METHOD FOR APPROACHING TO A TARGET POSITION OF A WORK EQUIPMENT, A WORK MACHINE, AND A WORK MACHINE

Description

[0001] The present invention relates to a method for approaching a target position of a working equipment of a machine, a computing unit and a computer program for its execution, as well as a machine. Background of the invention

[0002] Mobile working machines can have several movable components (e.g., hydraulically). For example, a movable arm can be provided to which a work attachment (such as a shovel, a grab, a fork, or similar) is attached that is movable relative to the arm. A typical example of this is telescopic handlers, which have a swiveling telescopic arm at the end of which a work attachment rotatable about an axis is mounted. Such working machines with a work attachment can be operated via control components such as pedals and hand levers or joysticks. For extended functions, e.g., extending / retracting a telescopic arm, additional elements, e.g., rollers, are provided on the handle of a control component, so that an operator can control the movements of various movable components of the working machine simultaneously, e.g., with one hand. A method according to the preamble of claim 1 is known, for example, from JP 5 086032 B2. Disclosure of the invention

[0003] According to the invention, a method for approaching a target position of a working tool of a machine, a computing unit and a computer program for its execution, as well as a machine with the features of the independent claims are proposed. Advantageous embodiments are the subject of the dependent claims and the following description.

[0004] The invention employs a measure: when approaching a target position, characterized by a target swivel angle and a target extension length of a telescopic arm pivotably mounted on a support of the machine, a primary change or movement is performed before or at least substantially before (or faster than) a secondary change or movement, which is the other change (i.e., the one not selected as the primary change) of the swivel angle and the extension length. By appropriately selecting the primary and secondary changes and their speed according to the respective target position or a starting signal, the stability of the machine can be ensured, as it prevents the telescopic arm from being swiveled in the extended state, i.e., at its maximum extension length.

[0005] The working machine is, in particular, a telescopic handler, such as a telescopic stacker, telehandler, or telescopic wheel loader. The working machine has, in particular, a drive system; that is, the support structure carrying the telescopic arm can be the chassis or a superstructure rotatably mounted on the chassis. The working attachment, also referred to simply as the attachment, is a tool or implement at the free end of the telescopic arm, which is pivotably mounted on the support structure of the working machine. Examples include a bucket, a fork, or a grapple. Changing the angle of rotation, i.e., rotating the attachment around its axis of rotation, can also be described as tilting, tipping in, or tipping out, depending on the direction of rotation. Changing the angle of swivel, i.e., pivoting the telescopic arm relative to the support structure, can also be described as raising or lowering the telescopic arm, depending on the direction of swivel.

[0006] Specifically, an initial position of the working equipment, characterized by an initial swivel angle and an initial extension length, is detected. During the approach to the target position, the swivel drive and the extension / retraction drive are automatically controlled based on a start-up signal to effect a primary change and a secondary change. The initial swivel angle is changed to the target swivel angle, and the initial extension length is changed to the target extension length. The primary change is the swivel angle change, and the secondary change is the extension length change, or vice versa. The primary change extends over a first time period, and the secondary change extends over a second time period, with one end of the first time period preceding the end of the second time period.In other words, during the approach to the target position, the slewing drive and the extension / retraction drive are automatically controlled based on a start-up signal to effect a primary change and a secondary change, which are different from each other and are selected from the slewing angle change and the extension length change, so that the initial slewing angle is changed to the target slewing angle and the initial extension length is changed to the target extension length.

[0007] According to the invention, the first time period and the second time period overlap in an overlap time period.

[0008] Preferably, the overlap period should be less than 50%, and in particular less than 25%, of the length of the first period and / or the second period, wherein the rate of the primary change is reduced and the rate of the secondary change is increased during the overlap period. This ensures a smooth, gradual, or gradual transition between the changes.

[0009] Alternatively, a time length of the overlap period is preferred to be greater than 50%, in particular greater than 75%, of the time length of the first time period and / or the time length of the second time period, wherein in the overlap period the primary change occurs at a higher rate (or faster) than the secondary change.

