Method for reversing travel specification of working machine

Abstract

The invention relates to a method for reversing a travel specification of a working machine, in which, in a first step, the travel specification is entered and activated, in a second step, position data of the working machine is associated with the travel specification, in a third step, the travel specification is cancelled and the travel specification is ended, and in the third step, the position data of the working machine is associated with the position data of the working machine. In a fourth step, position data of the work machine are assigned to the revocation specification, characterized in that a corridor of the travel specification is defined by means of the assigned position data, and in a fifth step, the travel specification is reversed in such a way that the travel specification is revoked by means of the assigned position data. When the work machine travels through the corridor in the opposite direction, the travel specification is activated and deactivated in the opposite sequence.

Description

Technical Field

[0001] The invention relates to a method for reversing and implementing a travel specification of a working machine and a device for data processing, which is designed to implement the method for reversing a travel specification. The invention also includes a computer program product and a working machine having a device for data processing according to the invention. Background Art

[0002] Methods for implementing repeated operating commands are known from the prior art. EP 3 559 355 A1 discloses, in particular, a method for operating at least one working machine, wherein at least one measuring device for measuring the surface contour of a topography of a construction site to generate actual surface contour data is operated. Machine operating data associated with the feature-related gradients are retrieved from a database based on the stored gradients and the working machine is operated based on the retrieved machine operating data.

[0003] DE 10 2016 121 895 A1 describes a system for automatically activating and deactivating all-wheel drive in response to the vehicle's GPS location. Information about the type of road and weather conditions is taken into account in particular.

[0004] DE 10 2009 045 511 A1 discloses a device and a method for learning the functions of an operator assistance system in a motor vehicle, wherein a control command is assigned to a location and the operator assistance system is activated when the control command has been output in the past in a certain number of cases. In an improved embodiment, the device is intended to be able to learn in such a way that repetitive routine tasks are automated in a location-dependent manner. Summary of the invention

[0005] The task of the present invention is to improve the known method for operating a working machine. This task is solved by the method according to the present invention. Here, in the first step, a driving pre-set is input and then the driving pre-set is activated. This can be understood as an operator inputting a command different from the current driving pre-set. This can be done on-site in the cab of the working machine or remotely or with the help of instructions stored in a storage element. Correspondingly, a man-machine interface in the cab or a data interface for remote control is provided. Driving pre-sets can be understood as pre-sets of driving dynamic parameters. For example, this can be understood as power adjustment and / or torque adjustment / speed adjustment, transmission ratio change of the transmission, switching on / off of the all-wheel drive, actuation / disabling of the differential locking mechanism of the axle, disabling / activating of the power take-off device, disabling / activating of the wear-free hydraulic power or electric power continuous brake, disabling / activating of the driving mode (economy mode, power mode, regeneration mode), etc.

[0006] The working machine is typically a construction machine, agricultural machine and / or forestry machine. However, it can also be a commercial vehicle or a land transport vehicle. In addition to conventionally controlled working machines (by an operator in the cab), travel specifications can also be entered in semi-automatic or automatic working machines.

[0007] In the second step of the method according to the invention, the position data of the working machine are assigned to the input travel presetting. This means that the position of the working machine is known at the time of inputting the travel presetting by means of a device for determining the position, the position is associated with the travel presetting or it is assigned to the travel presetting and is stored in a storage element. In addition to the absolute position data, the previously traveled trajectory or the travel direction is also taken into account and stored. The position determination can be carried out, for example, in an absolute coordinate system or a relative coordinate system. Suitable devices for determining the position in an absolute coordinate system are, for example, GPS sensors or the like. However, other systems for determining the position or positioning can also be used.

[0008] Subsequently, in a third step, a cancellation of the travel presetting is input. This input can be done either by the operator or remotely in the manner and method described above. The cancellation of the travel presetting causes the end of the travel presetting. In other words, the driving dynamics parameters activated in the first step are deactivated or conversely the deactivated driving dynamics parameters are reactivated. In a fourth step, the position data of the work machine are assigned to the cancellation of the travel presetting and stored together with the cancellation of the travel presetting in a storage element.

[0009] The corridor of the travel presetting is defined by means of the position data assigned to the travel presetting or the cancellation of the travel presetting, wherein in the fifth step, the travel presetting is reversed in the following manner, that is, the travel presetting is activated and cancelled in the opposite order when the working machine travels through the corridor in the opposite direction. The corridor especially constitutes a section of road, which is defined by the position data of the input travel presetting and the input cancellation of the travel presetting. In other words, the corridor describes a vector with a clear starting point and end point and a direction assignment. In different designs, different corridors can be formed and different travel requests can be stored in the storage element, combined with each other or implemented separately.

