Control unit for a mobile work machine, mobile work machine therewith, and method for controlling the work machine

Abstract

Control unit for a mobile work machine (1), with at least one operating element (20) for manually controlling a work device (8) of the work machine (1), and with a detection unit via which actual values ​​of at least one coordinate and an angle of inclination of the work device (8) can be determined, wherein an actuating element (21) is provided, with the actuation of which an at least partially automated control of the work device (8) can be triggered, wherein the actuation of the actuating element (21) can trigger the automated control of the coordinate and the angle of inclination, characterized in that a first condition is stored in the control unit in a queryable manner, depending on which first condition, depending on the result of the query, the automated control of the coordinate and the angle of inclination can be triggered either sequentially, simultaneously or in a mixed form of sequential and simultaneous.

Description

[0001] The invention relates to a control unit for a mobile work machine according to the preamble of patent claim 1, a mobile work machine according to claim 10 and a method for controlling the work machine according to claim 11.

[0002] A mobile work machine, such as a front or wheel loader or a forklift, has a spatially positionable and tiltable implement for picking up a load. The implement is mounted at the end of a boom or a series of multi-jointed boom segments, each of which is articulated by a hydraulic actuator and adjustable in position. This allows the implement to be moved and positioned in space. Common human machine interfaces (HMIs) are joysticks, i.e., handle elements that can be manipulated or deflected across multiple axes with rotational degrees of freedom.

[0003] With each joystick movement, a target speed is specified for an associated actuator that controls the respective segment. For example, a boom joystick movement is interpreted as the target speed of the boom actuator or cylinder. A machine control system then controls the actuator accordingly, resulting in the desired movement of the actuator.

[0004] With such machines, the requirement repeatedly arises to move the implement from any position and inclination to a standard working position and inclination. For example, after tipping the bucket of a wheel loader over a bulk material, the bucket must be moved to a loading or digging position to pick up the material again.

[0005] In order to simplify this process for operating personnel, the document US 8 500 387 B2 shows an automated resetting of the inclination of an excavator after this automatic function has been triggered by an operator.

[0006] The document US 7 748 147 B2 discloses an automated control of a boom or an attachment for a work vehicle to a current position.

[0007] The document US 2017 / 0 275 848 A1 discloses a control system for a machine.

[0008] The document DE 10 2018 200 232 A1 discloses a method for operating a work machine and work machine.

[0009] The document DE 40 30 954 C2 discloses a method for controlling the movement of a hydraulically movable working device and a path control device for carrying out the method.

[0010] In contrast, the invention is based on the object of creating a control unit by means of which the working device of a mobile work machine can be controlled even more easily. Furthermore, the object is to create a mobile work machine that is simplified with regard to the control of its working device. Finally, a method for controlling a mobile work machine is to be created by means of which the control of a working device of a mobile work machine is further simplified.

[0011] The first object is achieved by a control unit having the features of claim 1, the second by a mobile work machine having the features of claim 10 and by a method having the features of claim 11.

[0012] Advantageous further developments of the inventions are described in the respective dependent claims.

[0013] A control unit for a mobile work machine, in particular for a wheel loader, front loader, telehandler, or forklift, has at least one manipulable, in particular deflectable, operating element for manually controlling an implement of the work machine. The implement is in particular a shovel or a fork or the like. The operating element is preferably tangible for direct and intuitive control, in particular configured as a joystick. In addition, a detection unit is provided, via which actual values ​​of at least one coordinate and an angle of inclination of the implement can be detected or determined. The coordinate is in particular a height or lifting height of the implement above a working plane or reference plane. The angle of inclination is detected in particular with reference to this plane, in particular with reference to a direction of travel of the work machine.An at least partially automated control of the working device can be triggered via an actuating element of the control unit, which is tactile or switchable or designed as a touch or sensor field.

[0014] According to the invention, the automated control of both the coordinate and the angle of inclination can be triggered by the actuation.

[0015] This creates a control unit that makes it easier to control the working device of a mobile work machine.

[0016] According to the invention, a first condition is stored in the control unit in a manner that can be queried or verified, depending on which condition the automated control of the coordinate and the angle of inclination can be triggered either sequentially, simultaneously, or in a mixed form of sequential and simultaneous, depending on the result of the query. Depending on the result of the check or query, the coordinate and the angle of inclination are thus controlled simultaneously or at different times, or first only the coordinate or the angle of inclination is controlled and then their simultaneous control, or vice versa. In particular, the sequential control of first the coordinate and then the angle of inclination significantly increases comfort. In this way, undesirable disruptive accelerations resulting from a pitching movement of the implement in unfavorable kinematic positions can be avoided.