[0010] The terms "higher speed," "faster," and "slower" can be defined in relation to a measure of speed by which a normalized speed can be determined. The normalized speed of a change can be specified by reference to the total change. The speed is thus given as the change per unit of time relative to the total change to be effected. Since (assuming the change occurs in one direction, i.e., there is no back-and-forth change) the change per unit of time occurs in the direction of the total change, meaning that the change per unit of time and the total change have the same sign, the speed defined in this way is always a positive value. The total change is the difference between the respective target value and the respective initial value. The total change in the swivel angle Δα is therefore the difference between the target swivel angle α₂ and the initial swivel angle α₁, i.e., Δα = α₂ - α₁.The total change in extension length ΔL is accordingly the difference between the target extension length L₂ and the initial extension length L₁, i.e., ΔL = L₂ - L₁. If the change in the swivel angle per unit time is denoted by dα / dt, then the rate vα of the change in swivel angle can be expressed as vα = (dα / dt) / Δα. If the change in extension length per unit time is denoted by dL / dt, then the rate vL of the change in extension length can be expressed as vL = (dL / dt) / ΔL. These normalized rates can be compared to determine which change is faster. The definition of a normalized rate of change described above is merely an example; other definitions of normalized rates are also conceivable, allowing for a comparison of rates of change of swivel angle and extension length. For example,The change per unit of time could be compared to a given rate of change, such as a maximum possible rate of change of the machine, in each case with reference to the swivel angle or the extension length.

[0011] Preferably, a target position detection signal is acquired, and in response to the presence of this signal, the current position of the equipment is acquired and stored as the target position. This allows an operator of the machine to redefine and save target positions during operation.

[0012] Preferably, after the current position is acquired and before the target position is stored, a confirmation signal is acquired, and in response to the presence of this confirmation signal, the acquired position is stored as the target position. Even more preferably, after the current position is acquired and before the confirmation signal is acquired, information about the acquired position is displayed on a display device. This information can be confirmation that the position was acquired correctly, i.e., that the acquisition of the current position was successfully completed in response to the acquisition signal.

[0013] The information about the detected position can also include further information about the position, such as the swivel angle and extension length, and information calculated from these, such as the height of the axis of rotation above the ground or a horizontal plane defined by the machine. A display or screen can serve as the display device; in particular, a touchscreen, which may also display a control panel, can be used. This design allows the operator of the machine to precisely control the storage of target positions and, for example, to save only the desired target positions. Naturally, suitable operating components, such as a touchscreen, can also provide the option to delete saved target positions.

[0014] Preferably, several, in particular two, selectable target positions are predefined and / or stored, with one of the several selectable target positions being chosen as the target position to be approached based on a target position selection signal. The operator can thus select different target positions, e.g., a lower or an upper one.

[0015] Preferably, a trigger signal is detected, preferably a target position selection signal, and in response to the presence of the trigger signal, the initial position of the equipment is determined or detected, and the approach to the target position begins. This makes it possible, in particular, to use existing controls and operating components (e.g., joystick) for detecting the approach signal or, if the approach signal is predetermined, to automatically perform the approach to the target position without further operator intervention.

[0016] Preferably, a cancellation signal is detected, and in response to this signal, the approach to the target position is terminated. This allows the operator to selectively terminate the approach to the target position, for example, if an error occurs.

[0017] Preferably, the trigger signal and / or the abort signal are detected by a control element, in particular a function button. Existing control elements can be used for this purpose.

[0018] Preferably, the starting signal is detected by a first control component, in particular a joystick. Equally preferably, the speeds of the first change and / or the second change are determined based on the amplitude of the starting signal.

[0019] These designs enable the operator to precisely control the approach to the target position, especially its speed.

[0020] Preferably, the working equipment is rotatably mounted about an axis of rotation at the free end of the telescopic arm, wherein the angle of rotation of the working equipment about the axis of rotation can be changed by a rotary drive, wherein during the approach to the target position, based on the approach signal, the rotary drive is automatically controlled to change the angle of rotation, wherein the angle of rotation is preferably changed such that the orientation of the working equipment relative to the support or relative to a horizontal direction remains unchanged.

