System and method for specifying position of attachment tool

Abstract

To improve reliability of association between an attachment tool and a work device.SOLUTION: A system for specifying a position of an attachment tool of a work device includes: a first communication unit having a first acceleration sensor configured so as to be connected to the attachment tool and provide a first acceleration signal relating to instantaneous acceleration of the attachment tool; a second communication unit having a second acceleration sensor configured so as to be connected to a work device of the attachment tool and provide a second acceleration signal relating to instantaneous acceleration of a connection region; and an identification module which is coupled to the first and / or second communication units, acquires the first and second acceleration signals, and enables secure arrangement of the attachment tool on the work device by evaluation of the signals. There is also provided a set including the work device and the attachment tool including the system, and a method for specifying a position of the attachment tool for the work device with the system.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a system for localizing or associating an attachment tool for a work device, comprising a first communication unit connected to an attachment tool, a second communication unit connected to a work device, and an identification module communicatively connected to the first and / or second communication unit. The present invention further relates to a method for verifying or identifying an attachment tool for a work device by such a system.

Background Art

[0002] In some work devices, such as hydraulic excavators, it is known to prepare a number of different attachment tools at the deployment site that can be attached to or removed from the work device to perform special operations on site. Such work devices usually have a quick-change system so that different attachment tools can be lifted and placed quickly and easily. Multiple work tools are frequently stored close to each other at the deployment site so that they can be lifted or placed by the work device as needed.

Summary of the Invention

Problems to be Solved by the Invention

[0003] To enable the operation of a work device to be set for each attachment tool, it is known to provide an attachment tool with a transmission / reception module that transmits, for example, identification or geometric data to the controller of the work device. However, because wireless transmission and reception modules have a specific range, signals are frequently received from multiple work tools. Since the data being exchanged can be related to safety, it is necessary to correctly associate which attachment tool is coupled to which work device.

[0004] Therefore, the fundamental objective of the present invention is to enhance the reliability of the association between the attachment tool and the work device. [Means for solving the problem]

[0005] According to the present invention, this objective is satisfied by a system having the features of claim 1 and by a method having the features of claim 12. Advantageous embodiments of the present invention can be obtained from the dependent claims and the following description.

[0006] Accordingly, a system for locating attachment tools for a work apparatus is provided, the work apparatus may be, for example, a hydraulic excavator, and the attachment tools may be, for example, an excavator bucket, an orange peel grab, or an arm extension. However, the present invention may also be used for other work apparatuses in which different attachment tools may be used.

[0007] The system according to the present invention comprises a first communication unit connected to an attachment tool. The first communication unit has a first acceleration sensor configured to detect the instantaneous acceleration of the attachment tool and to provide a first acceleration signal representing the acceleration.

[0008] The system according to the present invention further comprises a second communication unit connected to the work device, which is actually connected to a region of a connection area for attaching the attachment tool. The connection area may be located at the end of the excavator arm and may represent or include, for example, a quick changer. The second communication unit has a second acceleration sensor configured to detect the instantaneous acceleration of the connection area and to provide a second acceleration signal representing the detected acceleration of the connection area.

[0009] The system according to the present invention further comprises an identification module coupled to the first and / or second communication unit. The identification module is configured to receive or acquire the first and second acceleration signals, compare them with respect to this comparison, and locate or associate the attachment tool with respect to this comparison. The identification module can specifically recognize, with respect to the above comparison, whether a particular attachment tool is connected to a work device, i.e., mounted in a connection area, or placed, for example, on the ground or on a second work device in the environment. The identification module may be a software module or a program.

[0010] Therefore, the idea of ​​the present invention involves achieving a safe and reliable association or identification of an attachment tool, in that the accelerations of the attachment tool and the connection area are measured and evaluated, i.e., compared with each other. When an attachment tool, which receives a signal (a first acceleration signal) from a working device (or a second communication unit), is placed in the connection area, the attachment tool and the connection area experience similar accelerations with respect to the movement of the connection area. When only the attachment tool is moved, the latter also experiences similar accelerations. Conversely, an attachment tool placed on the ground does not experience any accelerations.

