge targets 215.

[0022] Fig. 2B is an illustration of an exemplary maneuver scheduling scheme that may be used to implement the present inventive concept. Milling machine 10 and haulage machine 18 may travel along a trajectory 245 that generally follows a milling path, but is traversed by a coordinated maneuver 240. In certain embodiments, exemplary coordinated maneuver 240 may include successive maneuver relocations, illustrated by maneuver relocation 239, and intermediate dwell locations, illustrated by dwell location 237. Dwell locations 237 and maneuver relocations 239 may be defined such that milling machine 10 deposits the milled material at a discharge destination 272 on the bed 16 of haulage machine 18.That is, the haulage machine 18 may be operated to any dwell location 237, thereby terminating any maneuver relocation 239 in which the milling machine 10 moves forward to distribute the milled material onto the bed 16. It should be understood that the milling machine 10 may be operated independently of the relocation and dwell location requirements imposed on the haulage machine 18.

[0023] In the illustrated embodiment, the operator of the transport machine 18 may be moved to the next dwell location 237 in response to a transmitter 225 controlled on the milling machine 10 by a corresponding maneuver relocation 239. In one embodiment, mechanisms may be included to communicate units of distance, e.g., feet and inches, between work machines. For example, the milling machine 10 may be equipped with a maneuver distance processor 250 communicatively coupled to a controller 219 available to the operator of the milling machine 10 to determine a distance D W between the dwell locations 237. A suitable signal can be transmitted from the controller 219 to the maneuver distance processor 250, which forces the transmitter 225 to display, for example, the display “D w Foot forward”, where D W can be selected by the controller 219.

[0024] The operator of the milling machine 10 may additionally have a control element 217 for selecting the length of the regular intervals at which the target travel distance for the transport machine 18, e.g., “D w Foot is" is displayed on the transmitter 225. For example, the milling machine 10 may be equipped with a maneuver update timer 220 that generates a timing signal, such as timing signal 230. The exemplary timing signal 230 may be defined by signal parameters that can be controlled by the operator of the milling machine. In the illustrated example, timing signal 230 is a square wave with period T1 that has a high or enable state 235 over period \T Sand has an amplitude 232 relative to an initial level between its rising edge, representatively illustrated by the rising edge 236, and its falling edge, representatively illustrated by the falling edge 238. The timing signal 230 may further include a low or deactivation state 234 over the period T1-T S which has an amplitude at the initial level.

[0025] As stated above, the milling machine 10 may include an operator control 217 with which the time signal 230 can be modified. For example, the operator control 217 may provide a signal to the maneuver update timer 220, in response to which, for example, the period T1 is temporarily shortened to the period T2 in the time signal range 230'. In various embodiments, the transmitter 225, such as a graphical character, a signal light, a horn, etc., may be activated with the rising edge 236 and deactivated with the falling edge 238. The haulage machine 18, under the control of the haulage machine operator, may move to the next dwell location 237 through a maneuver relocation 239 in accordance with the instructions transmitted by the activated transmitter 225. In certain embodiments, the transmitter 225 may, during the duration of T Sduring which the haulage machine 18 is traversing the maneuver relocations 239. Once the transmitter 225 is extinguished, the haulage machine 18 may terminate its movement along the trajectory 245 at the next dwell location 237 of the coordinated maneuver 240 and remain at that dwell location 237 until the next activation of the transmitter 225. Alternative transmitter signaling techniques, such as those indicating instructions that vary from interval to interval, may also be used, as will be appreciated by skilled technicians. For example, the operator of the milling machine 10 may have a controller through which an appropriately equipped semaphore, e.g., a left and right arrow signal light, can indicate to the operator of the haulage machine 18 the direction in which to steer to reach the next dwell location 237.Such an adjustment, which is exemplified by curve 247 on trajectory 245, may be made, for example, when the operator of milling machine 10 wishes to change the lateral position of unloading target 272 without rotating chute 38. That is, when transport machine 18 traverses curve 247, milling machine 10 may continue along a more direct (less curved) path, illustrated by path 249, thereby changing the relative position of the distal end of chute 38 to the boundaries of loading platform 16 and, consequently, the position of unloading target 272 within loading platform 16.In the example shown, the result of the haulage machine 18 traveling around the curve 247 and the milling machine 10 traveling along the more direct path 249 with the shaft 38 in a fixed angular position is the displacement of the position of the unloading target 272 toward the outer limits of the loading area 16 (to the right, when viewed from the side of the drawing). For definition purposes, an adjustment made by one work machine, e.g., the haulage machine 18, that deviates from the trajectory of another work machine, e.g., the milling machine 10, is to be considered a coordinated maneuver of these work machines if the deviation is controlled by the other work machine (milling machine 10), since both work machines 10 and 18 perform a common task that requires coordination between them.