[0021] Preferably, the rotation angle, swivel angle, and extension length are detected or measured, particularly by appropriate measuring devices, with the initial position being determined based on the detected rotation angle, swivel angle, and extension length. Furthermore, the control of the rotary drive, the swivel drive, and the extension / retraction drive is preferably based on the detected rotation angle, swivel angle, and extension length. The control can thus be carried out based on current measured values, enabling high precision.

[0022] A computing unit according to the invention, e.g. a control unit of a working machine, in particular a telescopic loader, is, in particular in terms of programming, equipped to carry out a method according to the invention.

[0023] Implementing a method according to the invention in the form of a computer program or computer program product with program code for carrying out all method steps is also advantageous, as this incurs particularly low costs, especially if an executing control unit is already available for other tasks. Suitable data carriers for providing the computer program are, in particular, magnetic, optical, and electrical storage media, such as hard drives, flash memory, EEPROMs, DVDs, etc. Downloading a program via computer networks (Internet, intranet, etc.) is also possible.

[0024] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawing.

[0025] The invention is schematically illustrated in the drawing using exemplary embodiments and is described in detail below with reference to the drawing. Character description

[0026] Figure 1 shows an exemplary mobile telescopic loader. Figure 2 shows exemplary operating components of a telescopic handler, namely a joystick and a switch panel. Figure 3 illustrates the approach from an upper first target position and a lower second target position according to preferred embodiments of the invention. Figure 4 shows a flowchart according to a preferred embodiment of the invention. Detailed description of the drawing

[0027] Figure 1Figure 1 shows a working machine, namely an exemplary mobile telescopic handler 1, as it can be used for the invention. The telescopic handler 1 comprises a telescopic arm 2, which is pivotably attached to a support of the telescopic handler 1. For example, the telescopic arm 2 is mounted on a chassis of the telescopic handler 1 as a support, or it can also be provided (not shown) that the telescopic arm is attached to a superstructure as a support, which is mounted on the chassis, in particular rotatably about a vertical axis.

[0028] The telescopic arm 2 is pivotable upwards and downwards with respect to a horizontal telescopic handler plane 13 (more generally, a working machine plane), e.g., defined by the chassis or the superstructure. The telescopic arm 2 is pivotally mounted on the chassis on a pivot axis 10 and has a pivot angle 8 relative to a horizontal direction 12, which is defined by a vertical projection (i.e., along the plane defined by the pivoting movement of the telescopic arm) of the telescopic arm 1, or of a longitudinal axis thereof, onto the horizontal telescopic handler plane 13. The pivot angle 8 can be specified, as shown, as the angle between the telescopic arm 2, or of a longitudinal direction 14 of the telescopic arm, and the horizontal direction 12 (of course, other definitions are also conceivable). The pivot angle 8 is variable between a lower limit angle and an upper limit angle (not shown).

[0029] The telescopic arm 2 is extendable and retractable in its longitudinal direction 14; that is, the length of the telescopic arm 2 from the pivot axis 10 to a free end 16 of the telescopic arm is variable. Accordingly, the telescopic arm 2 has a variable extension length 7. The telescopic arm extension length 7 is variable between a maximum and a minimum extension length (not shown).

[0030] At the free end 16 of the telescopic arm 2, a tool or working attachment 4 (referred to as "equipment" for short) is rotatably mounted about a pivot axis 18. The working attachment 4 is, for example, a shovel, although other working attachments are also conceivable, such as a fork or a grab. The working attachment 4 has a rotation angle 9 relative to the telescopic arm 2. The rotation angle 9 can be defined, as shown, as the angle between an attachment direction 22 and a connection direction 20, which corresponds to the direction between the pivot axis 10 and the pivot axis 18 (of course, other definitions are also conceivable). The attachment direction 20 is fixed with respect to the working attachment.

[0031] Furthermore, in the Figure 1A reference point 30, or equipment reference point (so-called TCP, "tool center point"), of the work equipment 4 is shown. Reference point 30 is a point located outside the axis of rotation 18, which is fixed relative to the work equipment. Reference point 30 can serve as a reference point for certain movements and / or functions of the telescopic handler, in particular the work equipment. For example, the direction from the axis of rotation to the reference point can be used to define the orientation of the equipment relative to the support or to the horizontal direction.

