WORK MACHINE WITH A LIMITING UNIT FOR SETTING A LIMIT PARAMETER

Description

[0001] The invention relates to a mobile working machine with a support frame and with a drive unit as well as with a limiting unit for defining a limit parameter according to the preamble of claim 1. State of the art

[0002] Mobile work machines feature a vertically swiveling boom or lifting / gripping / loading arm for picking up a load or tool via a load / tool ​​holder, with the boom sometimes also being adjustable in length or working radius. These machines typically use hydraulic systems or actuators, but more recently (purely) electric systems or actuators have become increasingly common.

[0003] The control of such a machine, or rather its boom, is achieved via operating elements such as joysticks and / or foot pedals. Typically, there is one control element for adjusting the boom's lifting angle and another for adjusting its length, for example, the extension of a telescopic arm or the articulation of an excavator's grab arm. The operator's control signals are usually passed on to the actuators, i.e., mostly hydraulic cylinders, without any verification, and no intervention is made in the control signals.

[0004] Especially when working in hazardous environments, e.g., near high-voltage power lines, bridges, roads, etc., or in borderline situations, such as just below, above, or beside obstacles, incorrect operation can lead to accidents or increased risk to the operator, the machine, or third parties. Damage or accidents resulting in property damage and personal injury occur repeatedly.

[0005] However, a height limiter is already known from publication AU 2017 202 395 A1, which limits the working height of a machine, in particular excavators, loaders and other earthmoving machines, with a boom or lifting arm and an attachment mounted at its end. The height limiter thus represents a limit parameter of the existing kinematic chain, i.e., of the lifting / grabbing arm and attachment and / or an optional swivel bracket for the usually lateral swiveling of the lifting / grabbing arm, and includes one or more sensors in addition to the boom.

[0006] Optionally, an input device is provided to allow an operator to select an attachment currently mounted on the boom. The associated sensor determines the heights of the boom and the attachment, recording their respective current parameters. A control unit prevents the boom or attachment from being raised if it is at or above a maximum height, thus exceeding a restricted range.

[0007] Below the prohibited area, the boom or attachment can be adjusted manually as usual. Purpose and advantages of the invention

[0008] In contrast, the object of the invention is to propose a mobile working machine with a support frame and a drive unit that at least partially improves the disadvantages of the prior art, in particular ensuring safe operation or safe working methods and / or enabling novel functionalities.

[0009] This problem is solved, starting from a mobile work machine of the type mentioned in the introduction, by the features of claim 1 and claim 18. Advantageous embodiments and further developments of the invention are possible by the measures mentioned in the dependent claims.

[0010] Accordingly, a mobile work machine according to the invention is characterized in that the electrical and / or electronic control unit has at least one buffer unit for changing / braking / buffering an adjustment speed and / or the adjustment of the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder, such that the adjustment range includes at least one buffer area designed as an edge area, wherein the buffer area is arranged at the restricted area and has a width designed as a buffer distance. For example, a buffer parameter is provided which is spaced from the restricted area by a distance equal to the width or buffer distance from the limit parameter.

[0011] With the aid of the buffer unit or buffer area / boundary area / buffer parameter according to the invention, safety can be increased and / or novel functionalities can be implemented. Advantageously, intervention, modification, and especially deceleration of the adjustment or movement of the kinematic chain, in particular the lifting device and / or the swivel console and / or the working tool and / or the tool holder, can be carried out even before the prohibited area or limit parameter is reached. Thus, a work step of a work process according to the invention can be used to modify the control or adjustment of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder by detecting the actual parameter and by detecting when the buffer parameter or buffer distance has been reached.

[0012] In the context of the invention, the limit parameter or buffer parameter is a spatial parameter and / or a room parameter and / or an environmental parameter and / or a parameter of three-dimensional space and / or a limit value or a limit line / surface of a (local and / or global) coordinate system, in particular a Cartesian or orthogonal coordinate system or a polar coordinate system or the GPS system. Optionally, a linear and / or affine coordinate transformation of two coordinate systems, in particular a first / local / own machine / coordinate system with a global / other / second coordinate system, is provided, so that, for example, a common coordinate system is generated or used.

[0013] For example, the machine, especially with its kinematic chain, advantageously has its own machine coordinate system in which, for example, adjustments take place and / or can be classified or defined / determined. Furthermore, a second / other coordinate system may exist, e.g., from a geographic information system and / or a spatial planning or architectural system and / or a construction site leveling device or laser measuring device and / or the GPS system or the like, so that, advantageously, among other things, by means of mathematical calculation methods, e.g., by the control unit or...CPU or the like, performs an advantageous coordinate transformation of the two coordinate systems, such that a common coordinate system is generated / determined / defined in which the limit parameters and / or the buffer parameter are arranged or defined / determined and / or adopted / transferred / transformed, for example, as spatial parameters and / or room parameters and / or environment parameters and / or parameters of three-dimensional space and / or limit or limit line / surface of the first and / or second and / or the common coordinate system.

