Procedure for maintaining a self-propelled work machine, control unit and self-propelled work machine

Abstract

A method for maintaining a self-propelled work machine (100), comprising the steps of: outputting a control signal to an operating control unit (10) of the self-propelled work machine (100) to bring about a maintenance state (W) of the self-propelled work machine (100) in which the self-propelled work machine (100) is operated independently of an environment sensing sensor (20) arranged on the self-propelled work machine (100), and outputting a control signal to an operating unit (30) of the self-propelled work machine (100) to generate vibrations and to transmit the generated vibrations to the environment sensing sensor (20), wherein the step of outputting (S2) the control signal to the operating unit (30) in the brought about maintenance state (W) is carried out to clean the environment sensing sensor (20).Furthermore, a control unit (110) which is configured to carry out the steps of the procedure and a self-propelled work machine (100) with such a control unit (110).

Description

Technical field

[0001] The present invention relates to a method for maintaining a self-propelled work machine, which is carried out to clean an environmental sensing sensor by means of vibrations. The present invention also relates to a control unit and a self-propelled work machine. State of the art

[0002] It is known from the prior art to clean a vehicle sensor by means of vibrations generated on the vehicle. US 2021 / 0088780 A1 discloses the use of a vibration source on an agricultural machine to vibrate a sensor in order to clean the sensor of dirt deposits. US 2012 / 0243093 A1 further discloses the use of vibrations to remove dirt deposits from a camera lens cover. DE 10 2019 113 562 A1 and DE 10 2020 128 903 A1 also disclose the use of vibrations to vibrate a sensor housing or cover plate mounted on a vehicle to remove dirt from the sensor housing or cover plate. During such a prior art process of generating vibrations on a vehicle to clean a sensor, the vehicle may be in an unsafe operating condition. Description of the invention

[0003] One aspect concerns a procedure for maintaining a self-propelled work machine. A self-propelled work machine can be a vehicle equipped to perform a specific task. It can be a construction machine designed for work on a construction site, an agricultural machine equipped for work on agricultural land, or a commercial vehicle designed for transporting goods.

[0004] The method includes, as one step, the output of a control signal to an operating control unit of the self-propelled work machine to initiate a maintenance state. In this maintenance state, the self-propelled work machine operates independently of an environmental sensing sensor located on the machine. The operating control unit can be a control device for controlling at least one operating component of the self-propelled work machine. The operating component can be configured to initiate the maintenance state. In contrast to the maintenance state, in which the self-propelled work machine operates independently of the environmental sensing sensor, the self-propelled work machine can also be operated in an operating state dependent on the environmental sensing sensor.If the environmental sensing sensor is operated in a contaminated state, where contamination leads to faulty or missing measurement data, the self-propelled machine may be operating in an unsafe condition due to its dependence on the sensor. Conversely, if the self-propelled machine operates independently of the environmental sensing sensor during maintenance, it may be operating in a safe condition, allowing for safe maintenance of the machine or cleaning of the sensor. The environmental sensing sensor could be, for example, a radar device, a laser scanner, an ultrasonic sensor, or a camera.

[0005] Depending on the respective embodiments, the operating control device can be a drive control device of a drive train of the self-propelled working machine, a work control device of a working tool of the self-propelled working machine or a sensor control device of the environment detection sensor.

[0006] In the maintenance state, where the self-propelled work machine is operated independently of the environmental sensing sensor, it can be operated without processing measurement data from the environmental sensing sensor. In this maintenance state, the self-propelled work machine can be operated independently of using the measurement data from the environmental sensing sensor for its operation. Therefore, operating the self-propelled work machine independently of the environmental sensing sensor can be considered operating the self-propelled work machine without using measurement data from the environmental sensing sensor for its operation.

[0007] The method includes, as one step, the output of a control signal to an operating device of the self-propelled machine to generate vibrations and transmit these vibrations to the environmental sensing sensor. The operating device can be a vibration generator for generating and transmitting the vibrations to the environmental sensing sensor. The operating device can be physically connected to the environmental sensing sensor to transmit the vibrations it generates. The vibrations can be mechanical oscillations, and the control signal can be output to induce mechanical oscillations in the environmental sensing sensor. The generated or transmitted vibrations can be resonant vibrations that cause the environmental sensing sensor to vibrate.