[0032] The swiveling movement of the telescopic arm 2 can be performed or generated by a hydraulic drive, e.g., by means of at least one swiveling hydraulic cylinder 24. The rotary movement of the equipment 4 can likewise be performed or generated by a hydraulic drive, e.g., by means of at least one rotary hydraulic cylinder 26. The extension / retraction movement of the telescopic arm can also be performed or generated by a drive, particularly a hydraulic one (not shown). In addition to hydraulic drives, other drives are also conceivable, e.g., electric drives using electric motors, mechanical drives, or electromechanical drives. Such drives are generally referred to as swivel drives (for the swiveling movement), extension / retraction drives (for the extension / retraction movement), and rotary drives (for the rotary movement of the equipment).

[0033] Preferably, though not shown in the figure, an extension length measuring device, which measures the extension length 7, a swivel angle measuring device, which measures the swivel angle 8, and a rotation angle measuring device, which measures the rotation angle 9, are provided. The respective measurement results are transmitted to the control unit 32.

[0034] The various movements (swivel and extension / retraction of the telescopic arm, rotation) can be controlled by a controller or control unit 32, which generates control signals that actuate the respective drives for these movements. The control, in turn, can be based on signals from one or more operating components that can be operated by a user. Operating components can be located, for example, in the operator's cab of the telescopic handler and / or in a remote control.

[0035] Figure 2shows exemplary operating components 50, 70, with which an operator can control the functions of a telescopic handler, e.g., the telescopic handler 1 of the Figure 1 , can control.

[0036] Up in the Figure 2 A joystick 50, i.e., a control component that can be gripped with one hand, is shown in a front view (top left in the figure) and a side view (top right in the figure). The joystick 50 as a whole can be moved laterally 52 to the left and right and forwards and backwards 54 (the directions of movement refer here to the operator's perspective). These movements can be used to control the movements of elements of the telescopic handler 1. For example, the lateral movement 52 can control the rotation angle 9 of the equipment, with a lateral movement to the right reducing the rotation angle 9 (as in Figure 1(shown) causes, i.e., the shovel to tip out into Figure 1 , and a lateral movement to the left causes an increase in the rotation angle 9. Similarly, for example, the swivel angle 8 can be controlled by the forward and backward movement 54, whereby a forward movement decreases the swivel angle 8 (as in Figure 1 (as shown) causes the telescopic arm 2 to lower, and a backward movement causes the swivel angle 8 to increase, i.e., raise the telescopic arm 2. The magnitude of the joystick 50's deflection from a neutral position can be linked to the speed of the respective movement (swivel of the telescopic arm, rotation of the equipment). This normal function or interpretation of joystick movements can be overridden when selecting certain functionalities, e.g., when approaching a target position according to the invention.

[0037] Further control elements are arranged on the joystick 50, in particular in the form of switches, pushbuttons or function buttons 60, 62, 64 and / or rollers 56, 58. For example, the extension length 7 of the telescopic arm 2 can be controlled by a rolling movement 57 of a roller 56 (extension roller), wherein, for example, a rolling movement 57 in a first direction (clockwise in the side view of the joystick) causes a reduction in the extension length 7, i.e., a retraction of the telescopic arm, and a rolling movement 57 in a second direction opposite to the first (counterclockwise in the side view of the joystick) causes an increase in the extension length 7, i.e., an extension of the telescopic arm. Here, too, the magnitude of the deflection of the roller 56 from a zero position can be coupled to a speed of the extension / retraction movement of the telescopic arm 2.

[0038] The additional controls shown on the joystick 50 allow further functions of the telescopic handler to be controlled. Naturally, the aforementioned movements and possibly other functions can also be controlled, at least partially, simultaneously.

[0039] Down in the Figure 2A switch panel 70 is shown, i.e., a panel comprising several switches 72 (only some are represented by reference symbols) that can be used to switch certain functions of the telescopic handler on and off and / or to set different states or modes of functions of the telescopic handler. The switches can, for example, be arranged as mechanical, electromechanical, or touch-sensitive switches on a console or be represented as symbolic switches on a touchscreen. The switch panel 70 can also include labels for the switches (not shown) so that the operator can identify the function of the switches.

