SYSTEM, METHOD AND NON-TRANSITORIAL COMPUTER-READABLE STORAGE MEDIUM FOR MANAGING A WORK MACHINE

Abstract

A working machine may comprise a working tool attached to one end of a boom of the working machine and a processing circuit. The processing circuit may be configured to determine a type of working tool; set a focus point of the working tool based on the type of working tool; measure a posture of the working tool based on the focus point; and provide a guidance function to an operator of the working machine in accordance with the measured posture of the working tool based on the focus point.

Description

Technical area

[0001] The present disclosure relates to work machines, in particular to construction machines with various work tools, as well as to systems, assemblies and methods therefor. background

[0002] Work machines, particularly in construction, mining, earthmoving, material handling, forestry, agriculture, or other similar industries, typically use a tool controlled by an operator to perform work. A variety of work tools can be attached to an arm of a multi-purpose machine (e.g., an excavator) via a coupling arrangement to perform different types of work.

[0003] Japanese Patent Application Publication JPH07-207712 ("the JP '712 Publication") describes a work machine for adjusting monitoring points on a front work attachment comprising a boom, an arm, and a bucket to limit the up / down working range. According to the JP '712 Publication, the bucket can be controlled by controlling the speed of actuators of the front work attachment to prevent the front work attachment from colliding with an obstacle.

[0004] In addition to the collision avoidance function, the desire was expressed to enable guidance functions for work machines to which various work tools are attached in order to assist a work machine operator. Brief description

[0005] According to one aspect, a work machine is described or provided. The work machine may include a work tool attached to one end of a boom of the work machine, and processing circuitry. The processing circuitry may be configured to determine a type of work tool, set a focal point of the work tool based on the type of work tool, measure a posture of the work tool based on the focal point, and provide a guidance function to an operator of the work machine in accordance with the measured posture of the work tool based on the focal point.

[0006] In another aspect, a method for a work machine is disclosed or implemented. The method may include determining a type of work tool of the work machine, outputting selectable information via an operator interface to select a focus point of the work tool from one or more candidates in accordance with the determined type of work tool, adjusting the focus point of the work tool based on input via the operator interface, measuring a posture of the work tool based on the focus point, outputting guidance information based on the measured posture of the work tool and the focus point of the work tool, and providing a guidance function to the operator interface in accordance with the measured posture of the work tool based on the focus point.

[0007] And in another aspect, a non-transitory computer-readable storage medium is disclosed or provided. The non-transitory computer-readable storage medium may include computer-executable instructions, wherein the instructions, when executed by an information processing system of a work machine, cause the information processing system to perform a method, the method comprising: determining a type of work tool of the work machine, setting a focal point of the work tool based on input via an operator interface, measuring a posture of the work tool based on the focal point, determining a type of output information based on the type of work tool, wherein the output information includes directional information of the work tool,Providing a guidance function with a first type of output information to the operator interface in accordance with the measured posture of the work tool based on the focal point, switching the type of output information from the first type of output information to a second type of output information under the condition that the work tool is replaced from a first type of work tool to a second type of work tool, and providing the guidance function with the second type of output information to the operator interface in accordance with the measured posture of the work tool based on the focal point.

[0008] Further features and aspects of this disclosure will become apparent from the following description and the accompanying drawings. Short description of the drawings Fig. 1 is a side view of an excavator as an example of a work machine according to one or more embodiments of the disclosed subject matter. Fig. 2A, Fig. 2B and Fig. 2C are perspective views of a work tool of a work machine according to one or more embodiments of the disclosed subject matter. Fig. 3 shows a block diagram of a control system according to one or more embodiments of the disclosed subject matter. Fig. 4 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 5 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 6 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 7 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 8 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 9 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 10 shows an exemplary user interface according to one or more embodiments of the disclosed subject matter. Fig. 11 is a flowchart of a method according to one or more embodiments of the disclosed subject matter. Detailed description

[0009] The present disclosure relates to work machines, particularly construction machines with various work tools, as well as to systems, assemblies, and methods therefor. In general, embodiments of the disclosed subject matter may implement the work machine, which may determine an appropriate focus point based on the types of work tools and perform guidance functions based on the focus point.

[0010] Fig. 1 shows an excavator (e.g., a hydraulic excavator) as a work machine 1 according to one or more embodiments of the disclosed subject matter, although the embodiments of the disclosed subject matter are not so limited. The work machine 1 in the form of an excavator may also be referred to as a tracked vehicle.