[0017] In a further development, the first condition contains a kinematic position of the work tool, in particular an actual coordinate of the work tool and / or an actual distance of the work tool from a base or a center of gravity of the work machine.

[0018] The actuating element can be arranged separately from the control element. If it is arranged on the control element, it is preferably located outside a gripping surface of the control element, which is normally gripped during manual operation. In both cases, the arrangement prevents accidental triggering.

[0019] In a further development, a second condition is stored in the control unit that can be queried or verified. Depending on the result of the check or query, the automated control of the coordinate or the inclination angle, or both, can be blocked, aborted, or at least interrupted. This second condition can thus achieve a significant increase in safety.

[0020] In a further development, a loading state of the working machine can be queried as a second condition via a pressure sensor of the control unit, in particular queried in order to prevent the triggering of the automated control of the coordinate and the angle of inclination in the event of a load above a limit.

[0021] In a further development, the second condition includes a detectable manipulation of the control element, a detectable inattention of an operator, and / or a limit of at least one coordinate. This allows checking or querying whether the control element is unmanipulated or undeflected, whether the operator is present or attentive, and / or whether a spatial limit is not violated.

[0022] To check attention, the control unit can, in a further development, have an eye sensor for detecting eye movement. Presence can be ensured, for example, by the control unit having a pressure-sensitive sensor for detecting the weight of the operating personnel or a contact-sensitive sensor on the operating element for detecting grip contact on the operating element. Additionally or alternatively, a displacement or angle sensor can be provided to detect a deflection of the operating element, a neutral position, or the like. Of course, the respective sensors are provided in signal communication with the control unit. Alternatively, it can be provided that the automated control does not require the operating element to be in a neutral position, i.e., the automated control can be triggered by actuating the actuating element even if the operating element has been manipulated or deflected.

[0023] In particular, the limit is related to a lifting height, a height, or a Z coordinate of the implement. To avoid the aforementioned unfavorable kinematic positions, the limit is an upper limit of the lifting height, above which, in particular, the automated control of the tilt angle can be blocked to prevent a rotary impulse on the work machine with a large lever of the implement.

[0024] Alternatively or additionally, a spatial debouncing zone can be stored in the control unit in a way that can be queried or checked, against which the recorded actual values ​​can be checked, whereby the automated control is aborted before the working device enters this zone.

[0025] The conditions are advantageously adapted to the respective work machine and its attachment or use.

[0026] In a highly flexibly configurable development, the conditions can be selected and their values ​​set in the control unit. This allows the operating personnel to select and adjust the conditions to suit the specific application of the work machine and / or personal preferences.

[0027] In a further development, the control unit is designed in such a way that, upon detection of manipulation or deflection, new target values ​​for the manual control can be set and / or the automated control can be interrupted and switched to manual control. For example, if an automated lowering (lifting height, height coordinate) of the implement is currently in progress and the lifting control is selected on the control element, the current lowering movement stops and lifting is initiated. An automated change in the angle of inclination can be interrupted or left unchallenged, depending on the design of the control unit.

[0028] In a further development, predetermined target values, each of the coordinates and the angle of inclination, are stored in the control unit for the triggered automated control and are automatically approached after triggering.

[0029] In a further development, the automated control system can be aborted when the predetermined target values ​​are reached, i.e., when the recording unit records the corresponding actual values. The work tool then remains idle until further manipulation or deflection of the control element is detected.

[0030] In a further development, the time period from activation until the predetermined target values ​​are reached is coordinated with a work step or work cycle of the work machine. This offers a time advantage, particularly in cyclic operation. If the automated control is triggered during reversing, for example, on a wheel or front loader, and the time period is coordinated with the duration of the reversing movement, the work machine will already be in its predetermined position (predetermined target values ​​of the coordinates and inclination) upon completion of the reversing movement. The driver can then initiate forward travel with optimal visibility and insert into the material to be loaded without further action.

[0031] In particular, the aforementioned target values ​​are predetermined with reference to and / or distance from a working plane of the work machine or the environment, in particular with reference to the ground or a support surface. In particular, they are adjustable within limits for at least one plane, in particular by the operating personnel. For example, the predetermined target value of the coordinate is defined as the lifting height, and the automated control system stops when the lifting height above the ground is reached, for example, at 0.2 m or the like.