[0011] For example, if a second communication unit receives two first acceleration signals from two different attachment tools, one of which is mounted on the connection area and the other on the ground, the acceleration represented by one of the two first acceleration signals is more similar to the acceleration of the connection area (represented by the second acceleration signal) than to the acceleration represented by the other acceleration signal during the movement of the connection area (e.g., rotation of the excavator arm).

[0012] If only the attachment tool is moved (for example, rotated relative to the connection area), the acceleration represented by one of the two first acceleration signals is greater than the acceleration represented by the other first acceleration signal.

[0013] Therefore, in order to reliably associate the attached attachment tool, it is advantageous that the connection area or at least the attachment tool is moved so that a sufficient difference results in acceleration between the stationary attachment tool and the attached attachment tool. The automatic identification of each attached attachment tool achieved by the system according to the present invention does not function in the selection of the correct attachment tool by the operator or corresponding operational assistance, but rather it should be ensured that the controller of the work device receives data on operations only from the attached work tools and not from, for example, unattached work tools that are also within range. Therefore, automatic identification or association can be performed automatically, in particular, as soon as the connection area and / or attachment tool is moved or accelerated, immediately after the attachment tool is attached or lifted.

[0014] However, it is theoretically possible to associate attachment tools without accelerating them, for example, in the sense that the signal strengths of the wireless connections are compared with each other. Here, it is assumed that an attachment tool mounted on a connection area is closer to the connection area than other attachment tools, and therefore the first acceleration signal of the corresponding first communication unit has a stronger, i.e., higher amplitude than the signal of the other attachment tools.

[0015] However, the comparison of acceleration signals is preferably performed during the movement of the attached attachment tool so that the “correct” first acceleration signal represents an acceleration greater than zero. Here, this movement may be a movement that occurs automatically in a mechanical coupling procedure so that appropriate evaluation can be performed automatically. Here, the comparison of acceleration signals or the association of the attachment tool is preferably performed automatically so that the operator does not need to do anything further.

[0016] In possible embodiments, the first communication unit is configured to wirelessly transmit the first acceleration signal to a receiving unit, for example, via RFID or Bluetooth, preferably BLE (Bluetooth Low Energy). The receiving unit is preferably configured to receive signals within a limited receiving radius. In the case of BLE, this can reach several meters so that signals from multiple attachment tools can be received simultaneously. Conversely, the first communication device has a limited transmission radius, which can similarly reach several meters.

[0017] In further possible embodiments, the second communication unit is configured to have the receiving unit and to provide the first and second acceleration signals to the identification module, for example, via cable or wirelessly. The receiving unit may be integrated into the second communication unit.

[0018] One possibility is that the second communication unit includes an identification module, which may be a software module stored in the data store of the second communication unit. In this case, the comparison, i.e., evaluation, of the acceleration signals is performed locally in the second communication unit. The second communication unit may be further connected to the controller of the work apparatus so that the controller and the second communication unit can exchange data. In particular, data of identified attachment tools provided via the first communication unit may be transmitted to the controller via the second communication unit (interface to the controller).

[0019] A further possibility is to provide a separate identification unit connected to the work apparatus and having an identification module, configured to receive first and second acceleration signals from a second communication unit via wired or wireless means. Here, the identification unit does not need to be located in the area of ​​the connection region, but rather may be located at any desired point on the work apparatus, for example, the superstructure of the work apparatus or the operator's cab. In this case, the different signals from the communication unit are concentrated and aggregated in the identification unit, in particular, where the acceleration signals are evaluated or compared.

[0020] The identification unit may include a data store in which the identification module is stored as a software module. The identification unit may be further connected to the controller of the work device so that the controller and the identification unit can exchange data. In particular, data of the identified attachment tool provided via the first communication unit may be transmitted to the controller via the identification unit (interface to the controller).

[0021] The second communication unit and the identification unit are preferably connected to each other wirelessly. Alternatively, these two units may be connected to each other by a cable, which in the case of an excavator can be routed along the arm to the connection area. Such cable wiring may be omitted with a wireless connection.

[0022] Alternatively, the identification unit may be a mobile device, such as a smartphone or tablet, and the identification module may be a program running on such a mobile device. Similarly, the identification unit may be an external processing unit or a cloud. The mobile device or cloud may be communicatively connected to the cloud wirelessly, for example, via cellular radio, using corresponding transceiver units that are successively connected or integrated to the second communication unit wirelessly or via cable.

