Method and work machine

Abstract

The invention relates to a method for determining a restricted region (S) which adjoins a work region (A) of a work machine (1), wherein the method comprises the steps of: a) determining two adjoining regions (B1, B2) in a surrounding region (U) surrounding the work machine (1) by means of a sensor system (5) of the work machine (1) that comprises a number of markers (6), b) assessing a first of the regions (B1) to be the restricted region (S) and a second of the regions (B2) to be the work region (A); wherein at least one marker (6) has a restricted side and a work side opposite the restricted side, wherein, during the assessment according to step b), the first region (B1) adjoining the restricted side is identified as the restricted region (S) and the second region (B2) adjoining the work side is identified as the work region (A); and / or wherein at least one marker (6), during the determination according to step a), is moved along a boundary (Z) between the first region (B1) and the second region (B2) and the assessment according to step b) takes place on the basis of a movement direction (BR) of said marker (6); and / or wherein the sensor system (5) has at least one assessment marker having a predetermined restriction or work value and the assessment marker for assessing according to step b) is positioned within the first region (B1) or within the second region (B2).

Description

[0001] Process and working machine

[0002] The invention relates to a method for defining a restricted area adjacent to a working area of ​​a work machine. The invention also relates to a work machine for implementing such a method.

[0003] It is an object of the present invention to provide a method for defining a restricted area adjacent to a working area of ​​a work machine, as well as a work machine with improved properties. In particular, the aim is to enable the safest possible operation of the work machine.

[0004] This problem is solved by the subject matter of the independent patent claims. Preferred embodiments are the subject matter of the dependent patent claims.

[0005] A method according to the invention serves to define a restricted area adjacent to a working area of ​​a work machine. The work machine can be a mobile work machine, in particular a trailer-mounted work machine or a self-propelled work machine. The work machine has a machine base, a control unit, for example in the form of a microprocessor controller, and at least one component that is adjustable relative to the machine base and controllable by means of the control unit. The adjustable component can be, for example, a conventional mast of the work machine, in particular a distribution boom. The work machine also has a sensor system coupled to the control unit for data exchange, said system having a number of markers for defining a boundary between two adjacent areas. The sensor system can be designed to detect the position of the markers.Accordingly, the sensor system can be a position detection system. The term "marker" can be understood here as a synonym for the term "tag." The number of markers can, for example, be between 1 and 100. However, several hundred to several thousand markers are also conceivable.

[0006] The method according to the invention comprises a step a). According to step a), the two adjacent areas in an environment surrounding the work machine are defined by means of the sensor system. The method further comprises a step b). According to step b), a first of the areas is evaluated as a restricted area and a second of the areas as a working area. This evaluation can advantageously define an operating space of the work machine corresponding to the working area. In the operating space, reliable and / or trouble-free operation of the work machine, in particular of the adjustable component, can be enabled. "Reliable and / or trouble-free" can refer to the fact that the work machine, in particular its adjustable component, can be operated collision-free within the working area.The control unit can be configured to control the movement of the adjustable component in such a way that the component, in particular as a whole, does not assume a position or posture that lies outside the working area. This is because operation, in particular movement, of the work machine or individual components thereof within the restricted area can lead to collisions and thus to damage to the work machine itself or to an obstacle located within the restricted area. This can be advantageously avoided by means of the method according to the invention.

[0007] The work machine can, for example, be designed to convey construction and / or high-density materials. In this context, high-density materials can be understood as a slurry-like mixture of different materials. High-density materials include, for example, mortar, cement, screed, or concrete, each in a mixable and / or conveyable state. In a mixable and / or conveyable state, the high-density materials are, in particular, not yet hardened. In particular, the high-density materials are a building material.

[0008] Positions in the present context are to be understood in particular as positions in space and can, for example, be described in a three-dimensional, in particular Cartesian, coordinate system.

[0009] To carry out the method according to the invention, at least one marker has a blocked side and a working side opposite the blocked side, wherein during the evaluation according to step b) the first area adjacent to the blocked side is identified as the blocked area and the second area adjacent to the working side is identified as the working area. In this way, a boundary between two areas can be defined using a single marker. It is understood, however, that the boundary can also be defined according to the method using several such markers, each with a blocked side and a working side. The evaluation of the areas can occur directly as a result of an orientation of the marker. The marker can have a visually recognizable marking of its orientation. This facilitates the alignment and / or placement of the marker, in particular for a user.