[0032] In a further development, the control unit has an interface for the operating personnel, via which a status of the automated control system, in particular "active," "inactive," "blocked," "interrupted," or the like, can be displayed. This can be, for example, a flashing signal system, an audible signal system, a vibration device on the control element, or an optical signal on a display or the like.

[0033] A mobile work machine has a work implement directly or indirectly articulated by at least one hydraulic actuator and a control unit configured according to at least one aspect of the preceding description. Depending on manipulation of the above-described operating element, the at least one actuator can be supplied with pressure medium via a pressure medium source, and in particular via a valve device of the control unit. In this way, at least one coordinate and one angle of inclination of the work implement can be manually controlled. According to the invention, the automated control of the coordinate and the angle of inclination can be triggered by actuating the above-described actuating element.

[0034] A method for controlling the implement of the mobile work machine accordingly comprises the steps of "manually controlling at least one coordinate and an inclination angle of the implement via at least one operating element" of the above-described control unit and "triggering an at least partially automated control of the implement via an actuating element" of the above-described control unit. According to the invention, in addition to the automated control of the inclination angle, the control of at least one coordinate can also be triggered via the actuation.

[0035] Instead of being able to trigger automated control only for the tilt angle, the invention also allows for automated control of at least one coordinate, for example, a lifting height. This represents a significant increase in comfort for operating personnel.

[0036] In a further development, the method comprises the steps of "querying the actual position of the implement with respect to coordinates and inclination" and "comparing the actual position with a target position" via the control unit. Depending on the result of this query, the control unit controls its valve device. This causes the implement to be raised or lowered, and possibly tilted, until the target position is reached. Upon reaching the target position, a step "terminating the automated control" follows.

[0037] In a further development, the method includes a step of "querying a first condition" and, depending on this, a step of "sequential and / or at least temporarily simultaneous automated control of the coordinate and the inclination angle." The first condition contains, in particular, the previously discussed kinematic position of the implement.

[0038] In a preferred development, the step "querying a first condition" is performed by "querying a lifting height of the implement," followed by a step "comparing the lifting height with a limit" via the control unit. This allows undesirable or structurally harmful kinematic positions of the implement to be excluded while simultaneously automating control.

[0039] Depending on the result of this query, for results above the limit, a step "Automated lowering of the implement to the limit" is initiated first. From the limit, a step "Automated lowering and tilting of the implement to the target or set value" is initiated. Thus, the automated control of the coordinates and tilt is non-simultaneous, at least in some sections. Upon reaching the target position, a step "Ending automated control" is initiated.

[0040] For results below the limit, the undesirable or structurally harmful kinematic position is excluded in advance. This allows the steps "Automated lowering or raising of the implement to the target or setpoint" and "Automated tilting of the implement to the target or setpoint," i.e., to the target position, to occur simultaneously. In this case, too, the step "Ending automated control" occurs upon reaching the target position.

[0041] In a further development of the method, the step "automated lowering of the implement" is followed by a step "controlling a valve device of the control unit to a floating position." This prevents the machine from being jacked up during automated lowering in the event of a collision of the implement with objects.

[0042] In a further development, the method includes a step of "querying a second condition" and, depending on the result, a step of "blocking, aborting, or interrupting the automated control of the coordinate and / or the inclination angle." The second condition includes, in particular, the previously discussed detectable manipulation of the control element, detectable inattention of an operator, a limit of at least one coordinate, and / or a limit of the load state. Thus, depending on the result of the query and an undesirable automated operating state, the condition can be blocked or aborted.

[0043] The fulfillment of the second condition is therefore necessary in order to be able to trigger or continue the automated control.

[0044] In a further development, the method includes a step called "Automated lowering of the implement with load-variable, particularly adaptive, dynamics." If the automated control of the coordinates and inclination is carried out with a loaded bucket, this step also ensures that critical machine conditions are prevented.

[0045] In a further development, the method features an adjustable time limit for the automated control of the coordinate and inclination. This prevents the associated valve device of the control unit from being permanently activated or remaining activated if the target coordinate or the target inclination, or both, are not reached.

