Machine

Abstract

The present invention relates to a machine, in particular to a wheel loader, having a driver's seat for the driver of the machine, wherein the machine can be operated in a first operating state and in a second operating state, wherein the first operating state is a state in which the operator operates the machine from the driver's seat, and wherein the second operating state is a state in which the machine is operated remotely or autonomously, wherein locking means are present which are designed to lock the driver's seat when the machine is in the second operating state.

Description

[0001] The present invention relates to a working machine, preferably an earthmoving machine, such as in particular wheel loaders, excavators, bulldozers, dump trucks, etc., with a driver's seat for the operator of the working machine.

[0002] Mobile earthmoving machines such as wheel loaders, excavators, bulldozers, and dump trucks will in future have driverless operating modes in addition to the classic manual operation—controlled by an operator in the cab. These can be remotely controlled or teleoperated operation, autonomous operation, or hybrid forms. The invention thus relates to a "multi-use" machine that has several different operating modes between which the user can switch at will. Such a machine is shown in US 10,005,500 B2.

[0003] Known work machines feature a driver's seat (hereinafter also referred to simply as "seat") that is primarily vertically sprung to reduce the vibration load on the operator. A low-frequency design with a natural frequency below 1 Hz is common, resulting in very soft suspension with large spring travel. The driver's seats of known work machines are sprung either mechanically or pneumatically for this purpose.

[0004] The problem is that the operator seats of common construction machines are not designed to operate without the weight of the operator (hereinafter also referred to simply as "driver"). If the operator is not in the seat while the machine is operating in driverless mode, significant swaying of the seat occurs because the "damping" effect of the operator is absent. This swaying can result in a considerably reduced lifespan for the operator seat and its components (armrests, controls).

[0005] The present invention is therefore based on the objective of further developing a work machine of the type mentioned at the outset in such a way that the service life of the driver's seat is not impaired even in driverless operation of the work machine.

[0006] This problem is solved by a machine having the features of claim 1.

[0007] It is then provided that the working machine can be operated in a first operating mode and in a second operating mode, wherein the first operating mode is a state in which the machine operator operates the working machine from the driver's seat, i.e., is in the driver's seat, and wherein the second operating mode is a state in which the working machine is operated remotely or autonomously, i.e., the driver is not in the driver's seat, wherein locking means are provided which are designed to lock the driver's seat when the working machine is in the second operating mode.

[0008] The present invention is therefore based on the idea of ​​providing locking means that lock the driver's seat in the driverless state and thus restrict or completely prevent the aforementioned wobbling movements, thereby avoiding impairments to its service life.

[0009] In principle, when switching from manual operating mode to driverless operating mode, the machine operator could manually activate the locking device.

[0010] Preferred, however, are intelligent, automated locking approaches that are achievable through networking and operate independently of driver behavior. Nevertheless, manually operated locking devices are also encompassed by the invention.

[0011] All of the locking devices mentioned within the scope of the invention can be operated manually and / or automatically.

[0012] According to one embodiment, the locking means are designed to be manually operated, preferably comprising a strap. Thus, one embodiment of the invention consists in providing external locking devices that can be manually engaged by a person. Possible embodiments include a strap / rubber band or similar device to force the seat towards an end stop and restrict free movement. Alternatively or additionally, the seat belt itself can be used to tension the driver's seat to the driver's cab, or at least the existing seat belt buckle can be used to engage an external tensioning system.

[0013] In one embodiment, signaling means may be provided that are designed to remind the machine operator of their task of engaging or tightening the locking / tensioning mechanism by means of an acoustic and / or visual signal when switching from the first to the second operating mode. Additionally or alternatively, confirmation means may be provided that are designed to prompt the machine operator to confirm the completion of the locking operation, for example, by pressing a button, entering information on a screen, etc. If this confirmation is not given, it is conceivable that an alarm signal is activated, which is only deactivated once the machine operator has provided confirmation.

[0014] In a further embodiment, the locking means are designed to be actuated by a seat control system. In this case, the activation of the locking means is therefore automated, not manual.

[0015] The aforementioned seat control system can be integrated into the vehicle control system or designed as a separate unit. In the latter case, it is preferably provided that the seat control system receives its signals from the vehicle control system.

[0016] In a preferred embodiment, the locking means are formed by one or more elements of the seat suspension mechanism and / or by one or more other elements.

[0017] Air-suspended seats, in particular, already incorporate relatively sophisticated technology, including a compressor, electronically controlled valves, a height sensor, a hydraulic damper, and electronic controls—that is, the seat's electronic system. This is primarily used for automatic weight adjustment, allowing the seat to adapt to drivers of varying weights and ensuring optimal suspension characteristics. To further optimize driver comfort, some seats feature additional systems that allow the spring and / or damping characteristics to be adjusted to the driving situation. This includes adjusting damper characteristics or changing the air volume of the air spring.