[0011] In the work machine 1, an upper slewing body 2 as the machine body may be rotatably attached to a lower traveling body 3 via a slewing bearing part 4. The lower traveling body 3 may have left and right crawlers that can be controlled (via corresponding hydraulic motors) to move the work machine 1 in a specific travel direction (forward or backward). A cab 5 may be attached to one side of the front part of the upper slewing body 2, and a driver's seat, one or more control levers, and the like may be installed in the cab 5. Furthermore, a boom 6 for excavation work may be attached to the other side of the front part of the upper slewing body 2. An engine and a drive device, such as a hydraulic pump driven by the engine, may be attached to the rear part of the upper slewing body 2 and provided with a drive device cover 7.

[0012] The boom 6 can be pivotally attached to a rod, to the end of which a working tool 8, such as a bucket, can be attached. The working tool 8 can be attached to the arm of the working machine 1 via a coupling arrangement in order to perform various tasks. It should be noted that embodiments of the disclosed subject matter do not refer to a bucket as the working tool 8, as in Fig. 1. For example, other suitable accessories or tools other than a bucket may be used, such as a hammer, a vibratory compactor, a compaction wheel, a fork, a plough, a handling arm, a multiprocessor, a pulverizer, a saw, shears, a blower, a grinder, a tiller, a winch, an auger, a blade, a broom, a cutting machine, a planer, a de-clutterer, a felling head, a grapple, a mulcher, a ripper, or the like.

[0013] Let us now consider the Fig. 2A, Fig. 2B and Fig. 2C, Fig. 2A to 2C are perspective views of the work tool 8 according to one or more embodiments of the disclosed subject matter. As in Fig. 2A, a hammer 21 can be provided as the working tool 8 of the working machine 1. The working machine 1 can break up rocks and structures with the impact force of a chisel 217 of the hammer 21 when the hammer 21 is attached to the working machine 1 as the working tool 8. As shown in Fig. As shown in Figure 2A, the hammer 21 may include a power cell housing 212 with a hydraulic inlet 213 and a hydraulic outlet 214 that can be connected to a hydraulic equipment system of the work machine 1. Attached to one end of the power cell housing 212 may be a machine mount 215 that includes a plurality of bores 216 for receiving pins that may be distributed to mate with the boom fasteners of the work machine 1. The bit 217 may be partially received within the power cell housing 212 and movable relative thereto.

[0014] As in Fig. As shown in Figure 2B, a vibratory compactor 22 may also be provided as the working tool 8 of the working machine 1. The vibratory compactor 22 may include a base plate 221, a vibration mechanism 222, a support frame 223, a bracket 224, and a blade 225.

[0015] The vibration mechanism 222 may include a hydraulic motor and an eccentric mechanism driven by the hydraulic motor. The hydraulic motor is connected to the power system of the work machine 1, and the hydraulic motor drives the eccentric mechanism to rotate, generating an eccentric force through the rotation, so that the soil is compacted by the base plate 221 vibrating in the vertical direction.

[0016] The support frame 223 may be provided as a pair of side plates on either side of the bottom of the bracket 224. The bracket 224 may have a plurality of holes for receiving pins, which may be distributed to match the fastening elements of the boom of the work machine 1.

[0017] In this embodiment, the blade 225 may be provided on a rear side of the body of the vibratory compactor 22 for grading or shoveling a material (e.g., earth, dirt, rock, sand, brick, and / or other materials). The blade 225 may be moved across the ground by raising and lowering the boom 6 of the work machine 1. Optionally or alternatively, the blade 225 may be attached to a front side of the vibratory compactor 22.

[0018] As in Fig. As shown in Figure 2C, a wheel compactor 23 can also be used as the working tool 8 of the work machine 1. The wheel compactor 23 can include a roller 231, a blade 232, and a holder 233.

[0019] The roller 231 can be used to break up hard soil through rotation. The blade 232 can be used in conjunction with the roller 231 to create a smooth trench bottom. The blade 232 can be mounted on either side of the roller 231, depending on how the operator of the work machine 1 wishes to push / pull the material into the trench.

[0020] The bracket 233 may have a plurality of holes for receiving pins, which may be distributed to match the fastening elements of the boom of the work machine 1.

[0021] In this embodiment, the work machine 1 can provide various guidance functions to assist the operator in his work, such as the "machine guidance function" (hereinafter referred to as the first guidance function) and the "e-fence function" (hereinafter referred to as the second guidance function). More specifically, when the operator of the work machine 1 activates the machine guidance function, the work machine 1 can communicate status information of the work machine 1 to the operator, so that the operator can control the machine based on the status information when the work tool 8 is the bucket, the hammer 21, the vibratory compactor 22, or the wheel compactor 23. When the operator of the work machine 1 activates the e-fence function, the work machine 1 can define the work area (ieHeight / depth / distance) of the work tool 8 and control actuators to avoid interference between the work tool 8 and the cab 5 if the work tool 8 is one of the bucket, the hammer 21, the vibratory compactor 22, or the wheel compactor 23. In other words, the work machine 1 can control the actuators of the work machine 1 so that the work tool 8 does not protrude from the predetermined area to avoid interference between the work tool 8 and the cab 5 during operation of the e-fence function. Furthermore, the work machine 1 can output information about the posture of the work tool 8 to the operator during operation of the guidance functions.