[0040] An activation switch 74 is provided on the switch panel 70 as an example, which can be used to activate and deactivate the function (target position approach functionality) for the partially automatic approach to a target position. If the activation switch 74 is in a position corresponding to an activated state of the function, the approach to the target position is triggered as soon as a trigger signal, such as pressing a trigger button, e.g., function button 60 on the joystick 50, is detected by the operator. From this point, the approach to the target position can be fully automatic, i.e., in particular with predetermined speeds of the primary and secondary changes. Preferably, the approach to the target position is not fully automatic, but is based on an approach signal, with the speeds of the primary and secondary changes being determined based on the height or...The amplitude of the approach signal can be determined, and optionally, if two target positions (first and second target positions) are provided, the target position to be approached is determined based on the sign of the approach signal. The approach signal or control signal can be obtained, for example, by detecting a deflection of the joystick, such as a forward and backward movement 54, whereby the rates of the primary and secondary changes or the height of the approach signal are determined based on the size or amplitude of the deflection, and optionally the target position to be approached or the sign of the approach signal is determined based on the direction of the deflection (forward / backward). If several target positions (referred to as selectable target positions) are predefined or stored, the selection can also be made by function buttons on the joystick (e.g., by different trigger buttons) or switches on the control panel.

[0041] The approach to the target position is interrupted as soon as a cancellation signal is detected, such as releasing the trigger button and / or a superimposed movement of the joystick. During the approach to the target position, the joystick's normal function described above, i.e., the interpretation of deflections, may be overridden. It may also be configured so that the trigger signal can only be generated when the joystick is in its neutral position.

[0042] A target position memory function may also be provided. With the target position approach functionality activated (or if a separate target position detection function is activated, e.g., via a control panel switch), the equipment's current position is detected and stored as the target position when a target position detection signal is received. Preferably, the current position is detected only when the equipment is stationary, e.g., during a predefined detection period. If the equipment moves, the target position detection is interrupted or not triggered.

[0043] A target position detection signal can be, for example, pressing or clicking (press and release) one or more specific function buttons on the joystick, such as the upper left function button 62. Click sequences can also be provided, for example, a double-click on the upper left function button 62 followed by a single click on the upper right function button 64, each within predefined maximum time intervals. This allows the operator to easily adjust the target position during operation, i.e., to re-detect and save it, overwriting any previously saved target position. Detecting and saving multiple target positions, such as an upper first target position and a lower second target position, is also conceivable. In this case, different target position detection signals can be provided, which, for example,The target position can be detected by different function buttons or switch positions, or by different click sequences of function buttons. For example, the upper left function button 62 could be used to detect the first target position as described above, and the upper right function button 64 could be used analogously to detect the second target position.

[0044] Similarly, a confirmation signal can be a (one or more) press or click of a function button (or several function buttons). For example, pressing or clicking the middle function button 60 on the joystick could generate the confirmation signal.

[0045] The joystick and control panel can be located in the operator's cab of the telescopic handler. Alternatively, the joystick, or a smaller joystick, and the control panel can be located on a portable remote control. In this case, it may be provided that the controls, which are located in Figure 2are located on the joystick, or at least partially located next to the joystick on the remote control.

[0046] Figure 3 Figure 1 illustrates the approach from a first or upper target position 80 and a second or lower target position 81 according to preferred embodiments of the invention. The approach to the respective target position is carried out automatically from the initial position based on the approach signal, e.g., by the control unit 32 of the machine.

[0047] The first target position 80 is characterized by a first target swing angle 8_1 and a first target draw length 7_1. The second target position 81 is characterized by a second target swing angle 8_2 (which is zero for this example) and a second target draw length 7_2 (which corresponds to the minimum draw length for this example).