[0014] Accordingly, the limit parameters and / or the buffer parameter, once defined, are advantageously fixed, immovable parameters, in particular coordinates, that define or delimit the prohibited area and the adjustment range. This is because these prohibited areas typically represent stationary objects / things / spaces that require protection and / or are dangerous or at risk, such as pipes, ducts, buildings, roads, railways, or traffic areas / spaces, or the like. These objects / spaces should be protected and / or must not be touched or damaged by the kinematic chain or the working tool, or into which the machine or the kinematic chain must not penetrate. In contrast, free adjustment or operation is possible within the adjustment range; in particular, completely free, unaffected, and / or unchanged adjustment or operation is possible outside the buffer range according to the invention.This also means that in the buffer area with regard to the adjustment in the sense of the invention, only a certain change / braking or buffering can take place, or does take place, as explained in more detail above or below.

[0015] In principle, the boundary / buffer area or buffer parameter according to the invention can also be used to reduce the accuracy of defining the prohibition zone. This means that the tolerances regarding the limit parameters and / or the adjustment versus prohibition zone, or the boundary lines / surfaces, can be smaller, since, according to the invention, the buffer is built in / defined as a "safety zone" between completely free or unchanged adjustment and the "no-go zone" or prohibition area. This allows the costs for the measurement / accuracy of the system to be reduced without compromising safety. On the contrary, safety is significantly increased according to the invention.

[0016] According to one embodiment of the invention, advantageous control and, if necessary, limitation of the working range of the respective machine can be implemented. This effectively prevents parts or sections of the kinematic chain, in particular the lifting device and / or the swivel console and / or the working tool and / or the tool holder, from moving into the restricted area or beyond the limit parameter, possibly due to excessive adjustment speed and / or excessive impulse, e.g., with a (fully) loaded working tool or the like.

[0017] In a particular embodiment of the invention, the buffer area and / or the buffer distance and / or the width are predetermined or fixed with respect to the prohibited area and / or limit parameters, and in particular, cannot be changed during operation. For example, a fixed buffer distance or edge area is predetermined or stored in an electrical / electronic memory. This is advantageous with regard to the design and control engineering effort.

[0018] Advantageously, the buffer unit is designed such that the buffer area and / or buffer distance and / or width can be changed, especially during operation or adjustment. This allows for advantageous adaptation to the work situation or framework conditions, particularly dynamically. This significantly increases the flexibility and safety of the operation.

[0019] In a particular embodiment of the invention, the buffer unit is designed such that the direction and / or magnitude of the adjustment speed of the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder can be varied. For example, the magnitude of the adjustment speed is zero at / near the limit parameter and / or prohibited area and / or a boundary line / surface. This allows for a defined reduction / deceleration of the adjustment, in particular down to a standstill.This ensures safe braking of the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder in the buffer area, so that the adjustment is safely set up to the prohibited area and the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder do not protrude into the prohibited area.

[0020] Advantageously, the buffer unit is designed such that the adjustment / braking / buffering of the adjustment speed and / or the adjustment of the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder is provided as a function of an adjustment angle, wherein the adjustment angle is located between the direction of the adjustment speed and a tangent and / or a boundary line / surface of the restricted area / adjustment range. This allows for advantageous adaptation to the work situation or framework conditions, particularly dynamically. This significantly increases the flexibility and safety of the operation.

[0021] This allows both the adjustment angle or direction of the adjustment speed and the amount of the adjustment speed to be changed, in particular the adjustment angle and / or the amount to be reduced.

[0022] On the other hand, depending on the adjustment angle, it is advantageous to leave the adjustment angle unchanged / reduced, while still adjusting the speed. This allows for advantageous braking or reduction of the adjustment speed depending on the adjustment angle. This is particularly advantageous when the adjustment or the direction of adjustment / speed is arranged at a very acute angle or even parallel to the tangent and / or a boundary line / surface of the restricted / adjustable area. With a very acute angle or even a parallel adjustment, a relatively small or even (almost) no braking / reduction / change in the adjustment of the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder can be achieved within the buffer area. In this specific case, the operator would perceive virtually no intervention in the work process.

[0023] For example, this can occur when an excavator bucket is moved (almost) parallel to a sewer, an overhead power line, a building wall, etc. In contrast, a nearly perpendicular / orthogonal adjustment of the kinematic chain, swivel bracket, lifting device, working tool, and / or tool holder in the buffer zone, according to one embodiment of the invention, with respect to the sewer, building wall, etc., would result in a relatively strong deceleration / reduction / change in the adjustment of the kinematic chain, swivel bracket, lifting device, working tool, and / or tool holder. This further increases operational safety.