[0010] Additionally or alternatively, the method according to the invention provides that at least one marker is moved along the boundary between the first region and the second region during the determination according to step a), and the evaluation according to step b) is carried out based on a direction of movement of this marker. The direction of movement of the marker can be determined or recognized relative to the machine base of the work machine. A start point and an end point of the movement of the marker can have spatially different or the same, in particular identical, positions. The moved marker preferably creates an area that is evaluated as a restricted area or a working area depending on the direction of movement of this marker. The area can be created by virtually drawing at least a section of a contour of the area by moving the marker.The marker can, for example, be carried by a user, with the user walking and / or traversing the boundary to be defined, in particular to virtually draw at least some sections of the contour. Advantageously, the definition according to step a) can be performed using a single moving marker. The moving marker allows particularly geometrically complex contours to be defined precisely.

[0011] Additionally or alternatively, the method according to the invention provides that the sensor system comprises at least one evaluation marker with a predetermined blocking or working value, wherein the evaluation marker is positioned within the first area or within the second area for the evaluation according to step b). The evaluation marker can, for example, be positioned within an area defined by other markers, in particular a planar or spatial area, wherein the predetermined blocking or working value of the evaluation marker is assigned to the area. If, for example, this area is evaluated as a blocking area, i.e., the blocking value is assigned, the area adjacent to this area can automatically be evaluated as a working area, or vice versa. The evaluation marker enables particularly intuitive and / or user-aware evaluation.

[0012] In an embodiment of the invention, when step a) is carried out, at least two spatial points in the environment of the work machine are determined by means of the sensor system. By linking the at least two spatial points, in particular virtually, at least one line and / or at least one plane and / or at least one surface and / or at least one space is spanned in order to define a boundary between the first area and the second area. The spatial points can correspond to a position of the marker(s), wherein the position is variable or permanent when the method is carried out. The number of spatial points can correspond to the number of markers. The controller can be configured to simplify and / or interpolate and / or extrapolate the number of spatial points as desired.

[0013] In a further embodiment of the invention, the sensor system has an operating device with an input device and a display device. The operating device can be handled in particular by a user. The input device can be actuated by the user. The display device can be perceived by the user visually and / or audibly and / or haptically. The operating device can be implemented in the form of VR glasses or AR glasses or XR glasses or a tablet computer or a mobile phone, in particular a smartphone. The input device can, for example, be actuated manually, in particular by means of a stylus or by finger input. The areas defined after carrying out step a) are visualized, in particular by means of the display device. The evaluation according to step b) takes place by input using the input device.This can be done by visualizing the areas using the display device. In particular, a virtual model of a boundary between the areas is generated for visualization purposes. The areas can be checked based on their visualization, in particular by the user. After checking, a correction and / or confirmation can be made. The confirmation and / or correction can be made, for example, through interaction between the display device and the input device, in particular automatically and / or manually. This enables the areas to be defined particularly precisely. The user can, if necessary, remove and / or add one or more spatial points.

[0014] In a further embodiment of the invention, the method comprises a step c). According to step c), a third area is defined which borders either the first or the second area. When step b) is carried out, the third area is assessed as a restricted area if the first area or second area bordering the third area is assessed as a working area. Conversely, when step b) is carried out, the third area can be assessed as a working area if the first area or second area bordering the third area is assessed as a restricted area. The third area can lie entirely within the first area or within the second area. Step c) can be carried out repeatedly. This advantageously makes it possible to define several working areas and / or several restricted areas within the surroundings of the work machine.

[0015] In a further embodiment of the invention, the work machine is designed as a concrete pump, in particular as a trailer-mounted concrete pump or as a truck-mounted concrete pump. Additionally or alternatively, the adjustable, controllable component is a mast of the work machine, in particular a placing boom. The use or operation of a concrete pump on a construction site can place high demands on the concrete pump operator. When adjusting the controllable component, in particular the mast, the method can prevent a collision with other objects on the construction site, such as scaffolding, buildings, or the like.