[0048] First, the approach to the first target position is explained: The first target position 80 is approached, for example, after the detection of an initial trigger signal, starting from an initial position characterized by an initial swivel angle and an initial extension length. This initial position is, for example, the same as the second target position 81, but in general, it can be essentially any position (provided the subsequent sequence of movements is feasible). For this purpose, the telescopic arm is raised or moved upwards in a first time interval; that is, the primary change is a change in the swivel angle, in which the swivel angle is increased from the initial swivel angle. The change in the swivel angle is therefore an increase in the swivel angle 84_1 from the initial swivel angle 8_2. At the end of the first time interval, the target swivel angle 8_1 is reached.

[0049] In a second time period, a secondary change occurs: the draw length is increased from the initial draw length. This draw length change is therefore an increase of 86_1 from the initial draw length 7_2. At the end of the second time period (which follows the end of the first), the target draw length 7_1 is reached, and thus the first target position 80 is achieved. The beginning of the second time period should not precede the beginning of the first.

[0050] In a non-inventive embodiment, the first and second time periods do not overlap; the beginning of the second period therefore coincides with the end of the first period or occurs later than it. According to the invention, an overlap region is provided in which the first and second periods overlap. The overlap region can be relatively small, e.g., less than 50%, and in particular less than 25%, of the duration of the first period and / or the duration of the second period, i.e., it can represent a transition region in which the primary change gradually transitions into the secondary change. Preferably, in this transition region, the rate of the primary change is gradually reduced and the rate of the secondary change is gradually increased. The overlap region can also be relatively large, e.g.,greater than 50% of the duration of the first time period, whereby the first time period may also lie entirely within the second time period. In this case (relatively large overlap area), the secondary change is preferably executed slowly relative to the primary change during the overlap area, or executed at a predetermined minimum speed.

[0051] The approach to the second target position proceeds as described below: The second target position 81 is approached, for example, after a second trigger signal is detected, starting from an initial position characterized by an initial swivel angle and an initial extension length. This initial position is, for example, the same as the first target position 80, but in general, it can be an essentially arbitrary position (provided the subsequent sequence of movements is feasible). In a first time interval, the telescopic arm is extended, meaning the primary change is a change in extension length, where the extension length is reduced from the initial extension length. The extension length change is therefore a reduction 84_2 from the initial extension length 7_1. At the end of the first time interval, the target extension length 7_2 is reached.

[0052] In a second time period, a secondary change occurs in the swivel angle, where the swivel angle is reduced from the initial swivel angle. This swivel angle change is therefore a reduction of 86_2 from the initial extension length 8_1. At the end of the second time period (which follows the end of the first), the target swivel angle 8_2 is reached, and thus the second target position 81 is achieved. Regarding the first and second time periods, the same applies as described above in connection with approaching the first target position.

[0053] Figure 4Figure 1 shows a flowchart according to a preferred embodiment of the invention. In preferred step 110, a function activation state is detected, corresponding approximately to the position of the activation switch 74 of the switch panel 70. The function activation state indicates whether the target position approach functionality, i.e., the functionality for automatically approaching a target position, is activated. The subsequent steps refer to the fact that this functionality is activated.

[0054] In preferred step 120, a target position is detected. This detection can be triggered by an operating action, i.e., a detection signal or target position detection signal, at an operating component or control element, e.g., as described above, by clicking a function button on the joystick once or several times. When the target position detection is triggered, the instantaneous position (i.e., the instantaneous swivel angle and the instantaneous extension length) of the equipment is detected and stored. Preferably, the target position detection is interrupted if the instantaneous position of the equipment changes during detection, for example, by the operator deflecting the joystick. Before the detected target position is stored, an optional further operating action can be requested or detected to confirm that the detected target position should actually be stored; i.e., a confirmation signal (e.g.,The current position is detected (after pressing a function button). Information about the detected position can also be displayed, with the confirmation signal only being detected after this display. It may also be possible to detect and save two or more different target positions. One of these multiple target positions can be selected by a selection operation, such as pressing a specific function button or switch, or based on the approach signal (joystick deflection forward or backward). Step 120 is optional, as it is also conceivable to use previously saved target positions.