[0018] Preferably, one or more of these known components, which are already present in known driver's seats, are used to lock the driver's seat. This has the advantage that additional locking devices can be dispensed with.

[0019] For example, the desired behavior, i.e., the locking, can be generated through the (so far uncommon) networking or electronic connection of the seat with the machine control (which in turn is informed about the current operating mode) and various logics.

[0020] Preferably, the locking means are formed by one or more end stops of the driver's seat. Known driver's seats have an upper and a lower end stop. When the seat is moved (manually or automatically) into one of these end positions, the seat is stabilized because movement beyond the end stop is not possible.

[0021] As soon as a driverless operating mode, i.e., the second operating mode according to the invention, is present, the driver's seat can, in this configuration, be instructed to either completely deflate the air spring (the seat rests against the lower end stop due to its own weight) or to pre-tension the spring to a high or maximum pressure (the seat rests against the upper end stop). The contact at the end stop creates a support effect that extends the service life of the driver's seat when driving without a driver.

[0022] It is also conceivable that the locking means include an adjustable damper, preferably the damper that is already included in the driver's seat suspension mechanism.

[0023] In this embodiment of the invention, the driver's seat can be instructed to use its (if present) adjustable damper for locking purposes. The automatically adjustable dampers either have adjustable damping nozzles (adjustable flow resistance between two damper chambers) or are filled with magnetorheological or electrorheological fluids that can be electronically influenced by corresponding fields. In any case, with this embodiment, the damping can be maximized or even blocked to achieve the desired stabilizing effect.

[0024] In principle, it is advantageous that the locking mechanisms are designed to prevent or restrict the movement of the seat by friction and / or form-fitting.

[0025] For example, the working device could be designed as a brake, a bolt, or a valve designed to throttle or prevent the fluid flow between two chambers of a piston chamber.

[0026] Once a driverless operating mode is in place, i.e., the machine is in its second operating mode, the driver's seat can be instructed to engage a separate locking mechanism. This variant is particularly suitable for (mechanically sprung) seats that do not have their own controls, where the additional locking mechanism can also be directly controlled by the machine's control system.

[0027] Possible methods include mechanically blocking the seat spring using a friction brake, positive locking bolting, stopping fluid transfer between two chambers in a piston by closing a valve, etc. The locking mechanism does not necessarily have to be integrated into the seat spring mechanism; external systems are also conceivable (e.g., attachment to the armrest mounting point or other external structural components).

[0028] To reliably prevent seat damage, it is preferably provided that the control unit is designed to automatically activate the locking means when the machine is in the second operating mode.

[0029] Preferably, the control unit is further designed to automatically deactivate the locking means when the machine is in the first operating mode, so that the operator on the seat receives the usual damping and suspension comfort.

[0030] Preferably, when switching from manual operating mode, i.e., from the first operating mode, to one of the driverless operating modes, i.e., the second operating mode, the machine control instructs the seat control to activate one or a combination of several of the described stabilization features or locking devices.

[0031] For example, the seat can be deflated or inflated, and / or the seat damper adjusted to the firmest possible damping or even locked, and / or one or more external locking mechanisms engaged. Particularly in the latter case, this is also conceivable with direct communication between the vehicle control unit and the locking system, without requiring a seat control unit.

[0032] Preferably, it is further provided that when switching back to manual operating mode, the locking mechanism is released or the seat is preset to a typical working height or a previously saved driver weight.

[0033] It should be noted here that the terms "ein" and "eine" do not necessarily refer to exactly one of the elements, although this is a possible interpretation, but can also denote a plurality of elements. Likewise, the use of the plural also includes the presence of the element in question in the singular, and conversely, the singular also includes several of the elements in question.

[0034] Further details and advantages of the invention will be explained in more detail with reference to an exemplary embodiment shown in the drawing.

[0035] They show: Figure 1: a schematic view of a driver's seat with end stops as locking means, Figure 2: a schematic view of a driver's seat with an adjustable damper as locking means, Figure 3: a schematic view of a driver's seat with separate locking means, and Figure 4: a schematic view of a driver's seat with manually inserted, possibly external, locking means.

[0036] In the figures, identical or functionally equivalent elements are provided with identical reference symbols.

[0037] Reference symbol 10 indicates the vehicle control, i.e., the control of the working machine. This is connected to the seat control 20, which in turn controls one or more components of the driver's seat 30. The locking mechanism, i.e., the locking action, which can be achieved in various ways, is symbolically indicated by reference symbol V.

[0038] In Figure 1Reference numeral 32 shows the air spring and reference numeral 34 the damper of the seat 30. Valves are shown with 36 and a compressor with 38, which serve to control, i.e., fill and empty the air spring.