[0026] Fig. 3 is a block diagram of an exemplary system 300 of work machines with which the present inventive concept can be implemented. The exemplary system 300 includes a haulage machine 310, of which only the loading bed 315 is illustrated, and a milling machine 320, of which only the shaft 325 is shown. Both work machines 310, 320 can perform a work task, e.g., milling the road surface, along a general trajectory 302. As explained above, the trajectory 302 can be traversed by a coordinated maneuver in which the haulage machine 310 alternates between general forward movement (including the deviation implementation described above), e.g., maneuver relocation, and rest, e.g., at dwell locations.The milled material is discharged from the shaft 325 at its distal discharge end 327 toward a discharge target 317, which changes its position while the coordinated maneuver is performed. That is, the discharge target 317 may depend on the relative position of the discharge end 327 to the loading area 315 and the projectile trajectory of the milled material. The discharged milled material may be deposited at the dwell locations in the loading area 315 while the milling machine 320 advances along the trajectory 302 and deposits the milled material in the loading area 315.

[0027] As in Fig. 3, the exemplary loading area 315 may have a width W B (its dimension perpendicular to the trajectory 302) and a length L B (its dimension parallel to the trajectory 302), and the exemplary shaft 325 may have a length L CIn certain embodiments, the relative positions of the discharge end 327 and the boundaries of the loading area 315, e.g., the area W bounded by the loading area 315 B XL B , which, if observed, prevent milled material from being unloaded outside the loading area 315. As shown in the figure, for example, a distance D F the minimum permissible distance between the shaft end 327 and the front loading area 313 (in Fig. 3, the shaft 235 is shown in dashed lines to better illustrate the corresponding front position), a distance D R the minimum permissible distance between the shaft end 327 and the rear loading area 319 and an angle ϕ MAX the maximum angle between the shaft 325 and the loading area 315 (the shaft 235 is for better representation of the angle ϕ MAX (again shown in dashed lines). It is understood that Fig. 3 is not drawn to scale and may not reflect the projectile trajectory of the discharged material. Thus, D F and D R be further back than shown in the illustration, although there is a possibility that D R outside the boundary of the loading area 315. The parameters W B , L B , L C , D F , D R , D W and ϕ MAXmay be stored in memory and retrieved by the computing resources of the milling machine 320 for purposes of controlling the coordinated maneuver. For example, messages displayed on the transmitter 225 may provide instructions to the transport machine 310 on how to direct it to the next staging location 237 based on calculations using these parameters. Furthermore, similar calculations may be used in autonomous propulsion configurations, such as those discussed below. Fig. Figure 4 is a schematic block diagram of an exemplary set 400 of work machines sufficiently equipped to implement the present inventive concept. In the illustrated embodiment, the exemplary set 400 specifically includes a hauling machine 410 and a milling machine 430, each of which includes functional components capable of performing a coordinated maneuver as described in this disclosure.

[0028] Certain functional components of the example milling machine 430 may be communicatively coupled to the electronic control module (ECM) 460. The ECM 460 may be implemented in hardware or a combination of hardware and software to process the data provided by the functional components and provide the results of the data processing to inform the participants in the coordinated maneuver.

[0029] The exemplary milling machine 430 includes a chute 440 from which the milled material is discharged as described above. In certain embodiments, such as the one shown in Fig. 3, the chute 440 may include various components that perform functions to perform a coordinated maneuver. For example, the chute 440 may include a bed monitoring device 444 that generates one or more signals that inform the operator of the milling machine 430 about the distribution of milled material on the bed 415 of the haulage machine 410. In one implementation, the bed monitoring device 444 may include one or more optical sensors, such as a camera, that generates video data for presentation on the display 454 in the operator station 450. The information presented on the display 454 may include images of a discharge target 417 and the area surrounding the bed 415 where the milled material accumulates.Herein, the terms "unload target and surroundings," "at and around a unload target," and other similar terms are understood to refer to an area within the bed 415 of the haulage machine 410 that includes the unload target 417. In certain embodiments, a stereo camera may be employed in the bed monitoring device 444, generating three-dimensional video data that allows the milling machine operator to assess the depth, such as the height, of a milling debris accumulation at a particular target. Additionally, the bed monitoring device 444 may include crosshairs, sights, and other aiming aids to assist the milling machine operator in locating the unload target 417 on the bed 415.

