Mobile construction machine with an electrical control unit

Abstract

A mobile working machine (1) is proposed, comprising a drive unit for driving at least one drive element (3) and / or a working tool (2), wherein the drive unit has at least one drive motor and a steering device (6) for steering the working machine (1) in the direction of a travel path and a tool holder (5) for receiving or holding / fixing the working tool (2) and / or a lifting device (5), wherein at least one electrical and / or electronic control unit is provided for controlling the drive unit or the drive motor or the steering device (6) or the lifting device (5) or the working tool (2) or the tool holder (5), whereby at least some of the disadvantages of the prior art are improved orThe aim is to avoid certain issues, in particular to enable at least some tasks to be carried out semi-autonomously by the machine (1) and / or to enable the unambiguous identification of the operator (7), even if the operator is not on / in the control station or driver's cab (4), whereby the operator (7) or the person (7) to be tracked may be in the monitoring / detection area (I, II, III) with several persons and / or objects / obstacles (8). According to the invention, this is achieved by the control unit comprising at least one mobile remote control unit (9) for wireless remote control of the machine (1) by an operator (7), wherein at least one tracking unit (11, 12, 13) for locating the mobile remote control unit (9) is arranged on the machine (1).

Description

[0001] The invention relates to a mobile construction machine, in particular wheel loaders, telescopic loaders, excavators, dumpers, soil compaction devices such as vibratory rammers, vibratory plates or rollers, or the like, with a drive unit for driving at least one drive element and with an electrical and / or electronic control unit. State of the art

[0002] Mobile construction and industrial machinery, particularly wheel loaders, telescopic handlers, excavators, dump trucks, and similar equipment, with a vehicle frame and a drive unit to power at least one drive element such as a wheel or track, are currently mostly powered by refillable fuel. Diesel-powered vehicles are predominantly used today. However, electrically powered machines are also becoming increasingly common.

[0003] Except for, for example, wheel loaders with large buckets on the lifting arm, modern mobile construction machines often feature detachable attachments, such as those held and detached by means of so-called "quick couplers" or "interchangeable plates." These include not only "passive" attachments like buckets, bale forks, and the like, but also "active" attachments such as sweepers, mulchers, grapple arms, grab buckets, lifting forks, and the like, which are powered by energy.

[0004] Furthermore, construction machinery is also commonly used as dump trucks, which feature a tipping skip as a working tool. The skip can be designed, for example, as a drop skip, which can be picked up or lowered onto the ground using swiveling / tilting lever arms of the construction vehicle, or as a semi-trailer, which can usually be raised or tipped for unloading using hydraulic cylinders.

[0005] There is an increasing use of semi-autonomous / autonomous construction machines that perform certain functions autonomously, meaning (partially) without control and monitoring by an operator. These machines require, among other things, sensors to monitor their environment and ensure safe operation.

[0006] Currently, mobile construction machinery is still largely controlled by an operator or driver, who typically sits on the machine, for example, an excavator, wheel loader, etc., in a potentially partially open control station and / or a closed or lockable operator's cab. Various auxiliary and assistance functions already exist to facilitate the work. Thus, an operator is still usually required, who typically activates these functions and monitors the machine, at least temporarily and / or remotely, using a monitor, etc.

[0007] Especially when driving or operating mobile construction machinery such as wheel loaders or telehandlers in agriculture or construction, tasks are often performed that require the operator to frequently get on and off the machine, with the actual machine position changing only slightly during these activities. This constant getting on and off leads to most accidents when using such machinery, as the operator becomes inattentive over time due to the repetitive nature of the action. Purpose and advantages of the invention

[0008] The object of the invention, in contrast, is to propose a mobile work machine which at least partially improves or avoids the disadvantages of the prior art, in particular enabling the work machine to perform at least some tasks semi-autonomously and / or allowing the construction machine to perform semi-autonomous tasks without complete control by an operator, and / or also allowing the work machine to be fully or at least partially controlled by an operator as conventionally, for which a "conventional" control station or driver's cab is provided on / at the work machine, and / or enabling the unambiguous identification of the operator even if they are not on / in the control station or driver's cab, whereby the operator or person to be tracked may, if necessary,which may contain multiple people and / or objects / obstacles within the monitoring / detection area.