[0024] Furthermore, depending on the adjustment angle, the magnitude of the adjustment speed can advantageously remain unchanged / reduced, while the adjustment angle itself is modified. This means that, for example, the adjustment angle at / near / the limit parameter and / or prohibited area and / or boundary line / surface is advantageously zero. This means that the adjustment or the adjustment / speed direction is changed in such a way that the adjustment angle becomes (ever) smaller or more acute, and, for example, even parallel to the tangent and / or a boundary line / surface of the prohibited area or adjustment area, as the distance to the limit parameter or prohibited area decreases. Accordingly, an advantageous deflection of the adjustment angle or the adjustment itself can be achieved. The movement or adjustment thus follows a curved path and can ultimately become a straight line or parallel to the limit parameter or boundary line / surface.The restricted area leads into the junction.

[0025] It should be noted that with a curved boundary line / surface, the parallel to the limit parameter or prohibited area would not be a straight adjustment, but rather a curved one. This is advantageous, for example, when a structure such as a large sewer pipe or rainwater cistern, or similar, needs to be exposed or excavated, as it is three-dimensionally curved and must not be damaged.

[0026] Furthermore, it is conceivable that the buffer unit is designed such that the changing / braking / buffering of the adjustment speed and / or the adjustment of the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder is provided depending on a load and / or stress on the kinematic chain and / or the swivel console and / or lifting device and / or the working tool and / or the tool holder, whereby, in particular, the changing / braking / buffering of the adjustment speed and / or the magnitude / angle of adjustment is greater / stronger under a large load than under a small load on the working tool and / or the tool holder. In this way, a particularly large impulse or a particularly large inertia of the boom or the kinematic chain can be advantageously taken into account. This further increases operational safety.

[0027] In general, the workflow of various common construction / work machines requires an advantageous system for controlling and, if necessary, limiting the working range of the respective machine. This limitation can be due to safety considerations, regulatory reasons, or other factors. Examples include height or depth limits, as well as, in the case of machines with a slewing ring, a swivel limit, or these can be used as limit parameters in a variant of the invention.

[0028] In principle, the adjustment / movement within a defined area or the adjustment range according to a variant of the invention should be possible as unrestricted as possible, but protected areas or barriers, i.e. the prohibited area, should exist that do not allow machine movements that move the work device into these protected / prohibited areas.

[0029] For example, one variant of the invention, or the advantageous function, is designed such that the operating personnel / driver is advantageously shown or communicated / signaled the current operating state of the system at all times. This can be done, for example, by means of a screen, display, LED, or the like, with a visual signal that clearly indicates / symbolizes the distance to the restricted area and / or the change / braking / buffering. In addition, an (alternative) acoustic signal or warning can advantageously be provided, e.g., when the buffer area / parameter and / or the restricted zone or limit parameter is reached.

[0030] The aforementioned object of the invention can also be achieved with a working machine according to the preamble of claim 1, for example, by defining the limit parameter and / or the prohibited area and / or the boundary line / surface as the working machine and / or the support frame and / or the drive unit and / or the drive element and / or the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder and / or as its envelope / contour and / or outer surface. In this way, the advantageous prevention of collisions with components of the working machine itself can also be realized. Accordingly, according to a variant of the invention, collisions with wheels, chains, hydraulic cylinders, steel structures, or drives, etc., can be effectively prevented. This is a completely novel functionality that increases operational safety and saves repair costs.This advantageously prevents operating errors that could lead to damage or destruction of components. Such a machine can also be advantageously combined with individual and / or other features of various versions of the invention.

[0031] Advantageously, the control unit and / or limiting unit and / or buffer unit comprises at least one electrical and / or electronic storage unit for storing the actual parameter and / or the limit parameter and / or limit line / area and / or the buffer area / parameter and / or the buffer distance and / or width and / or digital data / signals / information. This allows defined parameters or operating conditions to be preset and / or modified / adapted for operation. This further improves the functionality and thus also the operational reliability of a variant of the invention.

[0032] For example, the control unit and / or limiting unit and / or buffer unit is / are designed such that the actual parameter is configured as a stored limit parameter of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder, whereby actuation of the control element and / or a rest phase of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder generates the stored limit parameter. This allows the operator or driver to advantageously adjust and / or set the parameters manually during operation. For example, the operator actuates the control element in a specific position of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder and / or, if applicable,By means of a subsequent resting phase, this actual position is defined / saved as a limit position or limit parameter in accordance with a variant of the invention. This can be implemented as an advantageous learning or "teaching" process.

[0033] In an advantageous embodiment of the invention, at least one orientation unit is provided for orienting itself in the environment and / or detecting / locating surrounding objects using orientation and / or location data / signals, in particular GPS data / signals and / or ultrasound signals or LED and / or laser and / or light signals. This further improves or enhances the functionality of a variant of the invention. Thus, the machine can orient and / or position itself (self) in the room, its surroundings, or the work area and / or detect / store distances to other objects / obstacles and / or restricted areas.