[0030] The milling machine 430 may include mechanisms for assessing its proximity to the transport machine 410. For example, a contact position sensor 446 may be installed on the shaft 440 at a position that takes into account the dimensions of the loading area 415. That is, the contact position sensor 446 may be positioned on the shaft 440 to be activated when the threshold value D F (see Fig. 3) is reached. The contact position sensor 446 may be implemented in a mechanical switch that comes into contact with the loading surface 415 and, in response to the limit value D being reached, F generates a signal. Such a signal may be reflected in information presented on a display 454 to inform the operator of the milling machine 430 that the forward limit has been reached. A similar sensor arrangement may be arranged to detect the reaching of the rearward limit D RAlthough, as mentioned above, D R may be outside the boundaries of the loading area 415, contactless sensor solutions are preferable if this feature is to be implemented.

[0031] Additionally or alternatively, a contactless position sensor 448 may be installed on a shaft 440, which may provide more proximity data than the contact position sensor 446. The contactless position sensor 448 may be implemented using one of several remote sensing techniques, such as radar, lidar, sonar, optical cameras, and / or similarly functional devices. Advantageously, the contactless position sensor 448 may provide location data beyond the capabilities of the contact position sensor 446. For example, the data provided by the contactless position sensor 448 may provide an indication of when D F is reached and when D Ris reached. Furthermore, the contactless position sensor 448 can provide continuous data indicating the distance between the milling machine 430 and the transport machine 410. Such continuous position data can be used to indicate which visual data is displayed on the semaphore 470, which, along with the horn 442, is an example of the transmitters defined herein. A remote communication device 425, e.g., a mobile phone running a suitable app, for example, that presents the same visual data to the transport machine operator on the display 427, can also be considered a transmitter. In addition, such continuous position data can be provided to automate not only the displayed information but also the driving control of the transport machine 410.

[0032] As in Fig. As illustrated in Figure 4, the data generated by the bed monitoring device 444, the contact position sensor 446, and the contactless position sensor 448 may be communicated to the ECM 460 for data processing and corresponding control activities. The ECM 460 may be implemented with processing and memory circuitry sufficient to practice the present inventive concept. Thus, the ECM 460 may incorporate a variety of processor and memory technologies without departing from the spirit and intended scope of the present inventive concept.

[0033] ECM 460 may include a milling monitoring component 466 to which data is provided, including the aforementioned data generated by the bed monitoring device 444, the contact position sensor 446, and the contactless position sensor 448. Additionally, the milling monitoring component 466 may include data processing resources used to monitor and control the execution of the coordinated maneuver. Furthermore, the milling monitoring component 466 may provide continuous milling operation information on the display 454 and possibly on the display 422 in the operator station 420 of the haulage machine 410, as explained below.

[0034] ECM 460 may include a maneuver update timer 462 configured to generate a timing signal as described with reference to Fig. 2B. Accordingly, the maneuver update timer 462 may include circuitry for deriving the timing signal from a system clock according to operator-controlled parameters. Such parameters may be set by a maneuver timing / information control 452 in the operator station 450. The maneuver timing control 452 may be implemented by a variety of controls, including knobs, levers, sliders, and controls implemented on the display 454, which allow the milling machine operator to modify the timing parameters at which information is provided to the transport machine operator, as well as to modify the content of that provided information (e.g., the deviation direction).The operator selections indicated by the maneuver time / information control 452 may be communicated to the maneuver update timer 462, which may modify its time signal accordingly, and to the transmitter control component 464, which may modify the displayed content accordingly.

[0035] The timing signal generated by the maneuver update timer 462 may be provided to the signal control component 464 of the ECM 460, which manages signaling to the haulage machine 410. For example, the transmitter control component 464 may activate a semaphore 470 that is mechanically coupled to the milling machine 430 and visible to the haulage machine operator, such as via mirrors mounted on the haulage machine 410. The semaphore 470 may be implemented by signal lights that illuminate when activated and extinguish when deactivated. In an alternative embodiment, the semaphore 470 may include lights of different colors, such as a green light that illuminates to indicate a maneuver shift and a red light that illuminates to indicate a dwell location.The semaphore 470 may include other indicators such as directional arrows, or may be constructed or otherwise designed as a video display that presents variable and rich content to inform the operator of the haulage machine. Other visual indicators may also be used without departing from the spirit and intended scope of the present inventive concept. Additionally, or as discussed above, as an alternative to the optical or visual manifestations of the semaphore 470, the milling machine 430 could include a horn 442 that emits an audible signal when activated and is silent when deactivated. Accordingly, the audible signal emitted by the horn 442 can be activated and deactivated according to the timing signal generated by the maneuver update timer 462, in a manner similar to the semaphore 470.