[0023] Similarly, in a further possible embodiment, an identification unit connected to the working device may be provided. However, in this embodiment, the identification module has a receiving unit, i.e., the first communication unit communicates directly with the identification unit. In this case, the second communication unit is configured to transmit the second acceleration signal to the identification unit either wired or wirelessly. Any design possibilities described with respect to the previous embodiments are equally applicable to this embodiment.

[0024] In a further possible embodiment, the first communication unit is configured to provide an identification signal and transmit it to the identification module and / or the controller of the working device.

[0025] The identification signal may relate to the position of the attachment tool, which may be detectable, for example, by a position detection module (e.g., a GPS module). Alternatively or additionally, the identification signal may relate to the dimensions or a plurality of dimensions or the geometry of the attachment tool. Alternatively or additionally, the identification tool may relate to the type of the attachment tool, i.e., it may characterize the attachment tool (e.g., an excavator bucket, an orange peel grab, etc.). Alternatively or additionally, the identification signal may relate to other properties of the attachment tool, such as weight, tool parameters, etc. Operating parameters may also be transmitted.

[0026] Thus, the identification signal may preferably be provided to a controller that adapts the operation of the working device to each of the recognized and attached attachment tools. Since the data represented by the identification signal may relate to safety, it is particularly important that only the data of the actually attached attachment tool is transmitted to the controller that is secured with the assistance of the system according to the invention.

[0027] In a further possible embodiment, the identification module is configured to consider one or more of the following information in the comparison of the first acceleration signal and the second acceleration signal.

[0028] · Properties of the first and / or second acceleration signal. Here, it is preferably the signal strength or amplitude of the acceleration signal, particularly the first acceleration signal. It can be an indicator of the distance of each attachment tool from the connection area (the greater the distance, the smaller the signal strength).

[0029] · Properties of the identification signal. Here, it is preferably the signal strength or amplitude of the identification signal.

[0030] · The instantaneous position of the attachment tool. It can be determined by a positioning unit (e.g., GPS module) arranged on the attachment tool.

[0031] · The position or arrangement of the first communication unit on the attachment tool. Based on this information regarding which accelerations can be expected on the attachment tool during the coupling procedure and during operation, more accurate calculations can be performed, and higher accuracy can be achieved in the calculation of the expected acceleration or in the comparison with the actually measured acceleration.

[0032] · The instantaneous position and / or instantaneous equipment state of the working device. They can be determined by at least one sensor of the working device. The position can relate, for example, to the position or orientation of the excavator arm.

[0033] · The instantaneous coupling state of the attachment tool with the connection area of the working device. It can be determined by a coupling sensor that detects, for example, that the attachment tool is coupled to the connection area.

[0034] Thereby, it is possible to further improve the accuracy or reliability of the localization of the attached attachment tool.

[0035] In further possible embodiments, the identification module is configured to receive a plurality of acceleration signals from the first communication unit of a plurality of attachment tools, compare each of these first acceleration signals with the second acceleration signal of the second communication unit (either a single second acceleration signal or a plurality of second acceleration signals as a reference), and, with reference to the comparison, determine whether the attachment tool is connected to the work apparatus and / or which attachment tool is connected to the work apparatus. The second communication unit can preferably receive acceleration signals from attachment tools within a specific receiving radius of multiple meters, for example.

[0036] In further possible embodiments, the identification module is configured to consider which attachment tool is connected to the work apparatus and the minimum difference between the first acceleration signal and the second acceleration signal in determining whether the attachment tool is connected to the work apparatus and which attachment tool is connected to the work apparatus. The difference may relate to different properties of the acceleration signal, such as signal intensity or amplitude. Preferably, the difference relates to the observed acceleration of the attachment tool and the connection area. In other words, the attachment tool whose acceleration best matches the measured acceleration of the connection area, for example, having the smallest difference, is recognized as being attached (or at least more weighted in terms of its likelihood of being an attachment tool).