[0016] In a further embodiment of the invention, the method comprises step d). According to step d), control signals are generated by the control unit to adjust the controllable component relative to the machine base, in particular exclusively, within the working range. The control unit can be configured to control a movement of the controllable component such that the component, in particular in its entirety, does not assume a position or posture that lies outside the working range. This enables particularly safe operation of the work machine.

[0017] In a further embodiment, the number of markers is a number of UWB markers. The sensor system can also have a number of UWB anchors. The number of UWB anchors can be, for example, between 1 and 30. The number of UWB anchors can be limited by the computing power of the control unit and the size of the network. The UWB anchors can be fixedly arranged on and / or relative to the machine base and / or the adjustable component. In contrast, the UWB markers can be movable or freely positionable relative to the machine base and / or the adjustable component.

[0018] The UWB markers are based on so-called UWB technology. UWB technology (German: Ultra-Broadband Technology) is a radio-based short-range communications technology for transmitting data for indoor and outdoor positioning. The position of the UWB marker(s) is determined by determining the propagation time of ultra-wideband signals with frequencies of more than 1.5 GHz between the UWB marker(s) and the UWB anchors. The ultra-wideband signals typically have a bandwidth between 0.1 GHz and 10 GHz, in particular between 0.5 GHz and 5 GHz, and particularly preferably between 0.8 GHz and 1.2 GHz. The frequency of the ultra-wideband signals is typically between 1.5 GHz and 20 GHz, in particular between 2 GHz and 15 GHz, and particularly preferably between 3 GHz and 10 GHz.The energy of ultra-wideband signals is typically between -100 dBm / Hz and -1 dBm / Hz, in particular between -90 dBm / Hz and -10 dBm / Hz, and particularly preferably between -60 dBm / Hz and -30 dBm / Hz. For further information, please refer to the relevant technical literature.

[0019] The control unit can be configured to monitor a distance between the work machine and the boundary between the areas defined according to step a) based on data provided by the sensor system. For example, the control unit can use the sensor system to determine a position of the UWB marker(s) and / or the boundary to the restricted area in a coordinate system that can be defined by the UWB anchors. The geometric dimensions of the work machine in this coordinate system can be known to the control unit and can, for example, be stored in a memory of the control unit. Since the work machine has the adjustable component that can change the geometric dimension of the work machine, the resulting dynamic and / or variable geometric dimensions in the coordinate system can be computationally determined by the control unit.Therefore, based on the geometric dimensions of the working machine and the position of the boundary to the restricted area, the control unit can calculate a distance between the outer geometric limits of the working machine and the boundary to the restricted area.

[0020] In a further embodiment of the invention, the evaluation according to step b) is carried out based on the direction of movement of the marker moved according to step a) relative to the machine base.

[0021] A work machine according to the invention serves to carry out a method according to the invention as described above. The work machine is preferably configured to carry out the method. The aforementioned advantages of the method according to the invention are therefore also transferred to the work machine according to the invention. The work machine has a machine base, a control unit, and at least one component that is adjustable relative to the machine base and controllable by means of the control unit. The machine base can, for example, have a machine frame and / or a chassis. The control unit can, for example, be designed in the form of a microprocessor controller. The work machine has a sensor system, in particular a position detection system, coupled to the control unit for data exchange, with a number of markers for defining a boundary between two adjacent areas.In particular, the areas can be evaluated by means of the control unit according to the method, i.e. the control unit can be configured to at least carry out step b). The control unit is configured to generate control signals depending on which the controllable component can be adjusted relative to the machine base, in particular exclusively, within the working area. This means that the control unit can be designed to control a movement of the adjustable component, in particular according to the method, such that the component, in particular in its entirety, does not assume a position and / or an attitude that lies outside the working area and / or within the restricted area. Further advantages and features of the invention emerge from the claims and from the following description of preferred exemplary embodiments of the invention, which are illustrated with reference to the drawings.The same reference symbols refer to the same or similar or functionally identical components.

[0022] 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.

[0023] Fig. 1 shows schematically a structure of an embodiment of a working machine according to the invention, which is designed to carry out a method according to the invention,

[0024] Fig. 2 schematically shows another embodiment of the method according to the invention,

[0025] Fig. 3 schematically shows another embodiment of the method according to the invention,

[0026] Fig. 4 schematically shows another embodiment of the method according to the invention,

[0027] Fig. 5 schematically shows another embodiment of the method according to the invention,

[0028] Fig. 6 schematically shows another embodiment of the method according to the invention, and

[0029] Fig. 7 schematically shows another embodiment of the method according to the invention.