[0022] In order to implement the machine guidance function and the E-Fence function for the working machine 1, it may be necessary to increase the measuring points of the working tool 8 for measurement and to select a guidance point from various measuring points (e.g., wheel or blade of the compactor) for guidance to a target point, since the working tools 8 may have different shapes.

[0023] Furthermore, the work machine 1 may specify a guide angle “VERTICAL” (hereinafter referred to as the second type of output information) so as to be perpendicular to the object to be crushed in the case of the hammer 21, in addition to specifying a guide angle “HORIZONTAL” or “LEVEL” (hereinafter referred to as the first type of output information) in the case of the bucket, the vibratory compactor 22, and the wheel compactor 23.

[0024] Let us now consider the Fig. 3, Fig. 3 is a block diagram of a control system 31 of the work machine 1 according to one or more embodiments of the subject matter described herein. As in Fig. 3, the control system 31 may include a controller 38, which may be implemented in a control circuit, one or more operator inputs 32, a communication unit 33, a memory 34, one or more displays 35, an audio unit 36, and one or more sensors 37. The controller 38, as used herein, may include only one controller or multiple controllers.

[0025] The memory 34 may be operatively coupled to the controller 38 and may be external to the controller 38, as in Fig. 3, and / or within the controller 38, i.e., as part of the controller 38. In general, the memory 34 can receive and store data or information about the operation of the work machine 1. For example, the memory 34 can receive and store information for setting the machine guidance function and the e-fence function for each type of work tool 8 (e.g., bucket, hammer 21, vibratory compactor 22, and wheel compactor 23). The memory 34 can also, for example, receive and store measured data of the work machine 1, such as numerical data about the posture of the work tool 8.

[0026] The communication unit 33 may be (or become) part of the control system 31. In this context, the communication unit 33 may include a transmission circuit for transmitting information or data, such as the setting information of the machine guidance function and the e-fence function, relating to each type of work tool 8 (e.g., bucket, hammer 21, vibratory compactor 22, and wheel compactor 23) and measured data of the posture of the work tool 8 to a back-office system. Optionally, the communication unit 33 may have a receiving circuit for receiving information or data from the back-office system, for example. In this embodiment, the communication unit 33 may be configured with a communication device such as a local CAN, a wired or wireless LAN, a communication card for Bluetooth, a router for communication, and a modem for communication.

[0027] The audio unit 36 ​​may consist of one or more loudspeakers, which are mounted, for example, in the cabin 5, to output acoustic information, such as warnings, to the operator of the work machine 1. For example, the audio unit 36 ​​may acoustically inform the operator of the work machine 1 which type of work tool 8 is currently attached to the work machine 1 and which guidance function is currently activated.

[0028] The one or more sensors 37 can capture various information from the work machine 1. The one or more sensors 37 can include, for example, a position sensor associated with the rotation or pivoting of the work machine 1, a triaxial acceleration sensor (including an acceleration sensor, a gravity detection sensor, and a fall detection sensor), or a triaxial gyro sensor (including an angular velocity sensor and a geomagnetic sensor). The outputs of the one or more sensors 37 can be forwarded to the controller 38. Optionally, the information from at least one of the sensors 37 can be displayed on the display 35. For example, the one or more sensors 37 can capture an angle of a target measurement point of the work tool 8 of the work machine 1.

[0029] The operator input(s) 32 may be (or be part of) switches, a joystick lever, a foot pedal, a keyboard, and other input devices. The operator input on the display 35 may be provided via a touch panel equipped with the display 35. In this context, the at least one display 35 may be implemented on a display device that displays a graphical user interface (GUI). Optionally, the one or more displays 35 may output a warning and a message to the operator of the work machine 1, e.g., information about the type of work tool 8 currently attached to the work machine 1 and information about the activated guidance function for the work tool 8.

[0030] The controller 38 can output control signals to various system components (e.g., hydraulic systems, electrical systems, etc.) to control the movement of the work machine 1 in response to the input(s) of the operator 32. The controller 38 can include a CPU, a ROM, and a RAM.