[0037] Alternatively or additionally, the identification module may be configured to consider the difference in signals or any other desired form of evaluation algorithm between the second acceleration signal and the expected acceleration for the attachment tool calculated with reference to the second acceleration signal in the above determination. Thus, the theoretically predictable acceleration for the attached attachment tool is calculated using the acceleration of the connection area measured by the second accelerometer and compared to the acceleration of the attached attachment tool actually measured by the first accelerometer. In this process, data on the attachment tool transmitted by the first communication unit (e.g., in the geometry of the tool) may be considered. If the deviation is too large, the work tool is recognized as not attached, or at least given a smaller weight.

[0038] In further possible embodiments, there are provided at least two of the first communication units connected to different attachment tools which can be coupled to each other and / or to the connection area, and the identification module is configured to acquire the first acceleration signals from at least two of the first communication units and compare them to each other and / or the second acceleration signals and use the comparison to determine the mounting order of the attachment tools. One of the attachment tools may be, for example, an adapter or extension to which different attachment tools can be mounted one after the other.

[0039] Here, the position of each attachment tool relative to the connection area can be determined by referring to the criteria described above, thereby determining the mounting order. For example, during the slewing of the work equipment boom, attachment tools positioned further out may experience greater acceleration than those directly installed in the connection area. Alternatively or additionally, signal strength can be observed because attachment tools positioned further out will have a lower signal strength than other attachment tools at the location of the second communication unit. The expected accelerations for different attachment tools at different locations can similarly be calculated by referring to the given or assumed mounting state of the attachment tools and compared to the measured acceleration values. If the difference is too large, the actual mounting order is recognized.

[0040] Precise determination of the mounting or coupling sequence based on the kinematics of the work apparatus enables precise setting of the work apparatus or its control over attachment tools.

[0041] The above applies not only to the mounting order but also to the position of adjustable attachment tools. For example, an adjustable extension can be provided as an attachment tool. Depending on the position, the first acceleration signal can be varied for the extension or any further attachment tools attached to it. Thus, incorrect installation positions of attachment tools can be recognized by comparing measured and calculated values. Here, a controller connected to the identification module can output a warning (e.g., visually and / or audibly) and / or intervene in the control of the work device.

[0042] In further embodiments, at least two of the first communication units are provided in each of the different attachment tools that communicate with each other. This allows additional information to be used in determining the coupling. The tools can additionally exchange their coupling states with each other. Furthermore, they can store the configuration in which they are installed, for example, when two tools are placed together.

[0043] In further possible embodiments, the identification module is configured to calculate an expected acceleration for the attachment tool based on the second acceleration signal, compare it to the first acceleration signal of the first communication unit of the attachment tool, and, with reference to the comparison, recognize whether the attachment tool is connected to the work apparatus and / or perform a validation for the assumed equipped state of the work apparatus. The validation may relate to values ​​in the attachment device transmitted by the first communication unit, such as type, dimensions, etc. (identification signal).

[0044] The evaluation may be performed, for example, by validating whether the transmitted dimensions of an extension (e.g., an arm extension for an excavator) differ from the values ​​derived from the measured data. The validation may relate not only to the mounting status or position / configuration of one or more attached tools, but also to the work apparatus itself. This enhances the operational safety of the work apparatus. Here, the validation is preferably performed automatically, without requiring the operator to initiate anything.

[0045] The present invention further relates to a set comprising a working device, in particular an excavator, and more particularly a hydraulic excavator, and at least one attachment tool comprising a system according to the present invention. The working device preferably includes a controller configured to acquire identification signals relating to the position and / or dimensions and / or type and / or other properties of the attachment tool and to adapt the operation or control of the working device based on the identification signals.

[0046] By comparing accelerations, it is ensured that the identification signals that underpin or influence the control of the work apparatus are actually generated not only from different tools within the receiving range, but also from the attached attachment tools. The data obtained from the identification signals can be compared with measured values ​​and checked for correctness or validity through optionally provided validation assessments.

[0047] Here, the same advantages and characteristics as the system according to the present invention are obtained overall, and further explanation is omitted at this point.

[0048] The present invention further relates to a method for locating an attachment tool for the work apparatus using a system according to the present invention. The method includes the following steps.