[0046] An exemplary embodiment of a mobile work machine with a control unit according to the invention and an exemplary embodiment of a method according to the invention are explained in more detail below in the drawings. They show: Fig. 1 a mobile work machine according to the invention designed as a wheel loader according to an embodiment, in a side view, Fig. 2 a flowchart of a method stored in a control unit of the work machine for execution according to an embodiment, Fig. 3 shows a system structure of a control unit of the working machine according to an embodiment, and Fig. 4 time-dependent curves of relevant process variables of the working machine when executing the method according to the invention, starting from different starting values.

[0047] According to Fig. 1 shows a mobile work machine designed as a wheel loader 1 with a front carriage 2 and a rear carriage 4 pivotably connected to it about a vertical axis. A boom 6 is pivotably mounted on the top of the front carriage 2, at the end of which a working implement designed as a bucket 8 is pivotably mounted. The boom 6 is articulated by a double-acting, hydrostatic boom cylinder 10. The bucket 8 is articulated by a double-acting bucket cylinder 14 via a lever arrangement 12 pivotally mounted on the boom 6. A cabin 16 is provided on the rear carriage with an operator's station 18 having at least one control element 20 designed as a joystick, via which operating personnel can manually control the position or coordinates of the working implement 8, in particular its lifting height and inclination.The target values ​​of the coordinates and inclination detected on the joystick 20 are processed by a control unit 22, and a valve device of the control unit 22 supplies the hydraulic cylinders with pressure fluid depending on the target values ​​and the detected actual values. The pressure fluid is supplied via a hydraulic pump (not shown) driven by the drive engine of the wheel loader 1. A further description of the basic structure of the work machine 1 can be omitted at this point, as this is sufficiently known from the prior art.

[0048] When used as intended, the Fig. The lifting height of the bucket 8 shown in Figure 1 represents a typical operating condition after the bucket 8 has been tipped over a truck or bulk material. To pick it up again, a digging or piercing position must then be reached. Such a target position is usually characterized by a target lifting height and target inclination of the bucket 8, for example, 20 cm above the ground and positioned parallel to the ground.

[0049] According to the invention, the target position is determined by a method stored in the control unit 22 for execution according to Fig. 2 approached automatically.

[0050] In a first step 100, the automated control is requested by the operating personnel by actuating an actuating element 21, for example a switch, arranged on the operating element 22. The control unit 22 then queries several necessary conditions and determines whether the requested automated control of the bucket to the target position is possible under safety aspects (the aforementioned loading), and if so, how exactly it should be carried out.

[0051] Specifically, in step 102, a query is made as to whether the operating personnel are present. This is done, for example, via a pressure-sensitive sensor at the operator station, which detects the presence of operators at the operator station, or via an eye sensor, which detects whether the operator is paying attention. This prevents the automated control system from being triggered unnoticed or unobserved by the operator.

[0052] In step 104, a query is made as to whether the control element 22 is in its neutral position. This proves particularly advantageous if manipulation of the control element always overrides the automated control, i.e., has a higher priority than it. If the control element 20 is not in the neutral position, the automated control is blocked or, if it is already in operation, is interrupted.

[0053] In step 106, the lifting height of the bucket is determined. For this purpose, the work machine has a position detection unit (not shown) via which the respective position of the hydraulic cylinders 10, 14 can be detected. Based on this, the lifting height and inclination of the bucket 8 can be determined via kinematics stored in the control unit 22. Specifically, the control unit subsequently queries whether the determined lifting height exceeds a predetermined limit and whether the bucket 8 is below or above its automatically controlled target position in terms of coordinates and inclination.

[0054] Steps 102 to 106 may be performed in a different order or in parallel.

[0055] If the conditions are met and based on the determined lifting height and inclination, in step 108 the hydraulic cylinders 10, 14 are controlled via the control unit 22 and its valve device in such a way that the target position is approached.

[0056] If the target position is finally detected by the position detection unit, the automated control is aborted via the control unit 22 in step 110. The same occurs in the illustrated embodiment if the control element 20 is deflected from its neutral position or if the conditions according to steps 102 and 104 are no longer met. In the first case, the deflection sets a corresponding new target value for the manual control, and this is activated, so that the working device 8 continues to move. In the second case, the automated control is aborted and all movement of the working device 8 is stopped.

[0057] Fig. 3 schematically shows the structure of the control unit 22. It comprises the operating element 20 with the actuating element 21, a detection unit 24 with kinematic sensors, angle sensors and displacement sensors for detecting an angle of the bucket 8 and paths or positions of the hydraulic cylinders 10, 14, as well as a pressure sensor for detecting a working pressure of at least the boom cylinder 10.