[0031] In an exemplary implementation, the control system 31 of the work machine 1, or portions thereof, may be implemented using circuits or processing circuits that may include general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a CPU (Central Processing Unit), a microprocessing unit (MPU), conventional circuits, and / or combinations thereof that are configured or programmed to perform the disclosed functionality. Processors may be considered processing circuits or circuits because they include transistors and other circuits. The processor may be a programmed processor that executes a program stored in a memory. In the disclosure, the circuits, units, or means may be hardware that performs or is programmed to perform the disclosed functionality.The hardware may be any hardware disclosed herein or otherwise known that is programmed or configured to perform the recited functions. If the hardware is a processor, which can be considered a type of circuitry, the circuitry, means, or units may be a combination of hardware and software, with the software used to configure the hardware and / or processor.

[0032] Let us now consider the Fig. 4, Fig. Figure 4 shows a schematic representation of a guidance screen displayed on the display 35. In one or more embodiments, Fig. 4 shows a guidance screen 41 containing a field 42 for displaying a side view of a work tool symbol and a field 43 for displaying a front view of a work tool symbol, in the case where the bucket is attached as a work tool 8 to the work machine 1. In both field 42 and field 43, a focus point 44 can be displayed to indicate a target point for measuring the posture of the work tool 8. The focus points 44 can be selected by the operator of the work machine 1 from one or more candidate points, as in Fig. 5 below. More specifically, the posture of the work tool 8 can be defined based on the position and angle of the work tool 8 in the XYZ coordinate system. In one or more embodiments, the posture of the work tool 8, calculated based on the selected focus point, can be displayed on the display 35 to provide visual information to the operator of the work machine 1 during the execution of the guidance functions (e.g., machine guidance function, e-fence function, etc.).

[0033] The guidance screen 41 may also include a field 45 in which the direction of movement of the work tool 8 is displayed. In this embodiment, the field 45 may display "LEVEL" since the bucket is attached to the work machine 1 as the work tool 8.

[0034] It is noted that the embodiments of the disclosed subject matter are not limited to the specific arrangement of the fields on the guidance screen 41 as shown in Fig. 4. For example, embodiments of the disclosed subject matter may arrange the fields in other positions or provide more fields on the guidance screen 41 for other functions of the work machine 1.

[0035] Fig. Figure 5 shows a schematic representation of the display 35 when setting a focus point of the working tool 8 of the working machine 1. The display 35 can display a screen 51 for selecting and setting a focus point of the working tool 8 of the working machine 1 when the working tool 8 is the bucket. The fields 52, 53, 54, and 55 on the screen 51 can display the focus point of the working tool 8 as "Left," "Center," "Right" in the front view, and "Auto," respectively. Here, in Fig. 5, field 53 may be selected based on an instruction from the operator of the work machine 1 to set the focus point of the work tool 8 to "Center." If field 55 is selected by input from the operator of the work machine 1, the controller 38 of the work machine 1 may automatically determine the focus point based on the information stored in the memory 34 (e.g., measurement data from the sensor 37) at a specific time. Optionally or alternatively, the controller 38 of the work machine 1 may select a point closest to a surface of the target material from among "Left," "Center," and "Right" in the front view if "Auto" is selected.

[0036] Optionally, screen 51 may also include fields 56-58 for a menu key, a back key, and a home key, respectively. Field 56 for the menu key may be used to display a list of menu items, field 57 for the back key may be used to return to the previous screen, and field 58 for the home key may be used to return to a home screen.

[0037] Optionally, as in Fig. 5, the display 35 may be equipped with a touch panel to input information into the controller 38, such as the setting information corresponding to the fields 52-55, and the commands corresponding to the menu key, the back key and the home key can be input via the screen 51 through the touch panel of the display 35.

[0038] It is noted that the embodiments of the disclosed subject matter do not limit the specific arrangement of the fields and buttons on the screen as in Fig. 5. For example, the fields and buttons may be arranged in different positions or may contain additional fields and buttons on the screen for other functions of the work machine 1.

[0039] Let us now consider the Fig. 6, Fig. Figure 6 shows a schematic representation of a guidance screen displayed on the display 35. In one or more embodiments, Fig. 6 shows a guidance screen 61 including a field 62 for displaying a side view of a work tool symbol and a field 63 for displaying a front view of a work tool symbol if the hammer 21 is attached to the work machine 1 as the work tool 8. A focus point 64 may be displayed in both field 62 and field 63 to indicate a target point for measuring the posture of the work tool 8. In this embodiment, the focus point 64 may be a contact point where the chisel 217 contacts the surface of the target material.

[0040] The guidance screen 61 may also include a field 65 indicating a direction of movement of the work tool 8. In this embodiment, the field 65 may display "VERTICAL" since the hammer 21 is attached to the work machine 1 as the work tool 8.

