Construction machine

Abstract

In a self-propelled construction machine, in particular road milling machine, stabilizer, recycler or surface miner, comprising at least one machine frame, at least one working device, in particular milling drum, arranged on the machine frame for working a ground pavement, at least three travelling devices, which are connected to the machine frame via lifting columns, wherein the lifting columns are designed for the purpose of raising or lowering the machine frame relative to the travelling devices, at least one driving device for driving the at least three travelling devices, it is provided that at least two sensors per travelling device are arranged on the respective lifting columns, wherein the sensors are designed to each detect one parameter, which corresponds to the load acting on the travelling device.

1 : A self-propelled construction machine, comprising:
 a machine frame;   a milling drum arranged on the machine frame for working a ground surface;   at least three wheels or tracks;   at least three lifting columns, each lifting column extending between the machine frame and one of the three wheels or tracks for raising and lowering the machine frame relative to the wheels or tracks;   at least one advance drive for driving at least one of the wheels or tracks; and   at least two sensors associated with each lifting column, the at least two sensors being configured to detect a parameter corresponding to a load supported by the wheel or track associated with the lifting column.   
     
     
         2 : The self-propelled construction machine of  claim 1 , further comprising:
 a controller operably associated with the at least two sensors, the controller being configured to detect a deviation between the two sensors in detecting the parameter corresponding to the load supported by the wheel or track associated with the lifting column.   
     
     
         3 : The self-propelled construction machine of  claim 2 , wherein:
 the controller is configured to compare the detected deviation with at least one predetermined deviation limit value.   
     
     
         4 : The self-propelled construction machine of  claim 3 , wherein:
 the controller is configured such that when a first predetermined deviation limit value is exceeded a message is communicated to an operator of the machine.   
     
     
         5 : The self-propelled construction machine of  claim 4 , wherein:
 the controller is configured such that when a second predetermined deviation limit value is exceeded, which second predetermined deviation limit value is higher than the first predetermined deviation limit value, the controller emits at least one signal to stop the milling drum and/or a forward movement of the machine.   
     
     
         6 : The self-propelled construction machine of  claim 5 , wherein:
 the controller is configured such that after the first predetermined deviation limit value has been exceeded, the advance drive may continue to be operated or may be reactivated, and/or after the second predetermined deviation limit value has been exceeded, the advance drive may only be reactivated when the deviation between the two sensors associated with one of the wheels or tracks has fallen below the second predetermined deviation limit value.   
     
     
         7 : The self-propelled construction machine of  claim 1 , further comprising:
 a controller configured to determine a mean value of the load supported by two of the wheels or tracks, wherein the parameters detected by the sensors associated with the two wheels or tracks are used to determine the mean value.   
     
     
         8 : The self-propelled construction machine of  claim 7 , wherein:
 the controller is configured such that the two of the wheels or tracks for which the mean value is determined are two front wheels or tracks, two rear wheels or tracks, or one front and one rear wheel or track.   
     
     
         9 : The self-propelled construction machine of  claim 8 , wherein:
 the controller is configured such that multiple mean values are determined for multiple pairs of the wheels or tracks, and the controller compares a smallest value of the multiple mean values to at least one predetermined mean load limit value.   
     
     
         10 : The self-propelled construction machine of  claim 9 , wherein:
 the controller is configured such that when the smallest value of the multiple mean values falls below a first predetermined mean load limit value, the controller emits a signal to reduce an advance speed of the machine.   
     
     
         11 : The self-propelled construction machine of  claim 10 , wherein:
 the controller is configured such that when the smallest value of the multiple mean values falls below a second predetermined mean load limit value lower than the first predetermined mean load limit value, the controller emits a signal to stop the milling drum and/or an advance movement of the machine.   
     
     
         12 : The self-propelled construction machine of  claim 9 , wherein:
 the controller is configured such that when the smallest value of the multiple mean values falls below the at least one predetermined mean load limit value, the controller emits a signal to stop the milling drum and/or an advance movement of the machine.   
     
     
         13 : A method of controlling a self-propelled construction machine, the machine including a machine frame, a milling drum arranged on the machine frame for working a ground surface, at least three wheels or tracks, at least three lifting columns extending between the machine frame and respective ones of the three wheels or tracks for raising and lowering the machine frame relative to the wheels or tracks, and at least one advance drive for driving at least one of the wheels or tracks, the method comprising:
 providing at least two sensors on each lifting column; and   detecting with the at least two sensors a parameter corresponding to a load supported by the wheel or track associated with the lifting column.   
     
     
         14 : The method of  claim 13 , further comprising:
 detecting with a controller a deviation between the load detected by each of the two sensors for each wheel or track.   
     
     
         15 : The method of  claim 14 , further comprising:
 comparing the detected deviation with at least one predetermined deviation limit value.   
     
     
         16 : The method of  claim 15 , further comprising:
 when a first predetermined deviation limit value is exceeded, communicating a message to an operator of the machine.   
     
     
         17 : The method of  claim 16 , further comprising:
 when a second predetermined deviation limit value higher than the first predetermined deviation limit value is exceeded, emitting at least one signal from the controller to stop the milling drum and/or to stop a forward movement of the machine.   
     
     
         18 : The method of  claim 17 , wherein:
 after the first predetermined deviation limit value has been exceeded, the advance drive may continue to be operated or may be reactivated, and/or after the second predetermined deviation limit value has been exceeded, the advance drive may only be reactivated when the deviation between the two sensors associated with one of the wheels or tracks has fallen below the second predetermined deviation limit value.   
     
     
         19 : The method of  claim 13 , further comprising:
 determining with a controller a mean value of the load supported by two of the wheels or tracks, wherein the parameters detected by the sensors associated with the two wheels or tracks are used to determine the mean value.   
     
     
         20 : The method of  claim 19 , wherein:
 the two of the wheels or tracks for which the mean value is determined are two front wheels or tracks, two rear wheels or tracks, or one front and one rear wheel or track.   
     
     
         21 : The method of  claim 19 , wherein:
 the determining includes determining multiple mean values for multiple pairs of the wheels or tracks, and comparing with the controller a smallest value of the multiple mean values to at least one predetermined mean load limit value.   
     
     
         22 : The method of  claim 21 , wherein:
 when the smallest value of the multiple mean values falls below a first predetermined mean load limit value, the controller emits a signal to reduce an advance speed of the machine.   
     
     
         23 : The method of  claim 22 , wherein:
 when the smallest value of the multiple mean values falls below a second predetermined mean load limit value lower than the first predetermined mean load limit value, the controller emits a signal to stop the milling drum and/or an advance movement of the machine.