[0030] The work machine 1 according to the invention is configured to carry out a method according to the invention. The work machine 1 has a machine base 2. The work machine 1 has a control unit 3. The work machine 1 has at least one component 4 that is adjustable relative to the machine base 2 and controllable by means of the control unit 3.

[0031] The work machine 1 further comprises a sensor system 5 coupled to the control unit 3 for data exchange. The sensor system 5 is, for example, a position detection system. The sensor system 5 comprises a number of markers 6 for defining a boundary Z between two adjacent areas B1, B2. The control unit 3 is configured to generate control signals, depending on which the controllable component 4 can be adjusted relative to the machine base 2 within a working area A.

[0032] In this case, area B2 corresponds to work area A, whereas area B1 is classified as restricted area S. An obstacle H, in this case in the form of a building, is completely enclosed in restricted area S and thus excluded from work area A.

[0033] The control unit 3 is designed, for example, to control a movement or adjustment of the controllable component 4 such that the component 4 does not assume a position and / or a position outside the working area A. Thus, a collision of the work machine 1 with the obstacle H can be avoided.

[0034] The work machine 1 is used, for example, for construction and / or high-density material conveyance. For example, the work machine 1 is designed as a concrete pump 12. The concrete pump 12 can be designed as a truck-mounted concrete pump, as shown by way of example in Fig. 1. The adjustable, controllable component 4 can be a boom 13, in this case a distribution boom.

[0035] The work machine 1 comprises, for example, a construction and / or high-density material pumping unit 16. The construction and / or high-density material pumping unit 16 serves to pump construction and / or high-density material. The construction and / or high-density material pumping unit 16 can have delivery cylinders with variable-volume delivery chambers. For changing the volumes of the delivery chambers, in particular in opposite directions, the delivery cylinders can each have an adjustable delivery piston. The construction and / or high-density material pumping unit 16 can also comprise an S-shaped pipe switch, in particular with an S-pipe, which is fluidly connected at one end to a pressure port acting as a pump outlet. The pipe switch can be arranged in a storage chamber that can be filled with construction and / or high-density material from above for storing construction and / or high-density material. The pipe switch can be rotatably mounted at one end on the pressure port within the storage chamber. The variable-volume delivery chambers can open into the storage chamber.The pipe switch can be pivoted relative to the conveying chambers in the storage chamber such that it can be alternately connected to one of the conveying chambers for the construction and / or high-density material. In this way, due to the counteraction of the pivoting of the pipe switch and a change in the volume of the conveying chambers, the construction and / or high-density material located in the storage chamber can be alternately sucked in by the conveying chambers and pumped out through the conveying chambers, through the pipe switch, and via the discharge nozzle. An agitator of the working machine 1 can be arranged in the storage chamber of the construction and / or high-density material pumping unit 16.

[0036] The method according to the invention serves to define a restricted area S that adjoins a working area A of the work machine 1. The method comprises a step a). According to step a), the two adjacent areas B1, B2 in an environment U surrounding the work machine 1 are defined by means of the sensor system 5. The method also comprises a step b). According to step b), a first of the areas B1 is evaluated as a restricted area S and a second of the areas B2 is evaluated as a working area A.

[0037] In a variant of the method, at least one marker 6 has a blocking side 7 and a working side 8 opposite the blocking side 7, as shown in Fig. 3. During the evaluation according to step b), the first area B1 adjoining the blocking side 7 is recognized as a blocking area S. Furthermore, the area B2 adjoining the working side 8 is recognized as a working area A. The marker 6 with a blocking side 7 and with a working side 8 can have a visual marking on its outer side for the alignment and / or differentiation of the blocking side 7 and the working side 8 of the marker 6.

[0038] In a further variant of the method, the sensor system 5 comprises at least one evaluation marker 14, 15 with a predetermined blocking or operating value. For the evaluation according to step b), the evaluation marker 14, 15 is positioned within the first area B1 or within the second area B2, as shown in Fig. 2. The evaluation marker 14, 15 can, for example, be positioned in an area B1, B2 spanned by markers 6, wherein the predetermined blocking or operating value of the evaluation marker 14, 15 is assigned to the area B1, B2.