[0036] Certain embodiments provide for the transmission of data related to the coordinated maneuver from a transmitter 468 on the milling machine 430 to a receiver 426 on the transport machine 410. For example, data indicating when the transport machine 410 should travel through a maneuver relocation to the next staging location may be transmitted from the milling machine 430 to the transport machine 410, where it may be displayed on the display 422 or on the display 427 of the remote device 425 in the operator station 420. In one embodiment, this transmitted data may be provided to an autonomous drive 424 configured to drive the transport machine 410 without human intervention, but in compliance with the coordinated maneuver parameters transmitted from the milling machine 430.

[0037] Fig.5 is a flow diagram of a coordinated maneuvering process 500 with which the present inventive concept can be implemented.

[0038] At operation 505, the haulage machine (e.g., 18) may travel to the first dwell location of the coordinated maneuver, and at operation 510, the milling machine (e.g., 10) may be positioned relative to the haulage machine according to the position sensor data. At operation 515, the maneuver update timer may be set to selected timing parameters, and at operation 520, the milled material may be unloaded toward an unloading destination in the haulage machine. At operation 525, it may be determined whether the maneuver update timer has changed states. If not, the coordinated maneuver process 500 may proceed to operation 520, where the milled material may continue to be unloaded. If, at operation 525, it is determined that the maneuver update timer has changed states, the coordinated maneuver process 500 may proceed to operation 527, where the next dwell location is calculated.At operation 530, a transmitter is activated to display, for example, instructions for reaching the next staging location. The activated transmitter is detected by the transport engine, which in response performs a maneuver relocation at operation 535. At operation 540, it may be determined whether the transmitter activation time has expired, which may correspond to another change in state of the maneuver update timer. The coordinated maneuver process 500 may remain at operation 540 until the transmitter activation time has expired. At this time, the coordinated maneuver process 500 may proceed to operation 545, where the transmitter is deactivated and causes the transport engine to remain stationary for a staging period at operation 550, which lasts until the maneuver update timer changes state again.

[0039] At operation 555, it may be determined whether the speed at which the milling task is being performed requires modification. If so, the coordinated maneuver process 500 may proceed to operation 560, which operates a timer in the operator station of the milling machine. At operation 565, a timing signal generated by the maneuver update timer, which changes its state, may be modified according to the parameters set by the timer. If it is determined at operation 555 that the milling speed is acceptable, or by transitioning from operation 565, the coordinated maneuver process 500 may proceed to operation 570, which determines whether the milling task is complete. If so, the coordinated maneuver process 500 may terminate.However, if it is determined that the milling task is not complete, the coordinated maneuver process 500 may return to operation 520 and continue the milling task from that point.

[0040] Certain embodiments of the present general inventive concept provide for the manufacture, transportation, marketing, and / or sale of the functional components in the form of processor instructions encoded on computer-readable media. When so embodied, the present general inventive concept may be practiced regardless of the processing platform on which the processor instructions are executed and regardless of the manner in which the processor instructions are encoded on the computer-readable medium.

[0041] It should be understood that the computer-readable medium described above may be any non-transitory medium on which the instructions can be encoded and subsequently retrieved, decoded, and executed by a processor, including electrical, magnetic, and optical storage devices. Examples of non-transitory computer-readable recording media include, but are not limited to, read-only memory (ROM), random access memory (RAM), and other electrical storage devices, CD-ROM, DVD, and other optical storage devices, as well as magnetic tape, floppy disks, hard disks, and other magnetic storage devices. The processor instructions may be derived from algorithmic constructs in various programming languages ​​that embody the present general inventive concept, as exemplified in the embodiments described above. Industrial applicability

[0042] Certain construction activities, such as road surface milling, require coordination between the machines performing these activities. Inadequate coordination typically results in productivity losses, such as, among other things, additional time spent compared to optimal coordination, fuel waste, and increased carbon dioxide emissions. Signaling from one machine to another is often accomplished through human gestures and their understanding by the machine operators. The present inventive concept provides such signaling through the use of transmitters whose activation and deactivation times are defined by a time signal with operator-selectable parameters.The time signal can thus provide speed control for a coordinated maneuver between the machines during which the activities are performed. This speed control is designed to increase productivity and minimize the productivity losses described above.