[0034] In principle, the limit parameters or prohibited area can be advantageously defined using other / external data / signals / information. If necessary, the machine has its own machine coordinate system, which it aligns or compares with another / external coordinate system via the orientation unit, in particular with the GPS system and / or with geodata or geographic information systems and / or architectural data or the like.

[0035] For example, the orientation unit comprises at least one receiving unit for receiving orientation and / or location data / signals and / or at least one transmitting unit for transmitting orientation and / or location data / signals, e.g., a GPS receiver and / or at least one laser and / or IR and / or ultrasound receiver / transmitter. This enables advantageous orientation and / or location tracking, e.g., by measuring the time course and / or phase shift of the advantageous signals / waves.

[0036] Advantageously, the control unit and / or limiting unit and / or buffer unit is / are designed such that the orientation and / or location data / signals of the orientation unit are stored as limit parameters of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder, wherein actuation of the control element and / or an orientation / location phase of the orientation unit generates the stored limit parameters. This allows the operator or driver to advantageously adjust and / or set the parameters manually during operation. For example, the operator actuates the control element in a specific position of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder, and / or, if necessary, by means of a subsequent rest phase, detected objects or obstacles, etc., are stored.whose orientation / location parameters are defined / stored as limit parameters in accordance with a variant of the invention. This can be implemented as an advantageous learning or "teaching" process.

[0037] In an advantageous embodiment of the invention, the control unit and / or limiting unit and / or buffer unit is / are configured such that at least two / more stored limit parameters form a polygon and / or curve path that defines the limit line / surface. This allows for the use or generation of more complex restricted areas or limit lines, e.g., two-dimensional limit lines and / or three-dimensional boundary surfaces. Interpolation and / or extrapolation methods are used for this purpose.

[0038] Advantageously, a work machine orientation unit is provided with an orientation unit for orienting itself in the environment and / or detecting / locating surrounding objects using orientation and / or location data / signals, in particular GPS data / signals and / or ultrasonic signals or LED and / or laser and / or light signals, and with a work machine, wherein the orientation unit is designed as a separate orientation unit from the work machine. This improves the classification / positioning in the environment or an external coordinate system or the like, which leads, among other things, to improved safety and / or reduced technological effort.

[0039] For example, the orientation unit is configured as a laser measuring device, wherein the laser measuring device is configured to transmit at least one laser beam and wherein the machine has at least one laser receiver for receiving the laser beam. A construction site leveling device can be used with this, so that, advantageously, for example by means of mathematical calculation methods, such as those of the control unit or CPU or the like, an advantageous spatial classification of the machine and / or a coordinate transformation of the coordinate system of the laser measuring device and the machine can be carried out, so that a common coordinate system is generated or defined in which the limit parameters and / or the buffer parameter are defined, for example, as spatial parameters and / or room parameters and / or environmental parameters and / or parameters of three-dimensional space and / or limit values.The boundary line / surface of the first and / or second and / or common coordinate system is arranged or defined / specified and / or adopted or transferred / transformed.

[0040] In an advantageous embodiment of the invention, the machine has at least one GPS receiver for receiving a GPS signal and / or GPS data. This allows for advantageous integration with the GPS system. Thus, advantageous spatial positioning of the machine and / or a coordinate transformation of the coordinate system of the GPS system and the machine can be performed, for example, using mathematical calculation methods, e.g., by the control unit or CPU or the like. This allows the machine to be integrated into the common coordinate system or the GPS system, in which the limit parameters and / or the buffer parameter are defined, for example, as spatial parameters and / or room parameters and / or environmental parameters and / or parameters of three-dimensional space and / or limit values ​​or boundary lines / surfaces of the first and / or second and / or the common coordinate system.GPS systems arranged or defined / established and / or adopted or transferred / transformed.

[0041] Advantageously, the orientation unit is designed as a geoinformation unit for receiving and / or processing geoinformation and / or digital geodata, in particular geographic and / or spatial planning and / or architectural data / signals. This allows for advantageous integration with a geographic information system and / or digital geodata. In this way, for example, using mathematical calculation methods such as those of the control unit or CPU, a favorable spatial classification of the machine and / or a coordinate transformation of the coordinate system of the geographic information system and the machine can be performed, so that the machine is integrated into the common coordinate system or the geographic information system.is integrated in which the limit parameters and / or the buffer parameter are arranged or defined / specified and / or adopted or transferred / transformed, for example, as spatial parameters and / or room parameters and / or environment parameters and / or parameters of three-dimensional space and / or limit or limit line / surface of the first and / or second and / or the common coordinate system or geographic information system.