[0010] According to an embodiment of the invention, when the corridor is retraced, the travel specifications are carried out in the original or reverse order, depending on the direction. This means that when the corridor is retraced in the direction of the first traverse (steps 1 to 4), the steps are automatically repeated in this order. Thus, when the work machine is traveling through the corridor in the opposite direction, i.e., in the opposite direction to the original direction, steps 1 to 4 are carried out or repeated in the reverse order by reversing the steps.

[0011] Alternatively or additionally, the corridor for driving a predetermined distance has a tolerance range, wherein the tolerance range not only takes into account different approach angles of the working machine with respect to the corridor, but also takes into account partial deviations from the trajectory and / or full deviations from the trajectory. This can be understood to mean that, on the one hand, the trajectory when approaching the corridor is taken into account, and on the other hand, the inaccurate coincidence with the vector or corridor is also taken into account. Partial deviation means that there is a deviation of the current trajectory from the corridor in some parts. In one embodiment, the current trajectory may intersect the corridor only at one point, or deviate from it only at at least one point. Full deviation means that the current trajectory or travel path of the working machine, for example, permanently deviates from the corridor or vector by a (permitted) distance.

[0012] In an extended design, the current trajectory and / or the planned trajectory is checked with respect to driving through the corridor, and the travel presetting is activated predictively. This can be understood as knowing that the corridor is driven in the original direction or in the opposite direction by the current or planned trajectory, so that preparations can be made in advance for adjusting the driving dynamics parameters. For example, the operating mode of the working machine can be adjusted in advance. For example, the planned trajectory is derived from the route guidance of the working machine with the help of the navigation system. Therefore, it is checked whether the planned route or trajectory passes through the corridor. Then, the driving dynamics parameters can also be adjusted predictively, that is, prospectively.

[0013] In one design, the driving presetting is reversed by the operator's input. For this purpose, it can be provided that after the driving presetting is revoked by inputting the human-machine interface, an inquiry is made as to whether the driving presetting should be reversed and whether it should be stored in the storage element. The input must be confirmed or rejected accordingly. It is also possible to preselect a mode according to which repetition (playback function) can be selected or disabled. The result of this is that the driving presetting is automatically implemented. Sometimes a prompt can be output through the human-machine interface: the driving presetting is automatically implemented when passing through the corridor. This may involve a separate driving presetting or generally all driving presettings. It is also possible to inquire about the reversal at the time of inputting the driving presetting. This also involves inquiring: when passing through the corridor again, whether the driving presetting should be repeated in the original or reverse order.

[0014] In the above-mentioned design, inputting the driving presetting leads to adjusting the parameters of the driving dynamics of the working machine. In particular, the driving dynamics parameters can be adjusted based on the terrain changes of the driving path (uphill, downhill, etc.), the characteristics of the driving path (dry, wet, soaked, icy, gravel, gravel, sand, etc.), or based on obstacles that can be driven / passed (merges, depressions, piles of earth, pebbles, etc.). This leads to more efficient operation of the working machine, because on the one hand the drive train can be operated in an optimized operating range, and on the other hand the working results can be improved due to the better working performance of the working machine.

[0015] According to another aspect, the invention relates to a computer program product. The computer program product comprises instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the invention. The computer can typically be a control unit of a working machine. However, this refers here by way of example but not exclusively to a transmission control unit, a motor control unit or a higher-level vehicle management computer. A separate control unit can also be provided which is specially provided for the method according to the invention or which also performs other functions in addition to the method according to the invention. The storage element can be integrated in the aforementioned control unit or provided separately.

[0016] In addition, the present invention also relates to a device for data processing. The device includes a device for implementing the method according to the present invention. In this case, it can be the aforementioned computer or a related controller.

[0017] In addition, the present invention also includes a working machine having a drive train and a device for adjusting driving dynamic parameters and a device according to the present invention. The drive train includes, for example, a drive element, a transmission and an axle or a brake, by means of which the driving power of the drive element is transmitted to the wheel or chain drive of the working machine. The drive element can be implemented as an internal combustion engine and / or an electric motor. In addition, the drive train can also include a differential locking mechanism, which locks or releases a differential of an axle or between two axles. The device for adjusting driving dynamic parameters is especially an actuator here, which promotes the state change of the aforementioned elements of the drive train. In a possible design scheme, the device also involves, for example, a motor controller, by which the operating state of the drive element is adjusted (for example, adjusting the speed, torque, power). BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The invention is explained in more detail with the aid of the following drawings. In the drawings:

[0019] Figure 1 A first application example of the method according to the present invention in a working machine is shown;

[0020] Figure 2 shows the reverse execution of the method steps of the first application example;

[0021] Figure 3 An alternative embodiment of an example of application of the method according to the invention in a working machine is shown. DETAILED DESCRIPTION