[0041] It is noted that the embodiments of the disclosed subject matter are not limited to the specific arrangement of the fields on the guidance screen 61 as shown in Fig. 6. For example, embodiments of the disclosed subject matter may arrange the fields in other positions or provide more fields on the guidance screen 61 for other functions of the work machine 1.

[0042] Let us now consider the Fig. 7, Fig. Figure 7 shows a schematic representation of a guidance screen displayed on the display 35. In one or more embodiments, Fig. 7 shows a guidance screen 71 containing a field 72 for displaying a side view of a work tool and a field 73 for displaying a front view of a work tool, in the case where the vibratory compactor 22 is attached to the work machine 1 as a work tool 8. A focus point 74 can be displayed in both field 72 and field 73 to indicate a target point for measuring the posture of the work tool 8. The focus points 74 can be selected by the operator of the work machine 1 from one or more candidate points, as shown in Fig. 8 described below.

[0043] The guidance screen 71 may also include a field 75 indicating a direction of movement of the work tool 8. In this embodiment, the field 75 may display "LEVEL" because the vibratory compactor 22 is attached to the work machine 1 as the work tool 8.

[0044] It is noted that the embodiments of the disclosed subject matter are not limited to the specific arrangement of the fields on the guidance screen 71 as shown in Fig. 7. For example, embodiments of the disclosed subject matter may arrange the fields in other positions or provide more fields on the guidance screen 71 for other functions of the work machine 1.

[0045] Fig. Figure 8 shows a schematic representation of the display 35 when setting a focus point of the working tool 8 of the working machine 1. The display 35 can display a screen 81 for selecting and setting a focus point of the working tool 8 of the working machine 1 when the working tool 8 is the vibratory compactor 22. The fields 82, 83, 84, and 85 on the screen 81 can display the focus point of the working tool 8 as "Forward," "Backward," "Blade" in the side view, and "Auto," respectively. Here, in Fig. 8, field 83 may be selected due to an instruction from the operator of the work machine 1 to set the focus point of the work tool 8 to "Reverse." If field 85 is selected by input from the operator of the work machine 1, the controller 38 of the work machine 1 may automatically determine the focus point based on the information stored in the memory 34 (e.g., measurement data from the sensor 37) at a particular time. Optionally or alternatively, the controller 38 of the work machine 1 may select a point closest to a surface of the target material among "Forward," "Reverse," and "Blade" in the side view if "Auto" is selected.

[0046] Optionally, the screen 81 may contain fields 56-58 for the menu key, the back key and the home key respectively, as in Fig. 5 described.

[0047] Optionally, as in Fig. 8, the display 35 may be equipped with a touch panel to input information into the controller 38, such as the setting information corresponding to the fields 82-85, and the commands corresponding to the menu key, the back key and the home key can be input via the screen 81 through the touch panel of the display 35.

[0048] It is noted that the embodiments of the disclosed subject matter do not limit the specific arrangement of the fields and buttons on the screen as in Fig. 8. For example, the fields and buttons may be arranged in different positions or may contain additional fields and buttons on the screen for other functions of the work machine 1.

[0049] Let us now consider the Fig. 9, Fig. Figure 9 shows a schematic representation of a guidance screen displayed on the display 35. In one or more embodiments, Fig. 9 shows a guidance screen 91 containing a field 92 for displaying a side view of a work tool and a field 93 for displaying a front view of a work tool if the wheel compactor 23 is attached to the work machine 1 as a work tool 8. A focus point 94 can be displayed in both field 92 and field 93 to indicate a target point for measuring the posture of the work tool 8. The focus points 94 can be selected by the operator of the work machine 1 from one or more candidate points, as shown in Fig. 10 below. In this embodiment, the guidance screen 91 may not include a field for the direction of movement of the work tool 8.

[0050] It is noted that the embodiments of the disclosed subject matter are not limited to the specific arrangement of the fields on the guidance screen 91 as shown in Fig. 9. For example, embodiments of the disclosed subject matter may arrange the fields in other positions or provide more fields on the guidance screen 91 for other functions of the work machine 1.

[0051] Fig. Figure 10 shows a schematic representation of the display 35 when setting a focus point of the working tool 8 of the working machine 1. The display 35 can display a screen 101 for selecting and setting a focus point of the working tool 8 of the working machine 1 when the working tool 8 is the wheel compactor 23. The fields 102, 103, and 104 on the screen 101 can display the focus point of the working tool 8 as "roller," "blade" in the side view, and "car," respectively. Here, in Fig. 8, field 103 can be selected based on an instruction from the operator of the work machine 1 to set the focal point of the work tool 8 as "blade." If field 104 is selected by input from the operator of the work machine 1, the controller 38 of the work machine 1 can automatically determine the focal point based on the information stored in the memory 34 (e.g., measurement data from the sensor 37) at a specific time. Optionally or alternatively, the controller 38 of the work machine 1 can select a point that is closest to the surface of the target material in the side view between "roller" and "blade" if "Auto" is selected.