[0042] For example, the control unit and / or limiting unit and / or buffer unit is / are designed such that the geoinformation and / or digital geodata and / or GPS signals and / or GPS data are stored as limit parameters of the kinematic chain and / or the swivel console and / or the lifting device and / or the working tool and / or the tool holder, whereby actuation of the control element and / or a transfer / storage phase of the orientation unit generates the stored limit parameters. This allows the data to be acquired or transferred / transformed advantageously, reducing effort and costs.

[0043] In general, according to various variants of the invention or advantageous specific variants, the following features or process steps can be particularly advantageous individually or together: a) The process is carried out in several stages whenever possible. For example, the current actual parameters or positions / positions of the kinematic chain or machine parts are recorded / measured using suitable sensors. This measurement can be performed either directly, e.g., by measuring joint angles, actuator length, etc., or indirectly, e.g., by measuring the position of several components, measuring angles, and then converting them to the principal angles, etc. The coordinates of all relevant points are then calculated from the measured values, ideally using machine kinematics. To ensure complete recording of all machine points, all joints are taken into account. For example, in excavators, both the upper carriage rotation and the slewing bracket position are considered. This allows even a bent arm to be accurately recorded.Depending on the type of workspace restriction, the distance of all critical machine points to the implemented barriers is calculated. Critical machine points are defined as, for example, all points on a machine that could lead to an unintended collision with the restricted zone or protective barrier. These restricted areas or barriers can be, for example, a swing limit, a depth limit, a height limit, or a machine guard, depending on the type of restriction function. The specific form of the protective barrier can vary significantly depending on the application. The restrictions shown are only examples. b) Depending on the system configuration and usage, the exact position of the protective barrier or restricted zone can either be entered manually on the display and / or "teached in" using boundary points. During "teaching in," the boom or...The loading system is simply driven to the boundary and the current position is confirmed via input. The machine point closest to the barrier or restricted area to be set is then adopted as the new boundary or limit parameter. For example, in the case of a height limit, the currently highest point is used for the height barrier. c) Since these boundaries are generally only considered machine-fixed, i.e., located in the local machine coordinate system, the respective height and depth references would be lost if the machine were to move. To prevent this as much as possible, an additional laser receiver or external measuring or coordinate system / device is optionally provided for this function, so that, together with, for example, a rotating laser, an additional height reference can be specified. Thus, for example,Height / depth limits are ensured across the entire effective range of the rotary laser or similar device. As an additional option, the global definition of restricted areas, which no machine part may reach, is also provided. This variant is advantageously feasible, however, if the machine is equipped with a 3D GPS system that records both the global machine position and ideally has a 3D map in which the (virtual) map points are defined. Globally valid restricted areas or barriers can then be entered into this (virtual) map, which, depending on the configuration, define, for example, height- or depth-limited areas or areas with other restrictions. d) The calculated distances are advantageously compared with the respective set minimum distance, and if the minimum distance is not met, the control signals are advantageously adjusted accordingly, e.g.,The system intervenes in such a way that movements towards the restricted areas or barriers are slowed down. Upon reaching a restricted zone or barrier, no movement or adjustment is permitted that would lead into the protected area.

[0044] To ensure smooth braking even at high speeds, the buffer / minimum distance is advantageously dynamically adjusted to the speed of the respective drive. The higher the speed of a drive, the greater the minimum distance becomes. At low speeds, this allows for virtually normal operation close to the protected area.

[0045] The decisive factor is not whether, for example, a single axis moves in the direction of the barrier, but rather the entirety of all axes and their kinematic constraints. If a resulting velocity vector with a component in the direction of the restricted zone / barrier is obtained, an intervention according to one variant of the invention takes place, depending on the remaining distance.

[0046] Driving / adjusting along the restricted zone / barrier just before the restricted zone / barrier is still advantageously possible, e.g. at full speed, since there is no overall speed component in the direction of the restricted zone / barrier.

[0047] When moving with a speed component towards the restricted zone / barrier, intervention can advantageously be either axle-specific, selectively braking those axles whose activity is currently contributing to the movement towards the barrier. Alternatively, all axles are proportionally reduced, thus maintaining the direction commanded by the driver.

[0048] Another possible implementation option is, for example, a purely "worst-case" limitation of the joint angles, without calculating the positional coordinates of the critical points. However, this would generally restrict the range of motion considerably.

[0049] For example, most embodiments advantageously require a measurement / recording of the (precise) joint positions to calculate the exact position of the machine within its working space, i.e., for the actual parameters as defined in one variant of the invention. An advantageous intervention in the control signals is also beneficial in all variants.

[0050] In principle, according to one variant of the invention, the safety device can prevent many types of property damage and personal injury. Furthermore, it greatly simplifies operation because, among other things, potentially dangerous incorrect movements are automatically slowed or stopped during operation.

