Self-propelled milling machine, as well as method for controlling a self-propelled milling machine

An automotive milling machine for milling off milled material and discharging the milled material onto a loading surface of a transport vehicle, the milling machine comprising:

• a machine frame;
• a working drum supported from the machine frame for milling off the milled material;
• a first transport conveyor arranged to transfer the milled material away from the working drum;
• a second transport conveyor arranged to receive the milled material from the first transport conveyor and to discharge the milled material onto the loading surface of the transport vehicle, wherein the second transport conveyor is slewable relative to a longitudinal center line of the machine frame;
• at least one detector configured to monitor a position of at least one piston-cylinder unit coupled between the machine frame and the second transport conveyor, wherein a slewing angle of the second transport conveyor is determined based on the monitored position of the at least one piston-cylinder unit;
• and
• a controller connected to the at least one detector and configured to
• receive user input corresponding to a virtual trajectory for positioning a reference point of the second transport conveyor,
• automatically control a slewing movement of the second transport conveyor based at least partially on the detected slewing angle and further as a function of the virtual trajectory, via actuation of the at least one piston-cylinder unit, wherein the reference point of the second transport conveyor remains on the specified trajectory responsive to a change in position of the machine frame,
• wherein the virtual trajectory is stored in memory, in a stationary coordinate system independent of a position and alignment of the machine frame, and
• wherein a reference point of the second transport conveyor remains on the specified trajectory responsive to a change in position of the machine frame within the coordinate system.

An automotive milling machine for milling off milled material and discharging the milled material onto a loading surface of a transport vehicle, the milling machine comprising:

• a machine frame;
• a working drum supported from the machine frame for milling off the milled material;
• a first transport conveyor arranged to transfer the milled material away from the working drum;
• a second transport conveyor arranged to receive the milled material from the first transport conveyor and to discharge the milled material onto the loading surface of the transport vehicle, wherein the second transport conveyor is slewable relative to a longitudinal center line of the machine frame;
• at least one detector configured to monitor a position of at least one piston-cylinder unit coupled between the machine frame and the second transport conveyor, wherein a slewing angle of the second transport conveyor is determined based on the monitored position of the at least one piston-cylinder unit;
• and
• a controller connected to the at least one detector and configured to automatically control a slewing movement of the second transport conveyor, via actuation of the at least one piston-cylinder unit, based at least partially on the detected slewing angle and further as a function of a virtual trajectory which is specified in a stationary coordinate system independent of the position and alignment of the machine frame, wherein a reference point of the second transport conveyor remains on the specified trajectory responsive to a detected disturbance variable in the coordinate system.