[0008] In the step of outputting the control signal to the operating device, the control signal for generating the vibrations can be output with at least one predetermined vibration frequency, a predetermined vibration amplitude, and a predetermined vibration duration. The predetermined vibration frequency or vibration amplitude can be a frequency or amplitude predetermined by an enable signal from the environmental sensing sensor, which neither damages the environmental sensing sensor nor impairs its functionality. The predetermined vibration frequency or the predetermined vibration amplitude can also be predefined within a predetermined frequency band or amplitude spectrum within which the environmental sensing sensor is neither damaged nor impaired in its functionality.In the step of outputting the control signal to the operating device, the control signal can be output to the operating device to bring about a predetermined operating state in which the vibrations can be generated with the predetermined vibration frequency or vibration amplitude.

[0009] Depending on the specific embodiment, the operating device can be a drive unit of a drive train of the self-propelled work machine, a working unit of a work attachment of the self-propelled work machine, a steering unit of the steering system of the self-propelled work machine, or a vibration unit of the environmental sensing sensor. The operating device can comprise at least one of the drive unit, one of the working unit, and one of the vibration units. The vibrations can therefore be generated by at least one of the drive unit, one of the working unit, and one of the vibration units and transmitted to the environmental sensing sensor. The vibrations can thus be generated by existing operating conditions on the work machine. According to one embodiment, the environmental sensing sensor can comprise the operating device.The environmental sensing sensor can therefore be configured to generate vibrations itself. This reduces vibrations that would be felt by an operator of the self-propelled machine, as the sensor itself generates vibrations.

[0010] In this procedure, the step of outputting the control signal to the operating device is performed in the induced maintenance state for cleaning the environmental sensing sensor. The transmission of the generated vibrations to the environmental sensing sensor can induce vibrations that may reduce or remove contaminants from the sensor. These contaminants can be liquid or solid particles that may lead to faulty or missing measurement data from the sensor.

[0011] In the operation of a self-propelled work machine, it may not be possible to operate it at a sufficiently high speed to allow the environmental sensing sensor to be cleaned of dirt by the airflow generated during operation. However, this method allows the environmental sensing sensor of the self-propelled work machine to be cleaned using vibrations that are independent of the driving speed, even at low speeds or when stationary. Therefore, if the self-propelled work machine is a construction or agricultural machine, this method can be particularly advantageous for cleaning the environmental sensing sensor during operation.

[0012] According to one embodiment, the method can be performed automatically after the self-propelled work machine has been put into operation. Alternatively or additionally, the method can be performed after the self-propelled work machine has been taken out of service. Alternatively or additionally, the method can be performed automatically and periodically during the operation of the self-propelled work machine. According to another embodiment, the method can be performed automatically when the self-propelled work machine or a working attachment of the self-propelled work machine is at a standstill. The method can therefore include, as a further step, the detection of the standstill of the self-propelled work machine or the standstill of the working attachment.The subsequent steps of the procedure are then carried out depending on the detected standstill of the self-propelled work machine or the detected standstill of the work equipment.

[0013] This method allows the environmental sensing sensor to be cleaned in a safe operating state of the self-propelled machine during maintenance by means of vibrations transmitted to the sensor. In this safe operating state, the drive control unit can then put the drive train into a safe operating state. Alternatively or additionally, in this safe operating state, the work control unit can put the work tool into a safe operating state. Furthermore, alternatively or additionally, the sensor control unit can put the environmental sensing sensor into a safe operating state. Thus, in the maintenance state, at least one of the drive train, the work tool, and the environmental sensing sensor can continue to operate in a safe operating state.

[0014] According to a further embodiment of the method, in the step of outputting the control signal to the operating control unit, the control signal can be output to the operating control unit to intervene in the operation of at least one of the drive train components of the self-propelled work machine, one of the working tools of the self-propelled work machine, and the environmental sensing sensor. The control signal can be output to the operating control unit to modify, restrict, or deactivate the operation of at least one of the drive train components, the working tool, and the environmental sensing sensor. In the step of outputting the control signal to the operating control unit, the control signal can be output to the operating control unit to intervene in the operation of a component of the drive train, for example, a gearbox or a drive motor.Alternatively or additionally, in the step of outputting the control signal to the operating control unit, the control signal can be used to intervene in the operation of a component of the work equipment, for example, a work tool. The work tool could be, for example, a digging tool, a drilling tool, a lifting tool, or a striking tool. The self-propelled work machine can thus be efficiently brought into a drive-related or operationally safe state before, in the subsequent step of outputting the control signal to the operating unit, the vibrations for cleaning the environmental sensing sensor are generated.