[0058] It further comprises a processor unit 26 (ECU), which is signal-connected to the aforementioned components 20, 21, and 24. Outputs of the processor unit 26 are setpoint signals 28 for controlling the respective valve device of the boom cylinder 10 for raising and lowering the boom 6 and the bucket cylinder 14 for tilting the bucket 8 into a position for dumping and holding the collected material.

[0059] The signal connections can be realized, for example, via a CAN bus.

[0060] The processor unit 26 contains a kinematic position calculation unit 30, an evaluation unit 32, which is signal-connected to the control element 20 and the actuating element 21 and via which the requirements can be evaluated by the operating personnel, a signal filter 34, a dynamic adaptation device 36, via which filter parameters can be provided via the signal filter 34 in order to influence movement dynamics in a load-dependent manner, a "return to position" device 38 according to the invention for the automated control of the bucket into its target position with integrated bucket deceleration 40, via which, depending on the lifting height, the bucket 8 can be controlled simultaneously with the boom 10 or alternatively with a lifting height / time delay into its target inclination in order to exclude harmful kinematic positions.A valve driver 42 is connected upstream of the outputs 28 to convert the signals of the “Return to Position” device 38 and the blade delay 40 into a control current of a respective actuator magnet of the valve device.

[0061] Fig. 4 shows time-dependent curves of relevant process variables of the working machine 1 when executing the method according to the invention, starting from different starting values.

[0062] The first diagram line shows a pulse-shaped actuation signal 42 for triggering the automated control and, on the zero line, the zero signals resulting from the neutral position of the control element 20 for raising the boom, lowering the boom, dumping the bucket and picking up the bucket.

[0063] The third diagram row shows the path 44 or the length of the boom cylinder 10, in particular as a measure of the lifting height of the bucket 8 at the time of the trigger signal 42, and its progression until the target position of the bucket 8 is reached, which corresponds to the target path 46 of the boom cylinder 10. The limit 48 of the path 44 represents the reference to the lifting height limit stored and retrieved in the control unit 22, on which, as described above, depends whether the movement of the bucket 8 to its target inclination occurs simultaneously with the movement of the boom 6 or is delayed.

[0064] The fourth diagram line shows the path 50, or the length of the bucket cylinder 14, particularly as a measure of the inclination angle of the bucket 8 at the time of the trigger signal 42 and thereafter, as well as the course of the path 50 until the target position of the bucket 8 is reached, for example, if it is positioned parallel, which corresponds to the target path 52 of the bucket cylinder 14. Of course, a different target position and inclination can also be set in advance.

[0065] The second diagram line shows the course of control pressures with which the valve devices of the boom cylinder 10 and the bucket cylinder 14 are controlled in dependence on the setpoint signals 28 according to Fig. 3. Here, 54 is the control pressure curve for raising the boom 6, 56 is the control pressure curve for lowering the boom 6, 58 is the control pressure curve for dumping the bucket 8 and 60 is the control pressure curve for picking up or erecting the bucket 8.

[0066] Four different starting positions with subsequent automated control of the lifting height - proportional to the travel 44 of the boom cylinder 10 - and the inclination of the bucket 8 - proportional to the travel 50 of the bucket cylinder 14 - are played through in four examples I - IV.

[0067] In all examples, the bucket is outside its target position when triggered, both in terms of its lifting height and its inclination, as shown by the initial positions of the cylinder travels 44 and 50.

[0068] In examples I and II, the boom cylinder 10 is not extended to the limit 48, but the bucket 8 is below the lifting height limit.

[0069] In examples I, III and IV, the blade 8 is in an upright position when triggered, similar to that in Fig.1. In Example II, this is reversed; it has a "dump" position. Accordingly, triggering in Examples I, III, and IV causes the bucket cylinder 14 to retract, and in Example II, it extends, aligning the bucket parallel to the ground.

[0070] In all examples I - IV, the bucket 8 is in the initial position above its target position, which corresponds to a path 48 of the boom cylinder 10, so that in the third diagram line, in each case, when the automated control is triggered, a retraction of the boom cylinder 10 is triggered, which can be seen from the decreasing path 44.