[0043] The foregoing descriptions are intended to illustrate possible implementations of the present inventive concept and are not limiting. Many variations, modifications, and alternatives will become apparent to those skilled in the art upon reading this disclosure. For example, components equivalent to those shown and described may be substituted for others, elements and methods described individually may be combined, and elements described individually may be distributed among multiple components. The scope of the invention should therefore be determined not by reference to the foregoing description, but by reference to the appended claims, along with their full range of equivalents. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 10,526,755

[0003] US 11,273,752

[0004] US 9,267,249

[0005]

Claims

[1] A work machine (10) constructed for unloading material through a discharge opening (115) at a moving unloading target (272) in a coordinated maneuver (240) during which the unloading target (272) is limited to a limited area (transport machine loading area 315), the work machine (10) comprising: a distance control mechanism (219) for selecting path information (D W ) to a staging location (237) of the coordinated maneuver (240); Sensors (130) configured to generate corresponding signals indicating a relative position of the discharge opening (115) to the restricted area (315) during the coordinated maneuver (240); and a transmitter (225) configured to indicate the selected route information (D W ) to force a displacement of the limited area (315) accordingly. [2] Work machine (10) according to claim 1, further comprising: an update timer (220) configured to generate a time signal (230) having operator-selectable signal parameters (T S , T1, T2), wherein the update timer (220) is communicatively coupled to the transmitter (225) and configured to change the state of the transmitter (e.g., on / off) according to a state (234, 235) of the time signal (230); and a maneuver time control (217) in an operator station (450), by means of which the signal parameters (T S , T1, T2) to control the execution of the coordinated maneuver (240) according to the state (234, 235) of the time signal (230). [3] Work machine (10) according to claim 2, wherein the maneuver time control (217) for defining the state (234, 235) of the time signal (230) by the signal parameters (T S, T1, T2), wherein the state (234, 235) of the time signal (230) includes an activation state (235) and a deactivation state (234) which determine the transmitter state (e.g. on / off). [4] Work machine (10) according to claim 1, wherein the sensors (130) include a contact position sensor (446) configured to generate a signal (see Fig. 4) which indicates contact with the structure of another working machine (18) on which the limited area (315) is defined. [5] Work machine (10) according to claim 1, wherein the sensors (130) include a non-contact position sensor (448) configured to generate a signal (see Fig. 4) which indicates the distance to the limited area (315). [6] The work machine (10) of claim 1, wherein the sensors (130) include a monitoring component (444) configured to generate data by which activities at the unloading target (317) are monitored, the work machine (10) further comprising a display (454) in an operator station (450) configured to display the data generated by the monitoring component (444). [7] The work machine (10) of claim 1, wherein the discharge opening (115) is located at a distal end of a shaft (30) of a milling machine (10) implementing the work machine (10). [8] A method for performing a coordinated maneuver (240) between work machines (10, 18), comprising: Generating a time signal (230) corresponding to the signal parameters (T S , T1, T2); Activating a transmitter (225) according to a state (235) of the time signal (230) determined by the signal parameters (T S , T1, T2), and deactivating the transmitter (225) according to another state (234) of the time signal (230) defined by the signal parameters (T S , T1, T2); Driving a work machine (18) to follow a trajectory (245) on which the coordinated maneuver (240) is performed in response to the transmitter (225) as individual maneuver relocations (239) and intermediate dwell locations (237) at which the work machine (18) is stationary; and Accepting material at a discharge destination (210) defined by a position of the work machine (18) relative to another work machine (10) from which the material is discharged. [9] The method of claim 8, further comprising: Modifying the time signal (230) to control the execution of the coordinated maneuver (240) by the work machine (18) from an operator station (450) of the other work machine (10). [10] The method of claim 9, wherein modifying the time signal (230) comprises modifying the time signal (230) in response to a distance (D W ) of the individual maneuver shifts (239). [11] The method of claim 8, further comprising: Generating corresponding signals (see Fig. 4) to sensors (130) arranged on the other work machine (10) which indicate its position relative to the work machine (18) during the coordinated maneuver (240) via which the unloading target (210) is relocated in response to the transmitter (225). [12] A method according to claim 11, wherein generating corresponding signals (see Fig. 4) at the sensors (130) includes generating a signal (from the contact sensor 446) indicating contact with the structure of the other work machine (10). [13] A method according to claim 11, wherein generating corresponding signals (see Fig. 4) at the sensors (130) includes generating a signal (from the contactless sensor 448) indicating the distance to the structure of the other work machine (10). [14] The method of claim 11, further comprising: Generating data (from monitoring device 444) indicating activities at the unloading destination (210); and Displaying the generated data on a display (454). [15] The method of claim 8, further comprising: Unloading the material from a discharge opening (115) at a distal end of a shaft (30) of a milling machine (10) implementing the working machine (10).

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