Method and computer for operating a mobile working machine

Abstract

The invention relates to a method (100) for operating a mobile work machine (200), comprising identifying (110) available elements which include actuator elements (230, 260), sensor elements (220) and operator control elements (210), determining (120) at least one possible operating mode on the basis of the available actuator elements (230, 260), sensor elements (220) and operator control elements (210) identified, and carrying out a measure (130, 140) depending on the at least one possible operating mode determined.

Description

[0001] The present invention relates to a method and a computing unit as well as a computer program product for operating a mobile work machine Background of the invention

[0002] Mobile work machines, such as excavators, wheel loaders, forklifts or similar, are characterized by the fact that they can perform movements of one or more work components (e.g. bending the excavator arm, lowering the bucket, etc.) during a lateral movement of the machine itself (e.g. driving the excavator). In conventional mobile work machines, such movements can be controlled manually by a user via control elements such as pedals and levers. Modern work machines can sometimes also offer the option of partially automated operation or assistance mode, in which some of these functions are carried out automatically or the machine user is supported in carrying out the corresponding movements. For example, in an assistance mode, the spatial freedom of movement of the excavator arm can be restricted in order to protect objects such as buildings that should not be damaged by the work.KR102423410B1 discloses a generic method, wherein an emergency operating mode is automatically started in a mobile work machine if an element of the work machine fails due to a fault and is therefore no longer available. Disclosure of the invention

[0003] Against this background, the invention proposes a method for operating a mobile work machine, as well as a computing unit and a computer program product for implementing the method, having the features of the independent patent claims. Advantageous embodiments are the subject of the dependent claims and the following description.

[0004] The invention is based on the measure of determining concretely possible operating modes of the mobile work machine based on the equipment or the available elements of the mobile work machine, which include actuators, sensors and control elements, and of carrying out a measure based thereon.

[0005] The invention is particularly advantageous in conjunction with changing machine configurations. Changing machine software due to changing hardware or sacrificing full functionality is no longer necessary with the present invention. Furthermore, in the event of a defect in individual machine components, the machine may still be operable in other operating modes. This means that a work cycle can, under certain circumstances, be completed even before the machine is repaired after a failure of individual components.

[0006] Examples of actuator elements are a travel drive, in particular a hydrostatic one, with adjustment capability, a linear drive, such as a linear motor or hydraulic cylinder, and a rotary drive. Sensor elements can in particular comprise one or more from the group consisting of a position sensor, an inertial measuring unit (so-called IMU), a torque sensor, an angle sensor (e.g. encoder), a camera, a radar system, an ultrasonic sensor, a satellite positioning system and a lidar system. Control elements are understood to mean, in particular, switches, accelerator pedals and / or control levers (joysticks). Many such elements are typically installed in modern work machines anyway, but in a changing composition, so that application of the present method with a multitude of configurations on the part of the work machine is possible without adaptation of the machine itself.This makes retrofitting particularly cost-effective, for example in the form of a software update or by installing a new control unit or processing unit.

[0007] According to the invention, the at least one possible operating mode comprises a specific degree of automation of the operation of the mobile work machine. Different operating modes differ from one another, in particular, by a different degree of automation of the machine operation. A subdivision of possible levels of automation can be made, in particular, according to or based on the automotive standard SAE J3016; in particular, up to six different levels of automation can be distinguished.

[0008] In this case, a first operating mode with a low degree of automation is advantageously determined as possible if available operating elements fulfill a manual condition, and / or a second operating mode with a high degree of automation is determined as a possible operating mode if available sensor and actuator elements fulfill an automatic condition. For example, manual operation of a machine requires a certain level of operating elements, whereas fully automated or autonomous operation of the machine requires a minimum level of sensor and actuator elements. For partially automated or assisted operation, both operating elements and sensor and, if applicable, actuator elements are required for the operation of the machine. The manual condition and the automatic condition accordingly each entail the presence of corresponding operating elements or sensor and actuator elements.In particular, a first level of automation (Level 0) can relate to manual machine operation, a second level of automation (Level 1) to operation with assistance functions, a third level of automation (Level 2) to operation with partial automation, a fourth level of automation (Level 3) to operation with conditional automation, a fifth level of automation (Level 4) to operation with high automation and a sixth level of automation (Level 5) to operation with full automation.