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

[0010] Accordingly, a mobile working machine according to the invention comprises a drive unit for driving at least one drive element and / or a working tool, wherein the drive unit has at least one drive motor and a steering device for steering the working machine in the direction of a travel path and a tool holder for receiving or holding / fixing the working tool and / or a lifting device, wherein at least one electrical and / or electronic control unit is provided for controlling the drive unit or the drive motor or the steering device or the lifting device or the working tool or the tool holder, wherein the control unit comprises at least one mobile remote control unit for wireless remote control of the working machine by an operator, wherein at least one tracking unit for locating the mobile remote control unit is arranged on the working machine.For example, the control unit includes the tracking unit.

[0011] With the aid of a mobile remote control unit for wireless remote control of the machine, the operator can advantageously control the machine remotely, in particular wirelessly, and is reliably located or tracked. This can be a specific remote control or mobile remote control unit.

[0012] For example, the machine has at least one identification unit for identifying the mobile remote control unit. Thus, the operator can be located and identified safely and reliably using the advantageous tracking unit of the mobile remote control unit and the identification unit. Accordingly, semi-autonomous operation of the mobile machine can be advantageously implemented. In addition to wireless remote control of the machine by the operator, the mobile machine can, if necessary, perform independent control measures or functionalities in semi-autonomous operation, both simultaneously and at different times, and especially independently of a specific remote control instruction from the operator.This means that the mobile machine responds to the operator's signals / instructions in remote control mode and operates / works automatically / autonomously in a semi-autonomous operating mode. Thus, responding in remote control mode and acting / working in semi-autonomous mode can be implemented simultaneously, non-simultaneously, or with a time delay.

[0013] The mobile remote control unit can also have an identification device to enable the tracking unit to identify it. Consequently, the mobile remote control unit is uniquely identifiable by the tracking unit of the mobile work machine through this identification device.

[0014] For example, at least one follow mode for the machine is provided, in which the machine follows the mobile remote control unit. Accordingly, the remote control mode and the machine's automatic or autonomous operation in semi-autonomous / autonomous modes can reduce operator workload. For instance, a follow mode can be implemented in which the machine follows the located or tracked remote control unit and thus the operator (autonomously). In this follow mode, the operator is relieved of some tasks, as the machine can follow them as precisely and reliably as possible without the operator having to send remote control instructions. This can also include automatic or autonomous evasive maneuvers and / or stops in response to obstacles or similar issues.

[0015] In a particular embodiment of the invention, the electrical and / or electronic control unit comprises at least one autonomy control unit for autonomous driving and / or controlling the working machine in an autonomous mode, wherein at least one distance and / or environment detection unit is provided for detecting the environment and / or a minimum distance to the working machine, the distance and / or environment detection unit comprising at least one travel path sensor for detecting the travel path within a sensor range. If an object, item, animal, and / or person, etc., is detected or sensed at a boundary or edge of the sensor range, intervention or a change in the driving behavior of the working machine, such as swerving and / or deceleration or stopping / commuting, can advantageously be implemented by means of the control unit or autonomy control unit and / or the steering / braking unit.

[0016] For example, the machine must be equipped with at least one distance and / or obstacle detection unit to detect an obstacle and / or a minimum distance between the obstacle and the machine. For instance, at least a minimum distance must be maintained between the machine and the detected obstacle / object. Especially when moving forward, or viewed in the direction of travel, a minimum distance improves operational safety.

[0017] For example, the mobile remote control unit has at least one first transmitting and / or receiving device for sending and / or receiving remote control signals. This enables advantageous wireless remote control.

[0018] In an advantageous embodiment of the invention, the mobile remote control unit is designed to receive and transmit wireless control signals or information from a mobile telecommunications device. Mobile telecommunications devices such as mobile phones, smartphones, smartwatches, PDAs, portable computers such as laptops, notebooks, tablet computers, or the like are already widely used, so that a separate device or mobile remote control unit for remotely controlling the machine does not need to be manufactured or developed. Rather, it is advantageous to adapt or enable mobile telecommunications devices already used by operators, for example by means of app programming or the like, so that they can implement the advantageous functionality or remote control / transmission function according to the invention. In principle, advantageous encoding or encryption of the mobile remote control signals is also possible.- Information is advantageous.

[0019] For example, the distance and / or obstacle detection unit has at least one second transmitting and / or receiving device for sending and / or receiving obstacle signals. For example, time-of-flight measurement of transmitted and received obstacle signals can be provided to determine the distance to objects or obstacles.