[0049] The first acceleration sensor of the first communication unit connected to the attachment tool detects the instantaneous acceleration of at least one of the attachment tools and provides the first acceleration signal.

[0050] The second acceleration sensor of the second communication unit detects the instantaneous acceleration of the connection area of ​​the work device and provides the second acceleration signal.

[0051] The first and second acceleration signals are transmitted to the identification module.

[0052] - The first and second acceleration signals are compared using an appropriate algorithm for locating the attachment tool to verify the attachment tool and specifically determine whether the attachment tool is connected to the work device (or which of the multiple possible attachment tools is attached to the connection area).

[0053] Here, the same advantages and characteristics as those of the system according to the present invention are clearly obtained, and at this point, further repetition is omitted. Accordingly, the above description of possible embodiments of different components of the system and their interactions applies accordingly.

[0054] The movement of the attached tool is preferably performed while measuring the instantaneous acceleration of the attached tool by a second acceleration sensor that forms the basis of the comparison, such that the corresponding first acceleration signal represents an acceleration greater than zero.

[0055] In a possible embodiment of the method, at least two of the first communication units are provided, connected to different attachment tools, and the attachment tools are coupled to each other and / or to the connection area. The theoretically expected accelerations of at least two of the attachment tools are calculated based on the second acceleration signal and compared to the first acceleration signal of the first communication unit of the attachment tool to recognize whether one or more of the attachment tools are connected to the work device and / or to perform a validation for the assumed mounting state or for the mounting state of the work device transmitted by the first communication unit.

[0056] In further possible embodiments of the method, information regarding the location and / or dimensions and / or type and / or other properties of the attachment tool, preferably transmitted to the identification module by each of the first communication units, is taken into consideration for the validation. The above information is transmitted in particular as an identification signal, and the identification signal may contain more information or more signals.

[0057] In further possible embodiments of the method, identification signals relating to the position and / or dimensions and / or type and / or other properties of the attachment tool are provided by the associated first communication unit, and the identification signals are transmitted (either directly or via the second communication unit) to a controller of the work apparatus that adapts the operation of the work apparatus based on the identification signals.

[0058] Further features, details, and advantages of the present invention can be obtained from embodiments described below with reference to the drawings. [Brief explanation of the drawing]

[0059] [Figure 1] Figure 1 is a side view of a work apparatus to which an attachment tool according to an embodiment of the present invention is attached. [Figure 2] Figure 2 is a side view of three attachment tools schematically showing the transmission area of ​​the first communication device. [Figure 3] Figure 3 shows the connection area of ​​the work apparatus when lifting different attachment tools in a side view. [Figure 4] Figure 4 is a side view of a work apparatus with two attachment tools mounted according to a further embodiment. [Figure 5] Figure 5 is a side view of a connection area to which two attachment tools are mounted according to a further embodiment. [Figure 6] Figure 6 is a diagram following Figure 4, which depicts the acceleration forces acting on different parts. [Figure 7] Figure 7 is a schematic diagram of different components of the system according to the present invention according to one embodiment. [Modes for carrying out the invention]

[0060] A first embodiment of a work device 10 comprising the system according to the present invention and an attachment tool 30 is shown in a side view of Figure 1. In the embodiment shown herein, it is a hydraulic excavator 10 comprising an excavator bucket 30 as an attachment tool. The excavator 10 comprises a movable lower body 12, a superstructure 14 rotatably supported on the lower body 12, and a swivelable excavator boom 16 with a connection area 18 formed as a swivelable quick changer located at its end (arm end). The quick changer 18 enables the fast and simple attachment and removal or exchange of different attachment tools 30 in a manner known in itself.

[0061] The hydraulic excavator 10 and the excavator bucket 30 (and additional attachment tools 30, which are optional but not shown in Figure 1) are equipped with a tool communication and positioning system according to the present invention. The system comprises a first communication unit 21 (hereinafter also called the tool module 21) located in the excavator bucket 30, a second communication unit 22 (hereinafter also called the receiving module 22) located in the quick changer 18, and an identification unit 24 mounted on a base device, which is not shown in further detail here. The latter has a connection to a vehicle controller 26.