[0009] In particular, determining at least one possible operating mode based on the determined available actuators, sensors, and control elements includes determining all possible operating modes, in particular all possible levels of automation, based on the determined available actuators, sensors, and control elements. This allows all possible operating options to be considered.

[0010] The measure advantageously includes displaying at least one possible operating mode to a user of the mobile work machine on a display device such as a screen. This allows the user to be informed about the available operating modes.

[0011] The measure preferably comprises requesting a user input, receiving the user input, and determining a target operating mode, in particular from the possible operating modes, depending on the user input, and operating the mobile work machine according to the target operating mode. This allows the user to select the desired operating mode, in particular from among the available ones, so that the work machine can be operated flexibly in an operating mode that corresponds to the user specification and is possible based on the available hardware.

[0012] The operation of the mobile work machine according to the target operating mode preferably takes into account the current machine status. In particular, switching between different operating modes with varying degrees of automation can sometimes pose risks to the health and life of the user and / or those in the vicinity of the work machine. Therefore, certain operating modes can only be implemented under the prerequisite of a certain machine status. For example, such a prerequisite machine status can involve a standstill of certain components of the machine, in particular a drive transmission and / or an attachment. This can significantly minimize the operational risk and safely enable switching between different operating modes.

[0013] Accordingly, the method advantageously further comprises setting or adopting a target machine status if the current machine status prevents the mobile work machine from operating in the target operating mode. This makes it possible, when specifying a target operating mode that differs from a current operating mode, to switch from the current to the target operating mode if the corresponding requirements regarding the machine status are not met. For example, setting the target machine status can comprise applying a brake, in particular automatically, if the requirement for operating the machine in the target operating mode includes a standstill of the machine, but the machine is not at a standstill at a time of the specification.

[0014] If necessary, the operating mode with the highest possible level of automation can be determined as the target operating mode, for example, taking into account the intersection of all influencing factors. In such a case, user input may even be omitted. By determining the highest possible level of automation, the potential of the respective work machine can be fully exploited and the user experience improved. It may also be necessary to take external specifications regarding a minimum or maximum permissible level of automation into account. For example, a legislator or a construction site operator may stipulate that a maximum of assistance functions should be permitted within a certain scope, but not autonomous operation of machines.In such situations, only those operating modes that conform to such an external specification are advantageously determined as possible operating modes. Accordingly, the user cannot specify a non-compliant operating mode as the target operating mode, or the method does not specify a non-compliant operating mode as the target operating mode. External specifications can be received, for example, in the form of so-called geofencing signals, which can be based on satellite-based location determination or the range of a transmitter, as a restriction entered via a control unit, particularly in a protected mode (e.g., via password protection).

[0015] Determining available elements advantageously comprises sending at least one query signal and receiving at least one response signal containing information about the available elements. This allows all available operating modes to be flexibly recorded, even in the event of a subsequent change to the working machine, for example, after an upgrade or in the event of a component defect. Such a signal exchange can occur, for example, every time the machine is started and / or be repeated at periodic intervals, for example, at intervals of 1 second, 1 minute, 5 minutes, 10 minutes, 30 minutes, or 1 hour. This ensures that the current status is taken into account without leading to overload due to excessive signal exchanges.

[0016] A computing unit according to the invention, e.g. a control unit of a mobile work machine, is configured, in particular in terms of programming, to carry out a method according to the invention.

[0017] Implementing a method according to the invention in the form of a computer program or computer program product with program code for performing all method steps is also advantageous, as this entails particularly low costs, especially if an executing control unit is also used for additional tasks and is therefore already present. Suitable data storage devices for providing the computer program include, in particular, magnetic, optical, and electrical storage devices, such as hard disks, flash memories, EEPROMs, DVDs, and others. Downloading a program via computer networks (Internet, intranet, etc.) is also possible.