[0051] The advantageous combination of detecting the machine position, specifying virtual barriers and intervening in the control signals according to one variant of the invention is therefore particularly advantageous. Example of implementation

[0052] An embodiment of the invention is shown in the drawing and is explained in more detail below with reference to the figures.

[0053] In detail: Figure 1 shows a schematic side view of an excavator with a height and depth limiter and a leveling device according to a variant of the invention, Figure 2 shows four different schematic top views of a mini-excavator with differently shaped, limited working areas, and Figure 3 shows schematic representations of an axis-specific and a proportional change option in a buffer area according to a further variant of the invention.

[0054] An excavator 1 in Fig. 1The system comprises a mobile undercarriage 2 and a superstructure 3 rotatably mounted thereon about a vertical axis V1. An excavator boom 4 is attached to the superstructure 3 and is advantageously rotatable about a vertical axis V2 by means of a pivoting console and about a horizontal axis H1 by means of a joint. The terms "vertical axis" and "horizontal axis" here refer, for example, to an excavator standing on a horizontal working or standing surface, i.e., the ground E. If the excavator 1 moves on an inclined standing surface, these axes, which are perpendicular to each other, are also inclined accordingly.

[0055] The excavator boom is divided into three sections 5, 6, 7, which can rotate relative to each other about horizontal axes H1, H2, H3. A working tool or bucket 8 is attached to the last section 7 on a tool holder 9, which can rotate about a further horizontal axis H4. Hydraulic cylinders 10, 11, 12, 13 are provided as drive elements for the movements of the excavator boom 4. This design is typical for excavators 1 of a known design.

[0056] In Fig. 1 The excavator boom is shown in an intermediate position within its working range A. Dashed lines, between which hatched areas / surfaces P are drawn, represent different buffer zones P according to a variant of the invention. For example, in Fig. 1A height limit line GH and a depth limit line GT are depicted, as well as a polygon line GS for "self-protection". The latter is intended for the self-protection of the hydraulic cylinder 10 and the snowplow blade or the chassis / undercarriage 2 and has a buffer P3 and P4.

[0057] An example is also in Fig. 1 a first width B1 of the height buffer area P1 is different or larger than a second width B2 of the depth buffer area P2 and also different / larger than a self-protection buffer area P3 and P4.

[0058] The working area is formed between the schematically depicted horizontal boundary lines GH and GT in the illustrated example. Above and below area A, two separate no-go zones T TH and TT, or prohibited areas as defined in a variant of the invention, are formed / present, e.g., above due to a power line and / or below due to a sewer.

[0059] Sensors (not shown in detail) detect the actual positions of sections 5, 6, 7 and the spoon 8, etc. According to a variant of the invention, these actual parameters are compared with the boundary lines GH, GT, GS, etc., as well as the buffer areas P or their widths B and / or the resulting buffer lines / areas, by means of a control unit or CPU or the like (not shown in detail).

[0060] According to one embodiment of the invention, when one of sections 5, 6, 7 and / or the bucket 8 enters or crosses these buffer zones P, the adjustment or adjustment speed of these components of the kinematic chain is modified, buffered, or braked. Typically, the adjustment speed is slowed or reduced. This occurs automatically via electronic / electrical control, which the operator does not actively influence in this situation. Rather, the operator has defined this behavior / change, either manually or with the aid of an external system. For example, the operator has defined the width B and the boundary line G, as well as the type and extent of the change, and / or the boundary lines G or exclusion zones T have been delineated from the working area using external data / information, such as GPS systems and / or geographic information systems, etc.

[0061] In Figure 1An example of a leveling device 15 or a laser measuring device 15 is shown, which advantageously emits a laser beam with which a receiver 16 on arm 7 or section 7 can detect a "global" reference height RG and, if necessary, compare it with an internal or vehicle-specific "local" reference height RL or determine a difference D or a height offset. Advantageously, an internal or vehicle-specific local coordinate system / height coordinates can be compared or aligned with an external or "global" coordinate system or height coordinates. This improves the accuracy of the work and the adherence to the limits and buffer areas.

[0062] In Figure 2 Four different possible variants according to the invention are schematically represented. Various boundary lines G and buffer zones P, in particular buffer zones PS for the self-protection of the machine, are shown (cf. Figures 2a) and 2bIt becomes apparent that there are almost unlimited possibilities for the design and shaping of the work areas A and exclusion zones T, or boundary lines G and interfaces, depending on the requirements and application. For example, a swivel range (see Figures b) and 2d)) or a radius (see Figure 2d)) can be defined. Figures 2a), 2b) and 2d )) and / or a quadrilateral or polygon (see Figures 2c) and 2d )) can be implemented with or without a self-protection area.