[0071] In examples I and II, the initial position of the bucket is below the “lifting height limit” 48. In this case, the control unit 22 allows the simultaneous automated adjustment of the hydraulic cylinders 10, 14 after triggering, since there is no risk of an unfavorable operating condition due to excitation due to the rotary bucket movement.

[0072] This is different in examples III and IV. Here, according to the third diagram line, bucket 8 is positioned above the "lifting height limit" 48, so that upon triggering, boom cylinder 10 is retracted first until the "lifting height limit" 48 is reached, and only when the limit is exceeded are both cylinders 10, 14 simultaneously activated. This can be seen from the time offset of curves 56 to 58 after the trigger signal 42.

[0073] A control unit for controlling a working device of a mobile work machine in a spatial manner is disclosed. It includes an operating element for manually controlling the working device and a triggering device for triggering at least partially automatic control of the working device in a spatial manner. According to the invention, the control unit is designed such that at least one translational and at least one rotational degree of freedom of the working device can be controlled automatically via actuation.

[0074] Also disclosed are a mobile work machine with such a control unit and a method for controlling the work machine according to the invention.

Claims

[1] Control unit for a mobile work machine (1), with at least one operating element (20) for manually controlling a working device (8) of the work machine (1), and with a detection unit via which actual values ​​of at least one coordinate and an angle of inclination of the working device (8) can be determined, wherein an actuating element (21) is provided, with the actuation of which an at least partially automated control of the working device (8) can be triggered, wherein the actuation of the actuating element (21) can trigger the automated control of the coordinate and the angle of inclination, characterized by that a first condition is stored in the control unit in a queryable manner, depending on which, depending on the result of the query, the automated control of the coordinate and the angle of inclination can be triggered either sequentially, simultaneously or in a mixed form of sequential and simultaneous. [2] Control unit according to claim 1, wherein the first condition contains a kinematic position of the working device (8) or a path or angle variable (48) underlying the kinematic position. [3] Control unit according to one of claims 1 to 2 with a second condition depending on which the automated control of the coordinate or the angle of inclination, or both, can be blocked, aborted or at least interrupted. [4] Control unit according to claim 3, wherein the second condition includes a detectable manipulation of the operating element (20) and / or a detectable inattention of an operating personnel and / or a limit of the at least one coordinate and / or a limit of a loading state. [5] Control unit according to claim 4, wherein new target values ​​of the manual control can be set via the detectable manipulation. [6] Control unit according to one of the preceding claims with predetermined target values ​​of the automated control of the coordinate and the angle of inclination, or with predetermined target values ​​(46, 52) of the automated control of the path or angle variables underlying the coordinate and the angle of inclination. [7] Control unit according to claim 6, wherein an abort of the automated control can be triggered when the predetermined target values ​​(46, 52) are reached. [8] Control unit according to claim 6 or 7, wherein a time period from the actuation until the predetermined target values ​​(46, 52) are reached is coordinated with a working operation or working cycle of the working machine (1). [9] Control unit according to one of claims 6 to 8, wherein the target values ​​(46, 52) are predetermined with a reference and / or a distance to a working plane of the working machine (1) or the environment and are adjustable within limits for at least one plane. [10] Mobile work machine with a working device (8) which is directly or indirectly articulated by at least one hydraulic actuator (10, 14) and a control unit (22) according to one of the preceding claims, wherein, depending on a manipulation of its operating element (20), the at least one actuator (10, 14) can be supplied with pressure medium via a pressure medium source and valve device of the control unit (22) and can be manually controlled in at least one coordinate and one angle of inclination, characterized by that the automated control of the coordinate and the angle of inclination can be triggered by actuating the actuating element (21) of the control unit (22). [11] Method for controlling a working device (8) of a mobile working machine (1) which is designed according to claim 10, comprising steps - “Manual control of at least one coordinate and one angle of inclination of the working device (8) via at least one control element (20)” and - "Triggering (100) an at least partially automated control of the working device (8)" via an actuating element (21)", wherein an automated control of at least the coordinate and the angle of inclination can be triggered via the actuating element (21) characterized by the next step: - Querying a first condition stored in the control unit of the mobile work machine and depending on the result of the query - either sequential or at least temporarily simultaneous or both sequential and at least temporarily simultaneous automated control of the coordinate and the inclination angle. [12] Method according to claim 11, comprising steps - “Query a second condition” and depending on it - “Blocking, aborting, or interrupting the automated control of the coordinate and inclination angle.

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