[0020] In one conceivable embodiment of the invention, the tracking unit can have at least one third transmitting and / or receiving device for transmitting and / or receiving tracking signals, wherein the obstacle signals and the tracking signals are different. This advantageously allows for a technical or signal-related separation of the different signals or transmit-receive functionalities. This enables reliable and / or operationally sound signal transformations.

[0021] For example, the second transmitting and / or receiving device is configured to transmit and / or receive radar signals, and / or the third transmitting and / or receiving device is configured to transmit and / or receive ultra-wideband signals. This allows for the advantageous use of different sensor technologies to locate the operator or follower. A first technology, in particular radar, detects the environment and all obstacles, including the operator or follower; the second technology, in particular UWB, is directly assigned to the operator / follower via a remote control unit.

[0022] Accordingly, two different technologies are advantageously combined. Firstly, obstacles and people in front of the machine are detected using radar, and their positions (X / Y) are transmitted to the processing ECU. Secondly, the operator's position is advantageously tracked using UltraWideBand technology via the location of the remote control unit, which the operator typically holds. The recorded positions are then advantageously verified, and the position is determined at which the coordinates of the two technologies correlate within configurable limits. Subsequently, the machine's direction of travel is calculated, and the machine is aligned accordingly.

[0023] For example, the second transmitting and / or receiving device is designed for transmitting and / or receiving lidar signals. It is conceivable that the second transmitting and / or receiving device incorporates a stereo camera. It is also conceivable that the third transmitting and / or receiving device is configured for transmitting and / or receiving Bluetooth signals. In this way, a wide variety of technologies can be used to advantage.

[0024] For example, one technology can detect the surroundings, including the operator or follower, while the other technology detects, identifies, and locates the operator or follower. This allows for a valuable verification of the follower's identity. It also incorporates a safety function, significantly increasing operational reliability. Direct assignment via remote control and increased robustness through the use of two different technologies are also possible. These two technologies provide advantageous system redundancy: the remote control enables direct assignment of the person, while the radar ensures reliable detection. Furthermore, the process offers enormous potential for time savings due to the use of these advanced technologies.

[0025] For example, the control unit is designed to determine the distance and / or direction of movement between the mobile machine and the mobile remote control unit. This improves operator safety and tracking. For example, the control unit is designed to determine the speed and / or direction of movement of the mobile remote control unit. This improves the machine's tracking capabilities in relation to the moving operator.

[0026] Advantageously, in follow mode, at least a minimum following distance is provided between the mobile remote control unit and the machine. This ensures that the operator is protected from interference by the machine and also guarantees that the machine can be followed. For example, the following distance is constant in follow mode. Furthermore, in follow mode, at least a maximum following speed for the machine is provided, in particular, the maximum following speed is less than 9 km / h, and especially less than 6 km / h.

[0027] For example, the mobile remote control unit is designed, at least as an activation / deactivation unit, to activate and / or deactivate the follow-follow mode of the machine. Accordingly, the advantageous follow-follow mode can be switched on and off using the remote control unit. Thus, it is up to the operator to activate and deactivate the follow-follow mode. This also improves operational safety, especially for the operator. Character description

[0028] An embodiment of the invention is shown in the drawing and is explained in more detail below with reference to the single figure. Figure 1 shows a schematic top view of a mobile work machine with driver's cab and monitoring area as well as with an operator with remote control according to the invention.

[0029] In Figure 1A wheel loader 1 or mobile work machine 1 with drive wheels 3, operator's cab 4, lifting arm 5, articulated steering system 6, and an attachment 2 or working tool 2 is shown schematically. The working tool is, for example, a so-called "grab bucket" 2, e.g., for hay, straw, gravel, or sand. The wheel loader 1 or mobile work machine 1 can be operated purely electrically or by means of an internal combustion engine.

[0030] In manual operation, a driver 7 or operator 7 controls the work machine 1 or the work tool from a driver's seat in the driver's cab 4 and has various controls, including a steering wheel for the steering system 6 and various joysticks, at their disposal. Furthermore, the wheel loader 1 has a tool holder on the lifting arm 5, i.e., a quick-change system or quick-change plate, so that a wide variety of work tools, such as buckets, forks, grapples, sweepers, snowplows, etc., can be quickly and easily attached to and detached from the lifting arm 5.

[0031] For follow-mode operation or semi-autonomous operation, i.e., driving without the driver 7 being in the driver's cab 4, the driver 7 is, however, within a monitoring area I, II, III, as shown in Figure 1schematically depicted. In contrast to an obstacle 8 or object 8, the driver 7 has a remote control 9.