[0052] Optionally, the screen 101 may contain fields 56-58 for the menu key, the back key, and the home key, respectively, as shown in Fig. 5 described.

[0053] Optionally, as in Fig. 10, the display 35 may be equipped with a touch panel to input information into the controller 38, such as the setting information corresponding to the fields 102-104, and the commands corresponding to the menu key, the back key, and the home key can be input via the screen 101 through the touch panel of the display 35.

[0054] It is noted that the embodiments of the disclosed subject matter do not limit the specific arrangement of the fields and buttons on the screen as in Fig. 10. For example, the fields and buttons can be arranged in different positions, or additional fields and buttons can be provided on the screen for other functions of the work machine 1. Industrial applicability

[0055] As already mentioned, the present disclosure relates to work machines, in particular to construction machines with various work tools, as well as to systems, assemblies and methods therefor.

[0056] Fig. 11 is a flowchart of a method for operating functions of a work machine according to one or more embodiments of the disclosed subject matter. Some or all of the operations of the methods may be performed by or with the aid of the controller 38. Furthermore, some or all of the methods may be performed via a non-transitory computer-readable storage medium (or media) having stored thereon instructions that, when executed by one or more processors (e.g., the controller 38), cause the one or more processors to perform some or all of the methods.

[0057] The process of operating the guidance functions, i.e., the machine guidance function and / or the e-fence function, can be initiated when the controller 38 activates the functions based on input information from the operator of the work machine 1 via the operator input 32 (S1). The operator of the work machine 1 can input the information to activate the machine guidance function and / or the e-fence function when an engine of the work machine 1 is started, when a new work tool 8 is attached by controlling a quick coupler of the work machine 1 during work, when the engine is restarted, etc. Optionally or alternatively, the controller 38 can automatically detect the replacement of the work tool 8 and activate the machine guidance function and / or the e-fence function for the new work tool 8.

[0058] Next, the controller 38 may determine whether the work tool 8 currently attached to the work machine 1 is the hammer 21 or not (S2). Optionally or alternatively, the controller 38 may display a screen on which the operator of the work machine 1 can select and input the attached work tool 8. Optionally or alternatively, the controller 38 may recognize the attached work tool 8 based on detection information from the sensor(s) 37 of the work machine 1.

[0059] Next, in the case where the determination of step S2 is NO, the controller 38 may perform a process for setting a focal point of the work tool 8 from one or more candidates (S3). Specifically, the controller 38 may display a screen on which the operator of the work machine 1 can select and input the focal point of the work tool 8, as shown in FIGS. Fig. 5, Fig. 8 and Fig. 10. The operator of the work machine 1 can select the focus point depending on the type of work. For example, if the attached work tool 8 is the wheel compactor 23 and the next work of the work machine 1 is to compact the soil surface with the blade 232 of the wheel compactor 23, the operator of the work machine 1 can select "blade" as the focus point, as shown in Fig. 10. The controller 38 can adjust the focus point of the work tool 8 based on the input of the operator of the work machine 1 via the operator input 32.

[0060] On the other hand, in the case where the determination of step S2 is YES, that is, the attached work tool 8 is the hammer 21, the processing may skip step S3 and go to step S4 of the Fig. 11, since the focus point for the hammer 21 is preset as the contact point of the chisel 217.

[0061] Next, the controller 38 may perform a process for measuring the posture of the work tool 8 based on the selected focus point (S4). More specifically, the controller 38 may calculate the position of a target point of the work tool 8 corresponding to the selected focus point in the XYZ coordinate system. For example, the controller 38 may calculate a distance of the target point of the work tool 8 corresponding to the selected focus point from a reference point and / or an angle of the target point of the work tool 8 corresponding to the selected focus point from a reference plane in the XYZ coordinate system.

[0062] Following step S4, the controller 38 can execute a machine guidance function and / or an e-fence function based on the measured posture of the work tool 8 (S5). If the attached work tool 8 is the bucket, the controller 38 can output the guidance screen 41 on the display 35 as a machine guidance function to assist the operator in operating the work machine 1, as shown in Fig. 4. If the attached work tool 8 is the hammer 21, the controller 38 can display the guidance screen 61 on the display 35 to assist the operator in operating the work machine 1, as shown in Fig. 6. If the attached work tool 8 is the vibratory compactor 22, the controller 38 can display the guidance screen 71 on the display 35 to assist the operator in operating the work machine 1, as shown in Fig. 7. If the attached work tool 8 is the wheel compactor 23, the controller 38 can display the guidance screen 91 on the display 35 to assist the operator in operating the work machine 1, as shown in Fig. 9. In one or more embodiments, the guidance screens 41, 61, 71, and 91 may be displayed in three-dimensional representation.