[0022] Figure 1 The first application example of the method according to the invention is shown. Here, the working machine is implemented as a dump truck or so-called tipper. The figure also shows an obstacle 2 in the form of a river, which should be crossed in the first driving direction 3. Here, a travel presetting is input at a first position P1, wherein the first position P1 is in front of the obstacle 2 with respect to the first driving direction 3. For example, one or more differential locking mechanisms can be activated by the travel presetting, because optimal traction is required to cross the river and anchoring should be avoided at all costs. After crossing the obstacle 2, the cancellation of the travel presetting is input at the second position P2. In the example described above, this will lead to the disabling of the differential locking mechanism. The travel request described at the beginning of this article can be transferred or used in the same way to the application example described here.

[0023] A corridor 4 for activating a travel specification is created by the route section between the first position P1 and the second position P2. Figure 1 4. The tolerance range 5 is also shown in FIG. The upper and lower limits of the tolerance range 5 have, by way of example, identical distances A from the corridor 4. The distances A between the upper limit and the corridor 4 or between the lower limit and the corridor 4 can also differ from one another in principle. If the work machine 1 does not exactly travel through the corridor 4 during the renewed travel, but is within the tolerance range 5, the travel specification can be automatically repeated.

[0024] Figure 2 Schematic showing the inversion enabled Figure 1 Here, the working machine 1 now moves in the second driving direction 6, wherein the second driving direction 6 is opposite to the first driving direction 3. In other words, the working machine 1 is moving in the second driving direction 6. Figure 1 4 in the opposite direction of the illustration. The steps of the method are therefore reversed. This means that in the second position P2, the differential locking mechanism is now activated instead of being deactivated, and in the first position P1, the differential locking mechanism is deactivated instead of being activated. The travel specification in the first travel direction 3 and the revocation of this travel specification are thus mirrored. As a result, the desired adjustment of the driving dynamics parameters does not have to be carried out by manual input by the operator, even though the work machine 1 is sometimes driving through the corridor 4 for the first time in the second travel direction 6.

[0025] Figure 3 Basically it shows Figure 1The difference lies in the alternative design of the tolerance range 5. The upper and lower limits are shown here by means of curves instead of straight lines. The tolerance range 5 tapers towards the center, while it widens in a funnel-shaped manner in the direction of the first and second position P1, P2. Sometimes, the operator can input which design of the tolerance range 5 is preferred with respect to the tolerance range 5. When different approach angles of the working machine 1 to the first and / or second position P1, P2 are expected more frequently, in Figure 3 The embodiment shown in is particularly suitable.

[0026] Reference numerals list

[0027] 1 Operating machinery

[0028] 2 Obstacles

[0029] 3 First driving direction

[0030] 4 Corridor

[0031] 5 Tolerance range

[0032] 6 Second driving direction

[0033] A Spacing

[0034] P1 First position

[0035] P2 Second position

Claims

1. A method for reversing a travel specification of a working machine (1), wherein: In a first step, a travel presetting is input and activated, in a second step, position data of the working machine (1) is assigned to the travel presetting, in a third step, a cancellation of the travel presetting is input and the travel presetting is ended, in a fourth step, the position data of the working machine (1) is assigned to the cancellation of the travel presetting, characterized in that a corridor (4) of the travel presetting is defined with the aid of the assigned position data, wherein in a fifth step, the travel presetting is reversed in such a way that the travel presetting is activated and cancelled in the opposite order when the working machine (1) travels through the corridor (4) in the opposite direction.

2. The method according to claim 1, characterized in that When the corridor (4) is travelled again, the travel specifications are carried out in the original sequence or in the reverse sequence, depending on the direction.

3. The method according to any one of the preceding claims, characterized in that The predetermined travel corridor (4) has a tolerance range (5), wherein the tolerance range (5) not only takes into account different approach angles of the work machine (1) relative to the corridor (4) but also takes into account partial deviations from the track and / or full deviations from the track.

4. The method according to any one of the preceding claims, characterized in that With regard to driving through the corridor (4), a current and / or planned trajectory is checked and the driving specification is activated predictively.

5. The method according to any one of the preceding claims, characterized in that The driving specification is reversed by an input by the operator.

6. The method according to any one of the preceding claims, characterized in that Concomitant with inputting and / or withdrawing the driving specification, a query is made as to whether the driving specification is to be reversed.

7. The method according to any one of the preceding claims, characterized in that The driving specification causes a driving dynamics parameter of the work machine (1) to be adjusted.

8. Computer program product, comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 7.

9. A device for data processing, comprising means for carrying out the method according to any one of claims 1 to 7. 10 . A work machine ( 1 ) having a drive train and means for adjusting driving dynamics parameters and having a device according to claim 9 .

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