[0039] In a further variant of the method, at least one marker 6 is moved along the boundary Z between the first area B1 and the second area B2 during the definition according to step a), as shown in Figs. 4 and 5. The evaluation according to step b) is based on a direction of movement BR of the moved marker 6. According to Figs. 4 and 5, a start point and an end point of the movement of the marker 6 have spatially identical, in particular identical, positions. The movement of the marker 6 thus describes, for example, a contour, in particular a closed contour. The contour can enclose or border an area B1, B2, which is evaluated as a working area A or a restricted area S depending on the direction of movement BR of the marker 6. For example, the evaluation according to step b) is based on the direction of movement BR of the marker 6 moved according to step a) relative to the machine base 2.

[0040] The aforementioned variants of the method can be executed in any combination. This means that all variants or, for example, two selected variants can be combined. It is understood that each variant can also be executed separately. Combined variants can be executed simultaneously.

[0041] For example, when carrying out step a), at least two spatial points R1, R2 in the environment U of the work machine 1 are determined by means of the sensor system 5. By linking the spatial points R1, R2, at least one line and / or at least one plane and / or at least one surface and / or at least one space is spanned in order to define a boundary Z between the first area B1 and the second area B2. The spatial points R1, R2 can correspond to a permanent position of the marker 6, as shown, for example, in Fig. 2, or correspond to a past position of the marker 6, as shown in Figs. 4 and 5.

[0042] For example, nine spatial points R1 to R9 are visible in Fig. 1. Of course, fewer or more than the nine spatial points R1 to R9 shown can also be determined by the sensor system 5, for example, 1 to 100 spatial points.

[0043] For example, the sensor system 5 has an operating device 9 (see in particular Fig. 7). The operating device 9 has an input device 10 and a display device 11. The operating device 9 can be embodied in the form of an electronic mobile VR, AR, or XR device, such as VR glasses, AR glasses, or XR glasses, or a mobile terminal. Such a mobile terminal can be a tablet computer or a mobile phone, for example, a smartphone.

[0044] The areas B1, B2 defined after performing step a) can be visualized. In this case, the visualization is carried out using the display device 11. The evaluation according to step b) takes place, for example, by input using the input device 10, in particular based on the visualization of the areas B1, B2 using the display device 11. For visualization, a virtual model of a boundary Z between the areas B1, B2 is preferably generated. Based on the visualization, the definition of the areas can be corrected if necessary. The correction can be made either by repeating step a) or virtually. The input device 10 can have a touchscreen, which can be actuated, for example, using a stylus or a finger and which simultaneously functions as the display device 11.

[0045] According to Fig. 7, for example, a large number of markers 6, for example up to 50, are introduced into the environment U surrounding the work machine 1. This can be done, for example, by throwing the markers 6 at an obstacle. The markers 6 can be self-adhesive, so that they can stick to the obstacle. For example, the markers 6 can be permanently magnetic. Since each marker 6 has a defined position in space, which is determined by the sensor system 5, a three-dimensional virtual model can be calculated based on the large number of markers 6.

[0046] The virtual model can represent or reproduce the obstacle and / or the geometric restriction of the operating space of the work machine 1. In particular, the virtual model is calculated using the control unit 3. The obstacle and / or the geometric restriction arises, for example, from objects, scaffolding, or the like in the environment U of the work machine 1. The three-dimensional virtual model can then be visualized and, if necessary, corrected and / or refined using the operating device 9.

[0047] For example, the method additionally comprises a step c). According to step c), a third region B3, which borders either the first or the second region B1, B2, is defined, as shown by way of example in Fig. 6. In this case, when step b) is carried out, the third region B3 is assessed as a restricted region S' if the first region B1 or second region B2 bordering the third region B3 is assessed as a working region A. Alternatively, the third region B3 can be assessed as a working region A if the first region B1 or the second region B2 is assessed as a restricted region S.