[0063] To operate the e-fence function, the controller 38 may calculate the current coordinates and the coordinates after a predetermined time for one or more monitoring points based on the measured point of the work tool 8 corresponding to the focus point during the operation of the work tool 8. If one of the monitoring points is predicted to reach a boundary of the predetermined limited work area after the predetermined time, the controller 38 may calculate a deceleration degree K corresponding to the distance between the current coordinates of the monitoring point and the boundary of the predetermined limited work area and control the speed of the actuator(s) of the work machine 1 to decelerate by multiplying the deceleration degree K by the current operating speed of the actuator.If one of the monitoring points reaches a prohibited area, the controller 38 can control the actuator(s) to stop by multiplying K = 0 by the current operating speed of the actuator, so that the work tool 8 does not move out of the restricted work area. During operation of the e-fence function, the controller 38 can output the position information of the work tool 8 as an intersection with the restricted work area on the display 35. Optionally or alternatively, the position information of the work tool 8 and the restricted work area can be displayed in a three-dimensional representation.

[0064] Following step S5, the controller 38 may terminate the process.

[0065] It is noted that embodiments of the disclosed subject matter are not limited to the specific arrangement of the processing steps as in Fig.11. For example, further processing steps can be added to control functions and display information on the display 35 of the work machine 1.

[0066] As a result of the embodiments, a work machine can apply guidance functions such as the machine guidance function and the e-fence function to various types of work tools such as hammers and compactors and improve the customer's productivity and safety.

[0067] Thus, a work machine according to embodiments of the disclosed subject matter may include a work tool attached to one end of a boom of the work machine and a processing circuit. The processing circuit may be configured to determine a type of work tool, set a focal point of the work tool based on the type of work tool, measure a posture of the work tool based on the focal point, and provide a guidance function to an operator of the work machine in accordance with the measured posture of the work tool based on the focal point.

[0068] The work machine can set an appropriate focus point based on a type of work tool so that the work machine can provide appropriate guidance functions to the operator of the work machine.

[0069] In another aspect, a method for a work machine is disclosed or implemented. The method may include determining a type of work tool of the work machine, outputting selectable information via an operator interface to select a focus point of the work tool from one or more candidates in accordance with the determined type of work tool, adjusting the focus point of the work tool based on input via the operator interface, measuring a posture of the work tool based on the focus point, outputting guidance information based on the measured posture of the work tool and the focus point of the work tool, and providing a guidance function to the operator interface in accordance with the measured posture of the work tool based on the focus point.

[0070] And in another aspect, a non-transitory computer-readable storage medium is disclosed or provided. The non-transitory computer-readable storage medium may include computer-executable instructions, wherein the instructions, when executed by an information processing system of a work machine, cause the information processing system to perform a method, the method comprising: determining a type of work tool of the work machine, setting a focal point of the work tool based on input via an operator interface, measuring a posture of the work tool based on the focal point, determining a type of output information based on the type of work tool, wherein the output information includes directional information of the work tool,Providing a guidance function with a first type of output information to the operator interface in accordance with the measured posture of the work tool based on the focal point, switching the type of output information from the first type of output information to a second type of output information under the condition that the work tool is exchanged from a first type of work tool to a second type of work tool, and providing the guidance function with the second type of output information to the operator interface in accordance with the measured posture of the work tool based on the focal point,

[0071] Although aspects of the present disclosure have been particularly shown and described with reference to the above embodiments, those skilled in the art will understand that various additional embodiments may be contemplated by modifying the disclosed machines, assemblies, systems, and methods without departing from the spirit and scope of the disclosure. Such embodiments should be understood to fall within the scope of the present disclosure as determined based on the claims and any equivalents thereof. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JPH07-207712

[0003]

