Road Milling Machine Obstacle Navigation Control
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Solution Overview
Problem
Current road milling machines require labor-intensive and inefficient processes to navigate around obstacles, leading to increased operational time and costs due to the need for manual adjustment of the milling drum and rear shield, which can result in damage to the machine or obstacles and excessive post-processing of milled material.
Innovation Solution
A method where the milling drum is lifted before the rear shield, allowing the machine to move further in the working direction before lifting the rear shield, ensuring the rear shield remains in the working position longer to carry milled material and reducing the amount left behind, with optional automatic control for enhanced efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of substance
If the milling drum is raised before the rear shield when encountering an obstacle, then the rear shield remains in working position longer to carry milled material, but the machine structure and control complexity increase
Solution Approach 1:
The patent implements dynamic, sequential lifting of the milling drum and rear shield based on real-time obstacle detection and machine position. The control system dynamically adjusts the lifting sequence: the milling drum is lifted first when approaching an obstacle, then the rear shield is lifted after the machine has moved forward a predetermined distance, ensuring continuous material transport while adapting to varying operating conditions
Solution Approach 2:
The control system uses feedback from sensors detecting obstacle position and machine movement to automatically control the lifting sequence. The system receives feedback on the machine's position relative to the obstacle and automatically triggers the drum lift, monitors the predetermined distance traveled, and then triggers the rear shield lift, creating a closed-loop control system that reduces manual intervention
2Reliability
If the operator manually raises the milling drum and lowers it after obstacles, then collision damage is avoided, but operational time and labor costs increase
Solution Approach 1:
The system performs self-service by automatically detecting obstacles and executing the lifting sequence without continuous operator intervention. The control system autonomously monitors sensor data, determines when to lift the milling drum and rear shield, and coordinates their movement, allowing the machine to service itself during obstacle navigation while the operator maintains overall supervision
Solution Approach 2:
The patent replaces manual mechanical operation with an automated control system that uses sensors, processors, and actuators. The control system substitutes for the operator's manual actions by electronically controlling the lifting mechanisms, transitioning from direct mechanical manipulation to automated electro-mechanical control that improves both safety and efficiency
3Loss of substance
If the milling drum is raised close to the obstacle, then less milled material is left behind, but the risk of collision between the drum and obstacle increases
Solution Approach 1:
The system takes preliminary action by lifting the milling drum before the machine reaches the obstacle, based on advance obstacle detection. The control system calculates the optimal lift point that allows the drum to be raised in advance at a safe distance from the obstacle, preventing collision while positioning the drum to minimize the gap that would leave milled material behind
Solution Approach 2:
The patent changes the temporal parameter of the drum lifting action by implementing a sequential lifting process where the drum is lifted at a specific time before the obstacle is reached, and the rear shield is lifted at a different time after a predetermined distance is traveled. This parameter optimization balances collision avoidance with material transport efficiency
Data Source
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AI summary
The invention relates to a method (20) for controlling a road milling machine (1) comprising a milling drum (9) and a rear blade (14) in the presence of an obstacle (16) in the ground (8) to be milled, comprising the steps: a) milling (21) the ground (8) to a predetermined milling depth (FT) along a working direction (a), b) approaching (22) the road milling machine (1) in the working direction (a) to the obstacle (16) in the ground (8), c) lifting (23) the milling drum (9) and the rear blade (14) out of the ground (8) in the working direction (a) in front of the obstacle (16), d) driving over (24) the obstacle (16) such that the milling drum (9) remains out of contact with the obstacle (16), e) lowering (25) the milling drum (9) and the rear blade (14) to the predetermined milling depth (FT) in the working direction (a). behind the obstacle (16) and continuing the milling (21) of the ground (8), whereby the road milling machine (1) is controlled in such a way,that in step c) the lifting (23) of the milling drum (9) is carried out before the lifting (23) of the rear blade (14) from the ground (8), the road milling machine (1) continuing to move in the working direction (a) between the lifting (23) of the milling drum (9) and the lifting (23) of the rear blade (14). Furthermore, the invention relates to a road milling machine (1) for carrying out the method (20).