[0055] In the equally preferred step 130, a trigger signal is detected, such as pressing the trigger button or function button 60 on the joystick 50. If the function activation state indicates that the automatic target position approach functionality is activated, and if the trigger signal is detected, the approach to the target position is carried out according to the subsequent steps. Steps 110 and 130 can be performed in the order shown, in reverse order, or independently of each other. In the case of multiple stored target positions, different function buttons (e.g., the upper left function button 62 and the upper right function button 64) can be used to detect respective trigger signals, with each of the different function buttons serving as a trigger button for approaching its assigned target position; that is, the function buttons serve as target position selection buttons and as trigger buttons.The trigger signal can therefore include a target position selection signal, or the detection of the trigger signal can include the detection of the target position selection signal.

[0056] Instead of steps 110 and 130, other configurations are also conceivable. For example, it may be sufficient that the mere presence of a trigger signal (pressing a trigger button or activating a trigger switch) is enough to initiate the approach to the target position. Automatic triggering or automatic generation of a trigger signal is also conceivable, for example, triggered by a signal from a proximity sensor or by data communication with another device.

[0057] In step 140, the initial position (or starting point) of the equipment is recorded, i.e., the position (initial swivel angle and initial extension length) at which the equipment is located at the start of moving towards the target position or when the trigger signal is detected.

[0058] In optional step 150, a starting signal is detected that indicates the speed at which the system approaches the target position. If multiple target positions are stored, the starting signal can also indicate the selection of the target position to be approached, for example, through the sign of the starting signal. As already explained, the starting signal can be the magnitude and / or direction of a joystick's deflection. An automatically generated starting signal or one received from another device is also possible. In contrast to step 150, approaching the target position (and optionally selecting the target position) from the initial position can also occur automatically at a predetermined speed; or, in other words, the starting signal can be a predetermined starting signal.

[0059] In step 160, i.e., during the approach to the target position, the primary change occurs in the first time interval and the secondary change in the second time interval. The rates of these changes are determined based on the approach signal, more precisely its amplitude. In particular, the first and second time intervals do not have predetermined durations; rather, their durations depend on the rates and the approach signal, respectively. Preferably, the rotation angle of the equipment is also changed during the approach to the target position, specifically such that the orientation of the equipment relative to the horizontal direction remains unchanged.

[0060] In preferred step 170, a cancellation signal is detected. The cancellation signal can be the release of the trigger button on the joystick and / or at least one other cancellation action, e.g., a movement of the joystick in a direction other than that intended for approaching the target position (overlapping movement). If the cancellation signal is present or detected, the approach to the target position is terminated in step 175.

[0061] If a termination signal is not present or is not detected, step 180 checks whether the target position has been reached. If the target position has not yet been reached, the process continues with step 150 or, in the case of a predetermined approach signal, with step 160 (arrow 185).

[0062] The loop formed by steps 150, 160, 170, and 180 is executed continuously until the abort signal is detected in step 170 or the target position is reached in step 180. Once the target position is reached, the automatic approach to the target position is terminated in step 190. Specifically, operator inputs, such as joystick deflection, are then interpreted again according to normal function. It may be stipulated that a zero position of operating components or elements must first be assumed, e.g., a joystick deflection of zero, before this occurs.

Claims

1. Method for approaching a target position (80, 81) of a working tool (4) of a working machine (1), which working tool is attached to a free end (16) of a telescopic arm (2), which is pivotably attached to a support of the working machine, wherein a pivoting angle (8) of the telescopic arm relative to the support can be changed by a pivoting drive (24) and an extension length (7) of the telescopic arm can be changed by a retracting / extending drive, wherein the target position is characterized by a target pivoting angle (8_1, 8_2) and a target extension length (7_1, 7_2); wherein an initial position of the working tool (4) characterized by an initial pivoting angle and an initial extension length is detected; wherein, during the approach (160) to the target position, on the basis of an approach signal the pivoting drive (24) and the retracting / extending drive are automatically activated in order to bring about a primary change (84_1, 84_2) and a secondary change (86_1, 86_2) such that the initial pivoting angle is changed by a pivoting angle change (84_1, 86_2) into the target pivoting angle and the initial extension length is changed into the target extension length by an extension length change (86_1, 84_2), the primary change being the pivoting angle change and the secondary change being the extension length change, or the primary change being the extension length change and the secondary change being the pivoting angle change; the primary change (84_1, 84_2) extending over a first time period and the secondary change (86_1, 86_2) extending over a second time period, and an end of the first time period being before an end of the second time period, characterized in that that the first time period and the second time period overlap in an overlapping time period.