[0015] According to a further embodiment of the method, in the step of outputting the control signal to the operating control unit, the control signal can be output to the operating control unit for at least one of the following purposes: a drive-related standstill of the self-propelled work machine and a work-related standstill of the self-propelled work machine. In the step of outputting the control signal to the operating control unit, the control signal can be output to the operating control unit to prevent the self-propelled work machine from starting or continuing to move. The control signal can therefore be output to hold or stop the self-propelled work machine. In the step of outputting the control signal to the operating control unit, the control signal can be output to the operating control unit to prevent the self-propelled work machine from operating.The control signal can therefore be used to block or deactivate the working device of the self-propelled machine. This allows the self-propelled machine to be reliably brought into a safe state, either in terms of its drive system or its operational safety, before the vibrations for cleaning the environmental sensor are generated in the subsequent step of sending the control signal to the operating unit.

[0016] According to a further embodiment of the method, in the step of outputting the control signal to the operating control unit, the control signal can be used to intervene in the measurement operation of the environmental sensing sensor on the self-propelled work machine. The self-propelled work machine can thus be efficiently brought into a sensor-technically safe state before, in the subsequent step of outputting the control signal to the operating unit, the vibrations for cleaning the environmental sensing sensor are generated.

[0017] According to a further embodiment of the method, in the step of outputting the control signal to the operating control unit, the control signal can be output to the operating control unit to deactivate at least one of the following: the environmental sensing sensor and the shutdown of an operating function of the self-propelled work machine, which is based on measurement data from the environmental sensing sensor. The environmental sensing sensor or the operating function can be classified as non-functional for the control or operation of the self-propelled work machine. In the step of outputting the control signal to the operating control unit, the control signal can also be output to the operating control unit to discard the measurement data from the environmental sensing sensor.If the environmental sensing sensor has moving sensor components, the self-propelled machine can be reliably brought into a sensor-safe state before the vibrations for cleaning the environmental sensing sensor are generated in the subsequent step of sending the control signal to the operating unit. This prevents the vibrations from causing faulty measurement data due to a superposition of the sensor's movements with the vibrations.

[0018] According to a further embodiment of the method, the process can include, as additional steps, reading measurement data from the environmental sensing sensor, deriving metadata from the measurement data of the environmental sensing sensor, and determining the degree of contamination of the environmental sensing sensor based on the derived metadata. According to this embodiment, the step of outputting the control signal to the operating device can be performed depending on the determined degree of contamination. The derived metadata can contain binary information about the receptivity of the measurement data received from the environmental sensing sensor. Alternatively or additionally, the derived metadata can contain the reception intensity of the measurement data received from the environmental sensing sensor. The degree of contamination can then be derived based on at least one of the receptivity and reception intensity values.The step of sending the control signal to the operating device can be performed when the level of contamination exceeds a predefined threshold. The level of contamination can thus be efficiently determined using the data acquired by the environmental sensor.

[0019] According to a further embodiment of the method, in the step of outputting the control signal to the operating device, the control signal for generating the vibrations and for transmitting the generated vibrations to the environmental sensing sensor can be output with a vibration amplitude that is determined depending on the specific degree of contamination. The degree of contamination can thus be determined advantageously reliably and independently using the data that can be acquired by the environmental sensing sensor.

[0020] According to a further embodiment of the method, the steps of reading the measurement data, deriving the metadata, determining the degree of contamination, and outputting the control signal to the operating device can be performed iteratively to achieve a predefined degree of contamination, with the vibration amplitude being set to increase with each iteration compared to the previous iteration. In a further step of the method, the operation of the self-propelled machine can then be enabled once the predefined degree of contamination has been achieved. The predefined degree of contamination can thus be achieved in a sensor-friendly manner, since only the necessary amount of mechanical vibration for cleaning the environmental sensing sensor is generated and transmitted to it.

[0021] According to a further embodiment of the method, an additional step involves reading environmental data containing information about a potential collision object in the vicinity of the self-propelled work machine. According to this embodiment, the subsequent steps of the method can be performed depending on the environmental data read in. This environmental data can include measurement data from the environmental detection sensor. The subsequent steps of the method can then be performed if the read environmental data does not contain any information about a potential collision object. This ensures that, during maintenance of the self-propelled work machine, in which its maneuverability may be at least limited, there is no risk of a collision with an obstacle.The operational safety of the self-propelled work machine in this maintenance condition can be further increased.