[0039] The valves 36 and the compressor 38 are controlled by the seat control 20.

[0040] As soon as a driverless, i.e., second operating mode, such as an autonomous or remotely controlled operating mode, is present, the driver's seat 30 can be instructed by the seat control 20 to completely deflate the air spring 32 by means of the valve(s) 36, causing the seat to rest against the lower end stop by its own weight, or alternatively, to pre-tension the air spring 32 to a high or maximum pressure by means of the compressor 38 and open valves 36, causing the seat 30 to rest against the upper end stop.

[0041] Figure 2relates to an embodiment in which the locking is effected via the adjustable damper(s) 34 of the driver's seat 20.

[0042] As soon as a driverless, i.e., second operating mode, such as an autonomous or remotely controlled operating mode, is present, the driver's seat 30 can be instructed to use its adjustable damper 34 for locking purposes in this configuration. As shown in Figure 2 As can be seen, the seat control 20 controls the damper 34.

[0043] Known, automatically adjustable dampers 34 either have adjustable damping nozzles that create an adjustable flow resistance between two chambers of the damper, or are filled with magneto- or electrorheological fluids that can be electronically influenced by corresponding fields. In any case, with this design, the damping can be maximized or even blocked in order to achieve the desired stabilizing effect of the seat 30.

[0044] Figure 3Figure 1 shows an embodiment in which – as soon as a driverless, i.e., second operating mode, such as an autonomous or remote-controlled operating mode, is present – ​​the driver's seat 30 is instructed via the seat control 20 to engage a separate locking mechanism V. "Separate" means that this locking mechanism is not part of a known seat, but rather an additional element. This embodiment is particularly suitable for (mechanically sprung) seats that do not have their own control system and where the additional locking mechanism can optionally be controlled directly by the machine control system, as shown in Figure 2. Figure 3 emerges.

[0045] Examples of such separate locking mechanisms include the mechanical blocking of the seat spring by a friction brake, positive locking bolting, stopping fluid transfer between two chambers in a piston by closing a valve, etc. The locking mechanism does not necessarily have to be integrated into the seat suspension mechanism; external systems are also conceivable. For example, attachment to the armrest mounting point or other external structural components is possible.

[0046] Figure 4 This shows a design that is particularly suitable when networked solutions are avoided for economic reasons, i.e., solutions in which the seat is controlled by a seat control system and / or vehicle control system. Thus, according to Figure 4 Seat 30 is not connected to vehicle control unit 10. Seat control unit 20 is also not present. Reference symbol B identifies the user.

[0047] Figure 4 This concerns external locking devices that are manually engaged by a person, i.e., locking mechanisms V. Possible designs include the use of a strap and / or rubber band or similar device to force the seat 30 towards an end stop and restrict its free movement. Particularly simple is the use of the seat belt itself to tension the seat 30 against the driver's cab, or at least the existing belt buckle for engaging an external tensioning system.

Claims

1. Work machine, in particular wheel loader, having a driver's seat for the operator of the work machine, wherein the work machine can be operated in a first operating state and in a second operating state, the first operating state is a state in which the operator operates the work machine from the driver's seat, and the second operating state is a state in which the work machine is operated remotely or autonomously, the driver's seat is mechanically or pneumatically suspended in order to achieve primarily vertical suspension of the driver's seat, and locking means are present which are designed, when the work machine is in the second operating state, to lock the driver's seat in such a way as to restrict a movement of the driver's seat resulting from the mechanical or pneumatic damping, which movement arises when, during use of the work machine in the second operating mode, the driver is not located on the driver's seat.

2. Work machine according to claim 1, characterized in that the locking means are designed to be actuated manually, wherein the locking means preferably comprise a strap.

3. Work machine according to claim 1 or 2, characterized in that the locking means are designed to be actuated by a seat control unit.

4. Work machine according to one of the preceding claims, characterized in that the locking means are formed by one or more elements of the seat suspension mechanism.

5. Work machine according to one of the preceding claims, characterized in that the locking means are formed by one or more end stops of the driver's seat.

6. Work machine according to one of the preceding claims, characterized in that the locking means comprise an adjustable damper, wherein the damper is preferably the damper of the driver's seat suspension mechanism.

7. Work machine according to one of the preceding claims, characterized in that the locking means are designed to prevent or restrict movement of the seat in a friction-locked and / or positive-locking manner.

8. Work machine according to claim 7, characterized in that the locking means are a brake, a bolting / pinning, or are a valve which is designed to throttle or prevent the fluid flow between two chambers of a piston chamber.

9. Work machine according to one of claims 3 to 8, characterized in that the control unit is designed to activate the locking means automatically when the work machine is in the second operating mode.

10. Work machine according to one of claims 3 to 9, characterized in that the control unit is designed to deactivate the locking means automatically when the work machine is in the first operating mode.

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