2. Method according to Claim 1, wherein a time length of the overlapping time period is less than 50 %, in particular less than 25 %, of the time length of the first time period and / or of the time length of the second time period; and wherein, in the overlapping time period, the speed of the primary change (84_1, 84_2) is reduced and the speed of the secondary change (86_1, 86_2) is increased.

3. Method according to Claim 1, wherein a time length of the overlapping time period is greater than 50 %, in particular greater than 75 %, of the time length of the first time period and / or of the time length of the second time period; and wherein, in the overlapping time period, the primary change (84_1, 84_2) takes place at a higher speed than the secondary change (86_1, 86_2).

4. Method according to any one of the preceding claims, wherein a target position sensing signal is acquired (120); and in response to the target position sensing signal being present, the current position of the tool is detected and stored as the target position (80, 81).

5. Method according to Claim 4, wherein, after the current position is detected and before the target position is stored, a confirmation signal is acquired; and in response to the confirmation signal being present, the detected position is stored as the target position (80, 81); wherein, preferably, after the current position is detected and before the confirmation signal is acquired, information about the detected position is displayed on a display device.

6. Method according to any one of the preceding claims, wherein a plurality of, in particular two, alternative target positions are predetermined and / or stored; and wherein, on the basis of a target position selection signal, one of the plurality of alternative target positions is selected as the target position (80, 81) to be approached.

7. Method according to any one of the preceding claims, wherein a trigger signal is acquired (130), wherein, preferably, a target position selection signal is acquired; and, in response to the trigger signal being present, the initial position of the tool is determined or detected (150) and the approach (160) to the target position is started; and / or wherein a stop signal is acquired (180) and, in response to the stop signal being present, the approach to the target position is ended (185); wherein, preferably, the trigger signal and / or the stop signal is / are acquired by an operator control element (60, 62, 64), in particular a function button.

8. Method according to any one of the preceding claims, wherein the approach signal is acquired (150) by a first operator control component, in particular a joystick (50).

9. Method according to any one of the preceding claims, wherein the working tool is attached, so as to be rotatable about an axis of rotation (18), to the free end (16) of the telescopic arm (2), wherein an angle of rotation (9) of the working tool about the axis of rotation (18) can be changed by a rotary drive (26); wherein, during the approach (160) to the target position, on the basis of the approach signal, the rotary drive (22) is automatically activated in order to change the angle of rotation (9); wherein the angle of rotation (9) is preferably changed in such a way that the orientation of the working tool relative to the support or to the horizontal direction remains unchanged.

10. Method according to any one of the preceding claims, wherein speeds of the first change and / or of the second change are determined on the basis of an amplitude of the approach signal.

11. Computing unit (32) which is designed to carry out a method according to any one of the preceding claims.

12. Working machine (1), in particular a telescopic loader, which includes a working tool (4) which is attached, so as to be rotatable about an axis of rotation (18), to a free end (16) of a telescopic arm (2), which is attached pivotably to a support of the working machine, wherein an angle of rotation (9) of the working tool about the axis of rotation can be changed by a rotary drive (26), a pivoting angle (8) of the telescopic arm relative to the support can be changed by a pivoting drive (24), and an extension length (7) of the telescopic arm can be changed by an retracting / extending drive; comprising a computing unit (32) according to Claim 11.

13. Working machine according to Claim 12, comprising an angle of rotation measuring device, which measures the angle of rotation (9), a pivoting angle measuring device, which measures the pivoting angle (8), and an extension length measuring device, which measures the extension length (7), wherein the angle of rotation measuring device, the pivoting angle measuring device and the extension length measuring device are designed to transmit the measured angle of rotation, the measured pivoting angle or the measured extension length to the computing unit (32).

14. Computer program which causes a computing unit (32) to carry out a method according to any one of Claims 1 to 10 when executed on the computing unit.

15. Machine-readable storage medium with a computer program according to Claim 14 stored thereon.