[0062] Different modules (i.e., the first and second communication units 21, 22 and the identification unit 24) can communicate with each other wirelessly and exchange data. The first and second communication units 21, 22 preferably communicate by Bluetooth (BLE). Signals from the first communication unit 21 are transmitted to the second communication unit 22, which then wirelessly transmits these signals, along with any signals optionally provided by the second communication unit 22 itself, to the identification unit 24. Thus, signals can be transmitted from the first communication unit 21 to the identification unit 24 and then to the vehicle controller 26 along this path.

[0063] The first and second communication units 21 and 22 further include acceleration sensors (not shown). The acceleration sensors measure the acceleration of corresponding parts (i.e., the quick changer 18 and the excavator bucket 30) at the locations of the communication units 21 and 22 and provide corresponding acceleration signals. These acceleration signals are aggregated in the identification unit 24, where they are analyzed by corresponding software (identification module).

[0064] The first and second communication units 21 and 22 may also include a corresponding processor, memory module, and / or transmit and / or receive unit.

[0065] In addition to the acceleration signal (first acceleration signal), the first communication unit 21 may provide further data (e.g., so-called identification signals) relating to the associated attachment tool 30 to the second communication unit 22 and therefore to the identification unit 24. These data on the tool 30 may be, for example, identification data, geometric data, and / or motion data, provided to the vehicle controller 26, which can then adapt or set the operation of the hydraulic excavator 10 to each attached attachment tool 30.

[0066] Figure 2 shows a side view of the three attachment tools formed as an orange peel grab 30" and the boom 16 of the hydraulic excavator 10.

[0067] The wireless coupling of communication units 21 and 22 is performed automatically. The first communication unit 21 may have a specific transmission range 20 up to several centimeters or meters (shown as circle 20 in Figure 2), and the second communication unit 22 also has a specific reception range 23 (shown as circle 23 in Figure 2). For wireless communication, the second communication unit 22 may be coupled to or receive signals from multiple first communication units 21 simultaneously, along with multiple attachment tools 30" positioned in close proximity to each other. Each of the first communication units 21 corresponding to different attachment tools 30" may here transmit different tool data to the second communication unit 22.

[0068] Since this exchanged data is likely to be security-related, it is necessary to correctly associate which tool 30" is coupled to the base device or connection area 18 after installation.

[0069] The system according to the present invention provides that it is possible to clearly and securely identify which attachment tool 30, 30', 30” is coupled to the base device.

[0070] Figure 3 shows, in side views, several examples of possible attachment tools 30, 30' (here, a drilling bucket 30 and a clamshell grab 30") equipped with a corresponding first communication unit 21. All of these tools 30, 30' have corresponding connecting means that can be connected or gripped by a quick changer 18.

[0071] The second communication unit 22 may be positioned laterally on the quick changer 18, as shown in the embodiments presented herein. However, alternatively, other arrangements are possible, for example, in the center of the connection area or inside the quick changer 18. The second communication unit 22 may also be mounted at different locations on the boom 16 or arm rather than directly on the quick changer 18.

[0072] The attachment tools 30, 30', 30'' shown herein are merely illustrative and schematic representations of possible arrangements of the first communication unit 21. However, in the excavator bucket 30, it is conceivable that it may be mounted on one of the side walls, which may also be located on the upper or rear wall, as shown in the figure. In the orange peel grab 30'', the first communication unit 21 may be mounted, for example, on the central column in the rotary connection area or the comotion area with the quick changer 18 (see Figure 3), or similarly on the grab itself (see the rightmost part of Figure 3).

[0073] The receiving module 22 in the excavator 10 receives signals from the tool module 21 located at the receiving radius 23. When attachment tools 30, 30', and 30'' are coupled, the received signals are evaluated to identify which of the attachment tools 30, 30', and 30'' located at the radius is lifted.

[0074] In this regard, the first acceleration signal of a different tool module 21 is compared by the identification unit 24 with a second acceleration signal provided by the receiving module 22 using an appropriate evaluation method. Here, when the excavator boom 16 is moved, the acceleration force, which depends on the mounting configuration (equipped state) and the precise positions of the first and second communication units 21 and 22, acts on both the quick changer 18 and the attachment tools 30, 30', 30''. The additional attachment tools 30, 30', 30'' located within the receiving range 23 of the second communication unit 22, in contrast, do not experience any acceleration. Therefore, identification of the attachment tools 30, 30', 30'' is possible through the comparison of the measured accelerations.