[0063] Besides many different possibilities, examples include: Figure 3 Two advantageous variants for intervening in or modifying the adjustment within the buffer areas P are presented. For example, according to Figure 3aFigure 4 illustrates a so-called "axis-specific" reduction of the adjustment speed VW of the tool 8 and / or the lifting arm 4 or excavator boom 4. An angle alpha represents the direction of the adjustment or the adjustment speed VW. For example, the adjustment speed VW of the tool 8 resulting from two vector working axes I and II is modified such that only working axis I is reduced / smaller depending on the distance to the boundary line G, while working axis II remains unchanged / smaller within the buffer area P. This results in an adjustment or function F according to... Figure 3a), so that, for example, this point of the boom 4 or the tool 8 approaches the boundary line in a curved path as it gets closer or further away, and eventually tangentially or parallel to the boundary line. This means that the angle alpha becomes correspondingly smaller or more acute as the adjustment speed VW increases, which in Figure 3a ) is very clearly visible.

[0064] In contrast, an example is in Figure 3bFigure 1 illustrates a so-called "proportional" reduction of the adjustment speed VW of the tool 8 and / or the lifting arm 4 or excavator boom 4. The angle alpha, i.e., the direction of the adjustment or the adjustment speed VW, does not change. Rather, the two vector working axes I and II of the adjustment speed VW of the tool 8 are advantageously changed uniformly or in the same way, i.e., the working axes I and II are reduced / smaller in the same way depending on the distance to the boundary line G. This results in an adjustment or function F according to Figure 3b ), so that, for example, this point of the boom 4 or the tool 8 approaches the boundary line in a straight path with increasing approach or decreasing distance and is finally reduced to zero, i.e., to standstill.

[0065] Both in Figure 3a ) as well as Figure 3b) Parallel journeys are advantageously not restricted or altered, as shown to the right of the above schematic relationships. Reference symbol list

[0066] 1 Excavator 2 Undercarriage 3 Upper Carriage 4 Excavator Boom 5 Section 6 Section 7 Section 8 Bucket 9 Tool Holder 10 Hydraulic Cylinder 11 Hydraulic Cylinder 12 Hydraulic Cylinder 13 Hydraulic Cylinder 14 Bucket Cutting Edge 15 Leveling Device 16 Receiver A Working Area B Width E Ground G Boundary / Line H1 Horizontal Axis H2 Horizontal Axis H3 Horizontal Axis H4 Horizontal Axis P Buffer Area V1 Vertical Axis V2 Vertical Axis I Axis II Axis alpha Angle

Claims

1. Mobile working machine with a support frame and with a drive unit for driving at least one drive element or a working tool (8) having at least one working tip or working edge, wherein at least one kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) of movable / adjustable parts of the working machine (1) has at least one lifting device (4, 5, 6, 7) or a pivoting bracket for vertically or horizontally pivoting the lifting device (4, 5, 6, 7) or a tool holder (9) for holding the working tool (8), wherein at least one electrical or electronic control unit is provided for controlling the drive unit or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), wherein the control unit comprises at least one limiting unit for setting a limit parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), wherein the limit parameter (G) defines a boundary line / area (G) between a prohibited region (T) and an adjustment region (A), wherein the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or lifting device (4, 5, 6, 7) or the pivoting bracket or the working tool (8) or the tool holder (9) can be adjusted or positioned within the adjustment region (A), wherein at least one operator control element is provided for manual operation / actuation by an operator or for specification of the limit parameter (G) or a target parameter of the kinematic chain (2, 3, 4 ,5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) by the operator, wherein at least one sensor is provided for detecting an actual parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or lifting device (4, 5, 6, 7) or the pivoting bracket or the working tool (8) or the tool holder (9), wherein the electrical or electronic control unit has at least one buffer unit for changing / braking / buffering an adjustment speed or the adjustment of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), so that the adjustment region (A) comprises at least one buffer region (P) designed as an edge region (P), wherein the buffer region (P) is arranged at the prohibited region (T) and has a width (B) designed as a buffer distance, characterized in that the buffer unit is designed in such a way that changing / braking / buffering the adjustment speed (V) or the adjustment of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) is provided as a function of an adjustment angle (alpha), wherein the adjustment angle (alpha) is arranged between the direction of the adjustment speed (V) and a tangent or a boundary line / area (G) of the prohibited region (T) / adjustment region (A).

2. Working machine according to Claim 1, characterized in that the buffer unit is designed in such a way that the buffer region (P) and / or the buffer distance and / or the width (B) can be changed.

3. Working machine according to either of the preceding claims, characterized in that the buffer unit is designed in such a way that a direction (alpha) or a magnitude (V) of the adjustment speed of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) can be changed.

4. Working machine according to any of the preceding claims, characterized in that the buffer unit is designed in such a way that the magnitude of the adjustment speed (V) at / in / of the limit parameter (G) and / or prohibited region (T) or a boundary line / area (G) is zero.

