Method for controlling a height adjustment of a stripping plate of a ground milling machine, and ground milling machine
The present invention relates to a method for controlling a height adjustment of a stripping plate of a ground milling machine, in particular a stripping plate of a cold milling machine, during the working process, said method comprising the following steps of detecting the striking of the stripping plate against an obstacle; automatically triggering the height adjustment unit for lifting the stripping plate from a working position, in which the stripping plate is in contact with the underlying ground to be processed, to avoid a further collision with the obstacle; and automatically triggering the height adjustment unit for lowering the stripping plate back to the working position upon overcoming the obstacle.
1. A method to control height adjustment of a stripping plate of a ground milling machine during a milling process, the method comprising the following steps:
a) indirectly detecting a collision of the stripping plate with an obstacle in a working direction from a working behavior and/or a traveling behavior of the ground milling machine with at least one sensor to detect an operating variable of the ground milling machine associated with the milling process and a control unit;
b) automatically triggering a height adjustment unit to lift the stripping plate from a working position, in which the stripping plate is in contact with underlying ground, when the collision with the obstacle has been detected; and
c) subsequently, automatically triggering the height adjustment unit to lower the stripping plate back to the working position.
2. The method according to claim 1 , wherein the operating variable associated with the milling process comprises a travel drive operating variable and/or a milling drive operating variable of the ground milling machine.
3. The method according to claim 1 , wherein step a) comprises at least one of the following features:
the control unit monitors variation of an ascertained actual travel drive operating variable over time;
the control unit compares an ascertained actual travel drive operating variable of the ground milling machine to a travel drive operating variable specified internally by the machine;
the control unit monitors variation of an ascertained actual milling drive operating variable;
the control unit compares an ascertained actual milling drive operating variable of the ground milling machine to a milling drive operating variable specified internally by the machine.
4. The method according to claim 3 , wherein the ascertained actual travel drive operating variable comprises an actual speed and/or an actual acceleration and/or a variation of the actual speed and/or a variation of the actual acceleration of the ground milling machine relative to an external environment.
5. The method according to claim 3 , wherein the travel drive operating variable specified internally by the machine and/or the milling drive operating variable specified internally by the machine is retrieved from a machine control of the ground milling machine.
6. The method according to claim 3 , wherein the ascertained actual travel drive operating variable comprises a rotational speed of a track chain and/or a rotational speed of a wheel drive and/or an electrical operating variable and/or a swiveling angle of a travel-drive pump.
7. The method according to claim 3 , wherein the ascertained actual milling drive operating variable comprises an actual rotational speed of a milling drum and/or an actual torque of a milling drum.
8. The method according to claim 3 , wherein the milling drive operating variable ascertained specified internally by the machine comprises a target rotational speed of a milling drum and/or a target torque of a milling drum.
9. The method according to claim 1 , wherein the at least one sensor detects speed and/or acceleration of the ground milling machine over ground.
10. The method according to claim 1 , wherein the at least one sensor comprises at least one of a radar sensor, a laser sensor or an accelerometer.
11. The method according to claim 1 , wherein the operating variable associated with the milling process comprises an actual distance traveled by the ground milling machine, and/or a an actual speed and/or a slip at a track chain and/or a wheel of the ground milling machine.
12. The method according to claim 1 , wherein a switch-over from step b) to step c), in a time- and/or distance-shifted manner, is performed when it is ascertained, with the at least one sensor, that a defined minimum speed and/or a defined positive acceleration of the ground milling machine over ground in the working direction has been reached.
13. The method according to claim 1 , wherein in step b) the stripping plate is lifted no further than up to a defined threshold value.
14. The method according to claim 2 , wherein the operating variable associated with the milling process comprises the travel drive operating variable of the ground milling machine.
15. The method according to claim 2 , wherein the operating variable associated with the milling process comprises the milling drive operating variable of the ground milling machine.
16. The method according to claim 6 , wherein the electrical variable is an amperage.
17. The method according to claim 10 , wherein the at least one sensor comprises at least the radar sensor.
18. The method according to claim 10 , wherein the at least one sensor comprises at least the laser sensor.
19. The method according to claim 10 , wherein the at least one sensor comprises at least the accelerometer.
20. The method according to claim 1 , wherein the ground milling machine is a cold milling machine.