[0018] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

[0019] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0020] The invention is illustrated schematically in the drawing using exemplary embodiments and is described in detail below with reference to the drawing. Character description

[0021] Figure 1 shows an advantageous embodiment of a method according to the invention in the form of a schematic flow diagram. Figure 2 shows an exemplary mobile construction machine, as it can be used in connection with the present invention, in a schematic representation as a block diagram. Figure 3shows an exemplary embodiment of a computing unit according to the invention in a schematic view. Detailed description of the drawing

[0022] In Figure 1 An advantageous embodiment of a method according to the invention is shown schematically in the form of a flow chart and designated overall by 100. The method 100 is used in connection with mobile construction machines, for example in a mobile construction machine as shown in Figure 2 simplified in the form of a block diagram and designated as 200.

[0023] In the following description, references to machine components refer in particular to Figure 2 , while references to procedural steps refer in particular to the Figure 1 illustrated procedures.

[0024] The mobile work machine 200, for example, an excavator, can have operating elements 210, actuators 230, sensors 220, and a chassis 260. Such an excavator 200 typically has an excavator arm 240, to which a working device 250, for example, a bucket or other working devices such as screening buckets, hydraulic chisels, grabs, or the like, can be attached.

[0025] A computing unit 280, for example a control unit as shown in Figure 3 The control unit 272, which is shown in simplified form in the form of a block diagram, is configured to control the operation of the excavator 200. For this purpose, it is connected to a drive unit 272, for example an internal combustion engine, and a working unit 274, for example a hydraulic unit, and receives signals from sensors 220 and control elements 210 and sends signals to actuators 230.

[0026] In particular, the control unit 280 is configured to carry out a method 100 as described in more detail above and below.

[0027] The procedure 100, which is Figure 1 illustrated, comprises a detection step 110 in which a control element detection 112, a sensor detection 114 and an actuator detection 116 are carried out.

[0028] For example, such detection 112, 114, 116 can be performed by the control unit 280 sending one or more query signals. If such a query signal is received by an operating element 210, a sensor 220, or an actuator 230, the respective component sends a response signal to the control unit 280 so that the control unit 280 can detect which components are present and ready for use.

[0029] In a step 120, the control unit 280 determines or ascertains possible operating modes based on the detected operating elements 210, sensors 220, and actuators 230. An operating mode is characterized in particular by a certain degree of automation. For example, a first operating mode can be determined as possible if a minimum number and / or minimum types of operating elements 210 are present. In the first operating mode, which in this example can be a manual operating mode, the mobile work machine 200 is controlled directly by a user through operating inputs using the operating elements 210.

[0030] If a minimum level of sensor system 220 is detected as present or ready for use in detection step 110, a second operating mode with a higher degree of automation than the first operating mode can be determined as possible. In the second operating mode, for example, assistance functions can be available, so that, for example, the freedom of movement of the excavator arm 240 can be restricted if it comes too close to an obstacle detected by the sensor system 220.

[0031] A third operating mode with a higher degree of automation than the second operating mode can be determined as possible in step 120 if, in addition to the sensor system 220, a minimum level of actuator system 230 was determined to be available in the detection step 110. In the third operating mode, for example, certain work steps can be performed autonomously by the mobile work machine.

[0032] In a further step 130 of the method 100, a measure is carried out depending on the determined possible operating mode(s).

[0033] This measure can, in particular, comprise determining an operating mode to be used currently from the possible operating modes determined in step 120. For this purpose, the user of the machine 200 can, for example, be offered the possible operating modes for selection on a display. Based on an operator input 132, which contains a selection of one of the possible operating modes, the current operating mode can be determined accordingly, so that the mobile work machine 200 is subsequently controlled in an operating step 140 according to the preselected operating mode.