[0022] According to a further embodiment of the method, in the step of outputting the control signal to the operating device, the control signal for generating vibrations can be output by an operating process carried out by the self-propelled working machine, wherein the operating process comprises at least one drive process carried out by a drive train of the self-propelled working machine and one working process carried out by a working tool of the self-propelled working machine. Vibrations generated by an existing drive process, for example by existing drive motor activity, can be superimposed on the executed operating process with vibrations generated by a supplementary working process, for example by the operation of a working tool.Alternatively, vibrations generated by an ongoing work process can be superimposed on vibrations generated by a supplementary drive process. The vibrations for cleaning the environmental sensor can thus be integrated into existing work processes, allowing the maintenance state to be established during operation or while working with the self-propelled machine without significantly restricting its operation.

[0023] According to a further embodiment of the method, in the step of outputting the control signal to the operating device, the control signal for generating the vibrations and transmitting the generated vibrations to the environmental sensing sensor can be output with a vibration direction that can be determined depending on at least one of the sensing directions of the environmental sensing sensor and whether the surface of the environmental sensing sensor is hydrophilic or hydrophobic. With a hydrophobic surface that repels water, vibrations parallel to a sensor surface normal can be transmitted to the environmental sensing sensor. With a hydrophilic surface that attracts water, vibrations orthogonal to a sensor surface normal can be transmitted to the environmental sensing sensor.The vibration direction can also be set perpendicular or parallel to a detection direction of the environmental sensor. If the environmental sensor is a radar device, this can be advantageous for measurements with the radar in its maintenance state. The surface finish of the environmental sensor can also be adjustable.

[0024] According to a further embodiment of the method, a further step may involve reading in actual measurement data from the environmental sensor, which is acquired during the generation of vibrations. The read in actual measurement data may contain information on at least one natural or artificial measurement target in the vicinity of the self-propelled machine. According to this embodiment, a further step of the method may involve comparing the read in actual measurement data with predetermined target measurement data from the environmental sensor. A comparison result from this step can be the determination of deviations between the target and actual measurement data. The target measurement data may contain predefined information on the at least one natural or artificial measurement target in the vicinity of the self-propelled machine.According to this embodiment, measurement data from the environmental sensor, acquired during the induced maintenance state, can be corrected based on a comparison result obtained from the comparison step. The measurement data can be corrected based on the target-actual deviations. Based on such a correction, measurement data from the environmental sensor can be reliably processed further even in the maintenance state.

[0025] According to a further embodiment of the method, a further step may involve outputting a control signal to a communication device to communicate the induced maintenance status to a person in the vicinity of the self-propelled work machine or to an operator of the self-propelled work machine. The communication device may be acoustic, visual, or haptic. The person or operator can thus be informed about the maintenance status or warned of it.

[0026] Another aspect concerns a control unit that can be configured for the maintenance of a self-propelled work machine. The control unit is configured to generate a control signal to initiate a maintenance state for the self-propelled work machine, in which the machine operates independently of an environmental sensor located on the machine. The control unit is also configured to output this control signal to an operating control unit of the self-propelled work machine. Furthermore, the control unit is configured to generate a control signal to produce vibrations and transmit these vibrations to the environmental sensor.The control unit is also configured to output the control signal for generating vibrations to an operating unit of the self-propelled work machine in the induced maintenance state for cleaning the environmental sensing sensor. The self-propelled work machine, the control signals, the maintenance state, the environmental sensing sensor, the operating control unit, the vibrations, and the operating unit can be configured as described in the previous section.

[0027] According to one embodiment of the control unit, it is configured to perform the procedure described in the preceding section for maintaining the self-propelled work machine. The control unit may have appropriate units or interfaces for performing at least one of the steps of the procedure described in the preceding section.

[0028] Another aspect concerns a self-propelled work machine which has a control unit according to the previous aspect. The self-propelled work machine can be configured as described in the previous aspects. Embodiments and features of one aspect can form corresponding embodiments and features of another aspect. Brief description of the characters Fig. Figure 1 schematically shows a self-propelled work machine with a control unit according to the respective embodiments. Fig. Figure 2 shows the self-propelled work machine and the control unit in further embodiments. Fig. Figure 3 shows a flowchart of a procedure for maintaining a self-propelled work machine according to one embodiment. Detailed description of embodiments

[0029] Fig. Figure 1 shows a self-propelled work machine 100, which has a drive train 40, a work device 50, and an environmental sensing sensor 20. The self-propelled work machine 100 also has an operating device 30, which is configured to generate vibrations on the self-propelled work machine 100 and transmit them to the environmental sensing sensor 20. The operating device 30 can be controlled by a control unit 110 to generate vibrations on the self-propelled work machine 100 and transmit them to the environmental sensing sensor 20. According to the in Fig. In the embodiment of the self-propelled work machine 100 shown in Figure 1, the operating unit 30 comprises at least one component of the drive train 40 and the working device 50. The operating unit 30 is physically connected to the environmental sensing sensor 20, whereby the vibrations generated by the operating unit 30 can be transmitted to the environmental sensing sensor 20 via a physical connection (not shown in the figures) in order to clean the environmental sensing sensor 20 of dirt particles or dirt deposits located on it.