Claims

[1] Work machine, comprising: a working tool attached to one end of a boom of the working machine; and a processing circuit configured to: to determine a type of work tool, to set a focus point of the work tool based on the specific type of work tool, to measure a posture of the work tool based on the focal point, and to provide a guidance function for an operator of the work machine in accordance with the measured posture of the work tool based on the focus point. [2] The work machine of claim 1, wherein the processing circuit outputs selectable information on a display to select the focus point from one or more candidates when the work tool is a compactor. [3] Working machine according to claim 2, wherein the compressor is a vibratory compressor with a blade, and wherein the selectable information for selecting the focus point includes a front point of the compressor, a rear point of the compressor, and a point of the blade of the compressor in a side view of the compressor. [4] Working machine according to claim 2, wherein the compactor is a wheel compactor with a roller and a blade, and wherein the selectable information for selecting the focus point includes a center point of the roller of the compactor and a point of the blade of the compactor in a side view of the compactor. [5] The work machine of claim 2, wherein the processing circuit is configured to: provides selectable information for selecting the focus point, including an automatic mode, and selects the focus point from one or more candidates based on predetermined information without operator input if automatic mode is selected. [6] The work machine of claim 1, wherein the processing circuit is configured to: provides a first guidance function as a guidance function for the operator of the work machine, and during operation of the first guidance function, displays a symbol of the work tool and the focus point in at least one side view and one front view of the work tool on a screen. [7] The work machine of claim 6, wherein the processing circuit is configured to output a direction of the work tool on the screen of the display during operation of the first guidance function. [8] The working machine according to claim 7, wherein the processing circuit is configured to output the direction of the working tool as a vertical direction under the condition that the working tool is a hammer. [9] The work machine of claim 2, wherein the processing circuit is configured to: provides a second guidance function as a guidance function for the operator of the work machine, calculates the current coordinates and further coordinates after a predetermined time for the measured posture of the working tool corresponding to the focal point of the working tool, and controls an operating speed of at least one actuator of the work machine such that the work tool does not protrude from a predetermined working area during operation of the second guide function. [10] The work machine of claim 9, wherein the processing circuit is configured to output position information of the work tool and the predetermined work area on a display of the work machine during operation of the second guidance function. [11] Method for controlling a work machine, comprising: Determining a type of work tool of the work machine; Outputting selectable information via an operator interface to select a focal point of the work tool from one or more candidates in accordance with the determined type of work tool; Adjusting the focus point of the working tool based on the input via the operator interface; Measuring a posture of the work tool based on the focus point; Outputting guidance information based on the measured posture of the work tool and the focal point of the work tool; and Providing a guidance function for the operator interface in accordance with the measured work tool posture based on the focus point. [12] The method of claim 11, wherein the working tool is at least one of a bucket, a vibratory compactor, and a wheel compactor. [13] Method according to claim 12, wherein the working tool is the vibratory compactor, wherein the vibratory compactor has a blade, and wherein the selectable information for selecting the focus point includes a front point of the compressor, a rear point of the compressor, and a point of the blade of the compressor in a side view of the compressor. [14] Method according to claim 12, wherein the working tool is the wheel compactor, wherein the wheel compactor has a roller and a blade, and wherein the selectable information for selecting the focus point includes a center point of the roller of the compactor and a point of the blade of the compactor in the side view of the compactor. [15] The method of claim 11, wherein the selectable information for selecting the focus point comprises an automatic mode for selecting the focus point from one or more candidates based on predetermined information without operator input. [16] The method of claim 11, further comprising: Providing a first guidance function as a guidance function via the operator interface; and Outputting a symbol of the work tool and the focus point in at least one side view and one front view of the work tool on a screen of a display during operation of the first guidance function. [17] The method of claim 11, further comprising: Providing a second guidance function as a guidance function for an operator of the work machine, Calculating the current coordinates and further coordinates after a predetermined time for the measured posture of the work tool corresponding to the focal point of the work tool, and Controlling an operating speed of at least one actuator of the work machine so that the work tool does not protrude from a predetermined working area during operation of the second guide function. [18] A non-transitory computer-readable storage medium containing computer-executable instructions, the instructions, when executed by an information processing system of a work machine, causing the information processing system to perform a method, the method comprising: Determining a type of work tool of the work machine; Setting a focus point of the work tool based on input via an operator interface; Measuring a posture of the work tool based on the focus point; Determining a type of output information based on the type of work tool, wherein the output information includes direction information of the work tool; Providing a guidance function with a first type of output information to the operator interface in accordance with the measured posture of the work tool based on the focus point; Switching the type of output information from the first type of output information to a second type of output information under the condition that the work tool is exchanged from a first type of work tool to a second type of work tool; and Providing the guidance function with the second type of output information to the operator interface in accordance with the measured posture of the work tool based on the focus point. [19] The non-transitory computer-readable storage medium according to claim 18, wherein the first type of working tool is a bucket, a vibratory compactor, or a wheel compactor, and the first type of output information indicates the horizontal direction as direction information of the working tool. [20] The non-transitory computer-readable storage medium according to claim 19, wherein the second type of work tool is a hammer and the second type of output information indicates the vertical direction as the direction information of the work tool.

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