[0034] For example, in the first operating mode, the user of the machine 200 can control it manually using the existing control elements 210 or, in the second operating mode, with the existing sensor system 220, for example, detecting the working environment of the work machine 200 and only enabling those control commands from the user that are to be permitted according to the assisted mode. In the aforementioned example, in the second operating mode, the freedom of movement of the excavator arm 240 can be restricted, so that only a specific geometric space is accessible to the excavator arm 240.If, in such a case, an operating input by the user via the operating elements 210 would result in the excavator arm 240 leaving the released geometric area, the control unit 280 can act on the hydraulic unit 274 in this second operating mode, so that once a limit of the released geometric area is reached, only control commands are executed that move the excavator arm 240 back towards within the released area, but not those that cause the excavator arm to leave the released area.

[0035] If the described third operating mode is set as the current operating mode in step 130, the control unit 280 independently controls the work machine 200. For this purpose, a movement trajectory of the work device 250 can be calculated based on signals from the sensor system 220, and this trajectory can be followed using the actuator elements 230 and, in particular, under monitoring by the sensor system 220, so that the machine can operate in this third operating mode, for example, entirely without user control. In this case, the third operating mode can also be used if the detection step 110 determined that the work machine 200 is not equipped with control elements 210 or that it is only equipped with an insufficient number of control elements 210 for manual control.The determination of the operating mode can have a corresponding effect on a control of the chassis 260, so that the chassis 260 and its components can also be considered as part of the actuator system in this context.

[0036] Furthermore, it can be provided that a current machine status is taken into account in the method 100, wherein the machine status particularly comprises an actual operational readiness of components. This makes it possible, for example, in the event of a failure or malfunction of one or more components, to change the operating mode if this is no longer feasible due to the error or failure. The machine status can also be understood to encompass a current working environment. For example, in certain regions, for example in an area of ​​a construction site where the mobile work machine 200 is used, a certain degree of automation may be permitted, while in other areas of the construction site, for example, manual operation of all machines is required.The location of the machine 200 within the construction site can be viewed as the machine status, which can be taken into account when determining the current operating mode 130. Such external specifications are defined in . Figure 2 designated 134 and can be received, for example, via a wireless interface (not shown in the figures).

[0037] In Figure 3 An embodiment of a computing unit 280 for carrying out a method 100 according to the invention is shown schematically by way of example. Figure 3 illustrates in particular the operation of the computing unit 280. The computing unit 280 has connections for operating elements 210, actuator elements 230 and sensor elements 220, which are used to determine available operating modes, as already described with regard to the Figures 1 and 2described above, and, on the other hand, to transmit corresponding signals between the computing unit 280 and the connected elements during operation of the mobile work machine 200. As shown, wired or wireless connections are possible.

[0038] To determine the possible operating modes, for example, it is recorded which elements are connected and / or functional. For example, query signals can be sent via the respective connections, and the identity and functionality of the respective elements 210, 220, 230 can be deduced from the response signals received. For example, control elements 210 are represented here as control levers, pedals, switch buttons with display capability, and a touch-sensitive screen.

[0039] For example, if it is determined that a specified minimum number of control units is available and ready for use, a manual operating mode can be enabled. This is Figure 3 symbolized by an arrow labeled Level 0. The manual operating mode includes control functions 330 and control steps 340 executed by the computing unit 280, with which operating inputs detected by the operating elements 210 are interpreted and converted into corresponding control signals that are sent via the corresponding connections to actuator elements 230, drive units 272 and / or work units 274.

[0040] If it is determined in the detection step 110 that a required minimum number of sensor elements 220 are available and ready for use, the computing unit 280 also enables an assisted operating mode, which is symbolized by an arrow labeled Level 1+2. In addition to the control functions 330 and control steps 340, the assisted operating mode includes a trajectory planning function 320 upstream, by means of which movement sequences of components of the mobile work machine 200, for example an excavator arm 240 or a chassis 260, are planned in advance. During operation in the assisted operating mode, such a planned movement sequence can be brought to the attention of a user of the work machine 200, for example on a display means such as a screen. A representation of an actual movement effected by means of the control elements 210 is also particularly advantageous, thus providing an opportunity for correction by the user.