[0032] Surveillance areas I, II, and III are established by means of three transmitters 11, 12, and 13, or rather their transmission signals / ranges. Transmitter 11 generates surveillance area I, transmitter 12 surveillance area II, and transmitter 13 surveillance area III. Advantageously, transmitter 11 is an ultra-wideband transmitter, and transmitters 12 and 13 are radar transmitters.

[0033] Consequently, two different technologies are advantageously combined here. Firstly, obstacles 8 and persons 7 in front of the machine 1 are generally detected by means of radar transmitters 12, 13 and monitoring areas I, II, respectively. Their positions (X / Y), i.e., the positions of the obstacle 8 and person 7, are then transmitted to the machine 1 and its control unit, in particular the processing ECU. Furthermore, the operator's position 7 is tracked and located via the remote control 9, which the operator holds, using UltraWideBand technology and transmitter 11. The recorded positions are then checked, and the position is determined at which the coordinates of the two technologies correlate within configurable limits (see Figure 1). Figure 1 (Checkmark confirming position detection / location). The direction of travel is then calculated and the machine is aligned with person 7.

Claims

1. Mobile working machine (1) with a drive unit for driving at least one drive element (3) and / or a working tool (2), wherein the drive unit comprises at least one drive motor and a steering device (6) for steering the working machine (1) in the direction of a travel path and a tool holder (5) for receiving or holding / fixing the working tool (2) and / or a lifting device (5), wherein at least one electrical and / or electronic control unit is provided for controlling the drive unit or the drive motor or the steering device (6) or the lifting device (5) or the working tool (2) or the tool holder (5), wherein the control unit comprises at least one mobile remote control unit (9) for wireless remote control of the working machine (1) by an operator (7), wherein at least one tracking unit (11, 12, 13) for locating the mobile remote control unit (9) is arranged on the working machine (1).

2. Working machine according to claim 1, characterized by the fact that the working machine (1) has at least one identification unit (11, 12, 13) for identifying the mobile remote control unit (9).

3. Working machine according to one of the aforementioned claims, characterized by the fact that the mobile remote control unit (9) has an identification device to enable the identification of the mobile remote control unit (9) by the tracking unit (11, 12, 13).

4. Working machine according to one of the aforementioned claims, characterized by the fact that at least one following mode of the working machine (1) is provided, wherein in the following mode the working machine (1) follows the mobile remote control unit (9).

5. Working machine according to one of the aforementioned claims, characterized by the fact that the mobile remote control unit (9) has at least one first transmitting and / or receiving device (11, 12, 13) for transmitting and / or receiving remote control signals (I, II, III).

6. Working machine according to one of the aforementioned claims, characterized by the fact that at least one distance and / or obstacle detection unit (11, 12, 13) is provided on the working machine () for detecting an obstacle (8) and / or a minimum distance of the obstacle (8) to the working machine (1).

7. Working machine according to one of the aforementioned claims, characterized by the fact that the distance and / or obstacle detection unit (11, 12, 13) has at least one second transmitting and / or receiving device (11, 12, 13) for transmitting and / or receiving obstacle signals (I, II, III).

8. Working machine according to one of the aforementioned claims, characterized by the fact that the locating unit (11, 12, 13) has at least one third transmitting and / or receiving device (11, 12, 13) for transmitting and / or receiving locating signals (I, II, III), wherein the obstacle signals (I, II, III) and the locating signals (I, II, III) are different.

9. Working machine according to one of the aforementioned claims, characterized by the fact that the second transmitting and / or receiving device (11, 12, 13) is designed for transmitting and / or receiving radar signals (II, III) and / or that the third transmitting and / or receiving device (11, 12, 13) is designed for transmitting and / or receiving ultra-wide-band signals (I).

10. Working machine according to one of the aforementioned claims, characterized by the fact that the control unit is designed to determine a distance and / or a distance direction between the mobile working machine (1) and the mobile remote control unit (9).

11. Working machine according to one of the aforementioned claims, characterized by the fact that In follow mode, at least a follow distance is provided between the mobile remote control unit (9) and the working machine (1).

12. Working machine according to one of the aforementioned claims, characterized by the fact thatthe mobile remote control unit (9) is designed at least as an activation / deactivation unit (9) for activating and / or deactivating the follow mode of the working machine (1).

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