Method for controlling the height adjustment of a height adjustable running gear of a self-propelled ground milling machine, in particular a road miller, and ground milling machine

A method to control height adjustment of a height-adjustable running gear of a self-propelled ground milling machine, wherein the ground milling machine has

• a machine frame;
• front and rear traction devices, wherein at least one of the traction devices is connected to the machine frame by at least one height-adjustable lifting device;
• a milling drum mounted on the machine frame;
• a frame tilt sensor arranged on the machine frame and configured to detect tilt of the machine frame in a working direction;
• at least one ground-contact-element tilt sensor, arranged on a ground contact element, which is adjustable relative to the machine frame, and configured to detect tilt of the ground contact element in the working direction;
• a control unit which is configured to control the at least one height-adjustable lifting device depending on tilt data determined by the frame tilt sensor and the ground-contact-element tilt sensor;
• and
• the method comprising:
• a) determining and monitoring a tilt of the machine frame and/or a change in the tilt of the machine frame in the working direction, and determining and monitoring a tilt of the ground contact element and/or a change in the tilt of the ground contact element in the working direction;
• or
• b) determining and monitoring a tilt difference between the tilt of the machine frame and/or the change in the tilt of the machine frame in the working direction, and the tilt of the ground contact element and/or the change in the tilt of the ground contact element in the working direction;
• c) controlling a vertical adjustment of the at least one height-adjustable lifting device depending on the determined and monitored tilts and/or changes in the tilts of the machine frame and the ground contact element and/or depending on the tilt difference;
• and
• on a basis of at least one operating parameter of the ground milling machine and the determined and monitored tilt and/or change in tilt and/or tilt difference, the control unit carries out a plausibility check to ascertain whether or not the change in tilt and/or the tilt difference is associated with a milling process.

A self-propelled ground milling machine, comprising:

• a machine frame;
• front and rear traction devices, wherein at least one of the traction devices is connected to the machine frame by at least one height-adjustable lifting device;
• a milling drum mounted on the machine frame;
• a frame tilt sensor arranged on the machine frame and configured to detect and monitor tilt and/or tilt change of the machine frame in a working direction;
• at least one ground-contact-element tilt sensor, arranged on a ground contact element, which is adjustable relative to the machine frame, and configured to detect and monitor the tilt and/or the tilt change of the ground contact element in the working direction;
• a control unit which is configured to control height adjustment of the at least one height-adjustable lifting device, wherein the control unit controls the height adjustment depending on tilt data determined and/or monitored by the frame tilt sensor and the ground-contact-element tilt sensor;
• and
• the control unit comprises a plausibility check, which is configured such as to distinguish between tilt changes associated with a milling process and tilt changes not associated with the milling process.