[0041] If a minimum number of sensor elements 220 and actuator elements 230 are simultaneously detected as ready for operation, the computing unit 280 also enables an automatic operating mode, which Figure 3 symbolized by an arrow labeled Level 3. For example, in addition to the control 330, trajectory planning 320, and control functionalities 340, the automatic operating mode can include a task planning function 310 upstream, which serves to prepare a more complex task for the trajectory planning function 320. For example, a desired result, such as digging a hole with predetermined dimensions, can be broken down into smaller subtasks so that the trajectory planning function 320 calculates, for example, a single digging process, while the task planning function 310 determines and monitors that the resulting hole ultimately reaches the predetermined dimensions.

[0042] It can be provided that the user can select the desired operating mode from the available ones. For this purpose, the possible operating modes can be displayed on a display, for example, and presented for selection. Based on the recorded operator input, the mobile work machine is then controlled in the corresponding operating mode.

Claims

1. Method (100) for operating a mobile working machine (200), comprising automatically ascertaining (110) available elements (210, 220, 230, 260) of the mobile working machine (200), which comprise actuator elements (230, 260), sensor elements (220) and operating elements (210), automatically determining (120) at least one possible operating mode of the mobile working machine (200) on the basis of the ascertained available actuator elements (230, 260), sensor elements (220) and operating elements (210), and automatically carrying out a measure (130, 140) on the basis of the determined at least one possible operating mode, characterized in that the at least one possible operating mode comprises a specific degree of automation of the operation of the mobile working machine (200).

2. Method (100) according to Claim 1, wherein determining the at least one possible operating mode on the basis of the ascertained available actuator elements (230, 260), sensor elements (220) and operating elements (210) comprises determining a plurality of possible operating modes with a different degree of automation.

3. Method (100) according to one of the preceding claims, wherein a first operating mode with a first degree of automation is determined as possible if the available operating elements (210) meet a manual condition, and / or a second operating mode with a second degree of automation, which is higher than the first degree of automation, is determined as a possible operating mode if the available actuator elements (230, 260) and sensor elements (220) meet an automatic condition.

4. Method (100) according to one of the preceding claims, wherein determining (120) the at least one possible operating mode of the mobile working machine (200) on the basis of the ascertained available actuator elements (230, 260), sensor elements (220) and operating elements (210) comprises determining all possible operating modes on the basis of the ascertained available actuator elements (230, 260), sensor elements (220) and operating elements (210).

5. Method (100) according to one of the preceding claims, wherein the measure comprises displaying the at least one possible operating mode for a user of the mobile working machine (200).

6. Method (100) according to one of the preceding claims, wherein the measure comprises requesting a user input (132), receiving the user input (132) and determining a target operating mode on the basis of the user input (132) and operating (140) the mobile working machine (200) according to the target operating mode.

7. Method (100) according to Claim 6, wherein the mobile working machine (200) is operated (140) according to the target operating mode taking into account a current machine status (134).

8. Method (100) according to Claim 7, further comprising setting a target machine status if the current machine status (134) prevents the operation (140) of the mobile working machine (200) in the target operating mode.

9. Method (100) according to one of the preceding claims, wherein the actuator elements (230, 260) comprise one or more from the group of a traction drive (260), in particular a hydrostatic traction drive, with a setting possibility, a linear drive (230) and a rotary drive, and / or the sensor elements (220) comprise one or more from the group of a displacement transducer, a torque sensor, an angle sensor, a camera, a radar system, an ultrasonic sensor, a satellite positioning system and a lidar system, and / or the operating elements (210) comprise one or more from the group of a switch, an accelerator pedal and a setting lever.

10. Method (100) according to one of the preceding claims, wherein ascertaining (110) available elements comprises transmitting at least one query signal and receiving at least one response signal containing information about the available elements.

11. Computing unit (280) which is configured to carry out a method (100) according to one of the preceding claims.

12. Computer program that causes a computing unit (280) to carry out a method (100) according to one of Claims 1 to 10 when said computer program is executed on the computing unit (280).

13. Machine-readable storage medium with a computer program according to Claim 12 stored thereon.

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