5. Working machine according to any of the preceding claims, characterized in that the buffer unit is designed in such a way that changing / braking / buffering the adjustment speed (V) or the adjustment of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) is provided as a function of the adjustment angle, wherein the adjustment angle is changed / reduced, wherein in particular the magnitude of the adjustment speed (V) is not changed / reduced or wherein in particular the adjustment angle at / in / of the limit parameter (G) and / or prohibited region and / or boundary line / area is zero.

6. Working machine according to any of the preceding claims or according to the preamble of Claim 1, characterized in that the limit parameter (G) or the prohibited region (T) or the boundary line / area is the working machine or the support frame or the drive unit or the drive element or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) or the pivoting bracket or the lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) or is designed / set as the envelope / contour or outer face / surface thereof.

7. Working machine according to any of the preceding claims, characterized in that the control unit and / or limiting unit or buffer unit comprises at least one electrical or electronic memory unit for storing the actual parameter or the limit parameter (G) or boundary line / area or the buffer region (P) or the buffer distance or the width (B) or digital data / signals / information.

8. Working machine according to any of the preceding claims, characterized in that the control unit or limiting unit / or buffer unit are / is designed in such a way that the actual parameter is designed as a stored limit parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or the lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), wherein actuation of the operator control element or a standby phase of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or the lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) generates the stored limit parameter (G).

9. Working machine according to any of the preceding claims, characterized in that at least one orientation unit (15) is provided for orientation in the surroundings or detecting / locating objects in the surroundings by means of orientation or locating data / signals.

10. Working machine according to any of the preceding claims, characterized in that the orientation unit (15) comprises at least one receiving unit for receiving orientation or locating data / signals or at least one transmission unit for transmitting orientation or locating data / signals.

11. Working machine according to any of the preceding claims, characterized in that the control unit or limiting unit or buffer unit are / is designed in such a way that the orientation or locating data / signals of the orientation unit (15) are designed as stored limit parameters of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) or the pivoting bracket or the lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), wherein actuation of the operator control element (20, 21) or an orientation / locating phase of the orientation unit (15) generates the stored limit parameters.

12. Working machine according to any of the preceding claims, characterized in that the control unit or limiting unit or buffer unit are / is designed in such a way that at least two / several stored limit parameters form a polygonal outline or curved outline the boundary line / area.

13. Working machine orientation unit with an orientation unit (15) for orientation in the surroundings or detecting / locating objects in the surroundings by means of orientation or locating data / signals and with a working machine (1) according to any of the preceding claims, characterized in that the orientation unit (15) is designed as an orientation unit (15) separate from the working machine (1).

14. Working machine orientation unit according to the preceding claim, characterized in that the orientation unit (15) is designed as a laser measuring device (15), wherein the laser measuring device (15) is designed for transmitting at least one laser beam and wherein the working machine (1) has at least one laser receiving unit (16) for receiving the laser beam.

15. Working machine orientation unit according to either of the preceding Claims 13 and 14, characterized in that the working machine has at least one GPS receiving unit for receiving a GPS signal and / or GPS data.

16. Working machine orientation unit according to any of the preceding Claims 13 to 15, characterized in that the orientation unit is designed as a geoinformation unit for receiving and / or utilizing geoinformation and / or digital geodata.

17. Working machine orientation unit according to any of the preceding Claims 13 to 16, characterized in that the control unit and / or limiting unit or buffer unit are / is designed in such a way that the geoinformation or digital geodata or GPS signals or GPS data are / is designed as stored limit parameters of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or the lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), wherein actuation of the operator control element or a transfer / storage phase of the orientation unit (15) generates the stored limit parameters.

18. Working method for operating a working machine and / or working machine orientation unit, wherein at least one limiting unit sets a limit parameter of a kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or lifting device (4, 5, 6, 7) or a working tool (8) or a tool holder (9), wherein the limit parameter defines a boundary line / area between a prohibited region and an adjustment region, wherein the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) can be adjusted or positioned within the adjustment region, wherein at least one operator control element is manually operated / actuated by an operator or the limit parameter (G) or a target parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) is specified by the operator, wherein at least one sensor detects an actual parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), wherein at least one buffer unit changes / brakes / buffers an adjustment speed or adjustment of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9), so that the adjustment region (A) forms at least one buffer region (P) designed as an edge region (P), wherein the buffer region (P) adjoins the prohibited region (T) and has a width (B) designed as a buffer distance, characterized in that the buffer unit is designed in such a way that the adjustment speed (V) or adjustment of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14) or the pivoting bracket or the lifting device (4, 5, 6, 7) or the working tool (8) or the tool holder (9) is changed / braked / buffered as a function of an adjustment angle (alpha), wherein the adjustment angle (alpha) is formed between the direction of the adjustment speed (V) and a tangent or a boundary line / area (G) of the prohibited region (T) / adjustment region (A).