[0030] In the embodiments shown in the figures, the self-propelled work machine 100 is in a maintenance state W in which the self-propelled work machine 100 is operated independently of the environment detection sensor 20.

[0031] According to one embodiment, the environmental sensing sensor 20 is deactivated in maintenance state W, or ongoing operating functions of the self-propelled work machine 100 are executed without the measurement data that can be acquired by the environmental sensing sensor 20. The control unit 110 is configured to initiate maintenance state W via the operating control unit 10, wherein the operating control unit 10 is configured to control at least one component of the drive train 40, the work device 50, and the environmental sensing sensor 20 in order to initiate maintenance state W. The self-propelled work machine 100 also has a communication device 60, which is configured to communicate the established maintenance state W to persons in the vicinity of the self-propelled work machine 100.

[0032] Fig. Figure 2 shows the self-propelled work machine 100 in a further embodiment, which differs from the one in Figure 2. Fig. The embodiment shown in Figure 1 differs in that the environmental sensing sensor 20 includes the operating device 30. According to this embodiment, the operating device 30 is a component of the environmental sensing sensor 20, which can therefore generate its own vibrations. The environmental sensing sensor 20 thus has a self-cleaning function.

[0033] Fig. Figure 3 shows a flowchart with steps of a procedure for maintaining the self-propelled work machine 100.

[0034] In step S1, the control unit 110 outputs a control signal to the operating control unit 10 to initiate maintenance state W. According to one embodiment, the operating control unit 10 controls the drive train 40 such that the self-propelled work machine 100 is prevented from operating in maintenance state W. According to another embodiment, the operating control unit 10 controls the environmental sensing sensor 20 such that it is deactivated. In a further step S2, to be carried out in the initiated maintenance state W, the control unit 110 outputs another control signal to the operating unit 30 to generate vibrations and to transmit the generated vibrations to the environmental sensing sensor 20 in order to clean it.

[0035] In an optional step S0, environmental data containing information about a potential collision object (not shown in the figures) in the vicinity of the self-propelled work machine 100 is read by the control unit 110. Steps S1 and S2 are then carried out if the read environmental data indicates that no collision object is located in the vicinity of the self-propelled work machine 100. In a further optional step S3, the control unit 110 outputs a control signal to the communication device 60 to communicate the initiated maintenance state W to a person in the vicinity of the self-propelled work machine 100.

[0036] In further steps V1, V2, and V3, the degree of contamination of the environmental sensing sensor 20 is determined by the control unit 110. In step V1, measurement data from the environmental sensing sensor 20 is read by the control unit 110. In step V2, metadata for the measurement data of the environmental sensing sensor 20 is derived by the control unit 110. In a further step V3, the degree of contamination of the environmental sensing sensor 20 is determined by the control unit 110 based on the derived metadata. In step S2, the control signal is output to the operating device 30 to generate vibrations with a vibration parameter that depends on the determined degree of contamination.

[0037] In further steps K1 and K2, measurement data from the environmental sensor 20 are corrected in maintenance state W. In step K1, actual measurement data from the environmental sensor 20, which are acquired during the generation of vibrations, are read by the control unit 110. In a further step K2, the control unit 110 compares the read actual measurement data with predetermined target measurement data from the environmental sensor 20. In the induced maintenance state W, the read measurement data from the environmental sensor 20 are corrected based on deviations between the target measurement data and the actual measurement data. Reference sign 10 Operating control unit 20 Environmental sensing sensors 30 Operating equipment 40 Powertrain 50 work equipment 60 Communication device 100 self-propelled work machines 110 Control unit K1 Read in actual measurement data K2 Compare actual measurement data S0 Read environmental data S1 Output control signal W Maintenance condition S2 Output control signal S3 Output control signal V1 Read measurement data V2 Derive Metadata V3 Determine pollution level QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] US 2021 / 0088780 A1

[0002] US 2012 / 0243093 A1

[0002] DE 10 2019 113 562 A1

[0002] DE 10 2020 128 903 A1

[0002]

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