[0048] The method can, for example, comprise a step d). According to step d), control signals are generated by the control unit 3 in order to adjust the controllable component 4 relative to the machine base 2 within the working area A. The controllable component 4 is adjustable, in particular exclusively, within the working area A. The control unit 3 is designed to control a movement of the adjustable, controllable component 4 such that the component 4, in particular in its entirety, does not assume a position or posture that lies outside the working area A. As a result, when adjusting the controllable component 4, in particular the mast 13, no collisions can occur with other objects located in the restricted area S, S', for example scaffolding, buildings or the like.

Claims

Patent claims 1. A method for defining a restricted area (S) that adjoins a working area (A) of a work machine (1), wherein the work machine (1) has: a machine base (2), a control unit (3), at least one component (4) that is adjustable relative to the machine base (2) and controllable by means of the control unit (3), and a sensor system (5) that is coupled to the control unit (3) for data exchange and has a number of markers (6) for defining a boundary (Z) between two adjacent areas (B1, B2), the method comprising the steps of: a) defining the two adjacent areas (B1, B2) in an environment (U) surrounding the work machine (1) by means of the sensor system (5), b) evaluating a first of the areas (B1) as a restricted area (S) and a second of the areas (B2) as a working area (A);wherein at least one marker (6) has a blocking side (7) and a working side (8) opposite the blocking side (7), wherein during the evaluation according to step b), the first area (B1) adjoining the blocking side (7) is recognized as the blocking area (S) and the second area (B2) adjoining the working side (8) is recognized as the working area (A); and / or wherein at least one marker (6) is moved along the boundary (Z) between the first area (B1) and the second area (B2) during the determination according to step a), and the evaluation according to step b) is carried out based on a direction of movement (BR) of this marker (6); and / or wherein the sensor system (5) comprises at least one evaluation marker (14, 15) with a predetermined blocking or working value, and the evaluation marker (14, 15) is positioned within the first area (B1) or within the second area (B2) for the evaluation according to step b).

2. Method according to claim 1, wherein when carrying out step a) at least two spatial points (R1, R2) in the environment (U) of the working machine (1) are determined by means of the sensor system (5), by the linking of which at least one line, at least one plane or at least one space is spanned to define a boundary (Z) between the first and second areas (B1, B2).

3. Method according to one of the preceding claims, wherein the sensor system (5) has an operating device (9), in particular in the form of VR glasses or AR glasses or XR glasses or a tablet computer or a mobile phone, with an input device (10) and a display device (11), wherein the areas (B1, B2) defined after carrying out step a) are visualized, in particular by means of the display device (11), wherein the evaluation according to step b) is carried out by input by means of the input device (10), in particular based on a visualization of the areas (B1, B2) by means of the display device (11), in particular wherein a virtual model of a boundary (Z) between the areas (B1, B2) is generated for the visualization.

4. Method according to one of the preceding claims, wherein the method comprises the following further step: c) defining a third area (B3) which is adjacent to either the first or the second area (B1, B2), wherein when step b) is carried out, the third area (B3) is assessed as a restricted area (S') if the first area (B1) or second area (B2) adjacent to the third area (B3) is assessed as a working area (A) or vice versa.

5. Method according to one of the preceding claims, - wherein the working machine (1) is designed as a concrete pump (12), in particular as a truck-mounted concrete pump, and / or - wherein the adjustable controllable component (4) is a mast (13).

6. Method according to one of the preceding claims, wherein the method comprises the following further step: d) generating control signals by means of the control unit (3) in order to adjust the controllable component (4) relative to the machine base (2), in particular exclusively, within the working area (A).

7. Method according to one of the preceding claims, wherein the number of markers (6) is a number of UWB markers.

8. Method according to one of the preceding claims, wherein the evaluation according to step b) is carried out based on the direction of movement (BR) of the marker (6) moved according to step a) relative to the machine base (2).

9. Work machine (1) for carrying out a method according to one of the preceding claims, comprising: a machine base (2), a control unit (3), at least one component (4) which is adjustable relative to the machine base (2) and controllable by means of the control unit (3), and a sensor system (5), in particular a position detection system, coupled to the control unit (3) for data exchange, with a number of markers (6) for defining a boundary (Z) between two adjacent areas (B1, B2), wherein the control unit (3) is designed to generate control signals depending on which the controllable component (4) is adjustable relative to the machine base (2), in particular exclusively, within the working area (A).

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