[0075] The following additional signals may be used in addition to acceleration signals for correct identification or association.

[0076] • The intensity of the communication signal (first acceleration signal and / or identification signal).

[0077] • Tool position 30,30',30".

[0078] • Information on the coupling state of the Quick Changer 18.

[0079] • Information regarding the location of excavator 10.

[0080] Different signal processing methods may be used to evaluate acceleration signals. For example, the signals may be smoothed and / or averaged over a specific period before being compared to each other.

[0081] It is equally conceivable that acceleration is measured only by an acceleration sensor after the attachment tool has been lifted, and / or only for a limited period, and / or only for a long time until a clear association is established. Alternatively, acceleration may be measured throughout the entire operation of the work apparatus (e.g., at regular intervals or continuously) to provide the controller and / or identification module with corresponding data continuously in operation (e.g., for periodic validation or monitoring).

[0082] A proper method for evaluating acceleration signals may include the following steps:

[0083] The tool module 21 having the minimum difference in acceleration relative to the receiving module 22 is recognized as the coupling module 21.

[0084] The expected movement of tool module 21 during coupling is pre-calculated based on the movement of receiving module 22, and this calculated acceleration is compared with the received acceleration of surrounding tool modules 21 located in the receiving range 23. The tool module 21 with the smallest difference from the calculated value is recognized as the coupling module 21.

[0085] During wireless contact between the tool module 21 and the receiving module 22, positioning information for the tool module 21 is received from the attachment tool 30,30',30" at the tool 30,30',30''. More accurate calculations can be performed based on this information, which accelerations are expected at the tool 30,30',30'' during the coupling procedure, and higher precision can be achieved by comparing the received acceleration with the calculated acceleration.

[0086] The method according to the present invention can be similarly used when multiple tools 30, 30', 30” are lifted together. For example, an embodiment in which an arm extension 30' is attached to a quick changer 18 of a boom 16 and has its own quick changer 18' at its end away from the boom 16, and the excavator bucket 30 is successively attached to the quick changer 18', is shown in Figure 4. Figure 5 shows a further embodiment having a shorter adapter piece 18' between the boom 16 and the excavator bucket 30.

[0087] Different accelerations, depending on the geometry and kinematics of the attachment tools 30, 30', act on the two tool modules 21 of the two attachment tools 30, 30' when the boom 16 moves (and also when one or both of the attachment tools 30, 30' move). This is shown in Figure 6 by arrows drawn between the slewing joint 25 of the quick changer 18 and the first and second communication units 21, 22, respectively. The acceleration at each fixed point of the communication units 21, 22 consists of an acceleration component between the slewing joint 25 and the communication units 21, 22, and a component perpendicular thereto, respectively. When the quick changer 18 slewing, the arm extension 30' and the excavator bucket 30 slewing together, with the latter moving further away from the slewing point 25. Therefore, a larger acceleration point acts on the excavator bucket 30 than on the arm extension 30'.

[0088] Since the accelerations differ for multiple combined tools 30, 30', based on the kinematics of the excavator 10 and the tools 30, 30', 30”, their mounting order can be additionally determined based on their respective accelerations. Correct determination of the mounting order allows for precise setting of the excavator 10 relative to the mounted tools 30, 30', 30”.

[0089] Validation can be further performed by comparing the acceleration with the theoretically calculated acceleration. This allows for an evaluation of whether the transmitted dimensions of the arm extension 30' (i.e., the dimensions transmitted using, for example, the identification signal of the first communication unit 21) differ from the actual dimensions, in that the measured acceleration is compared with the acceleration expected according to the transmitted data.

[0090] Figure 7 shows a schematic diagram of different components of the system according to one embodiment of the present invention. The tool module 21, connected to the attachment tools 30, 30', 30'', communicates with the receiving module 22 in the excavator 10 via BLE. Communication between the receiving module 22 and the identification unit 24 located in the center of the excavator 10 is performed wirelessly; that is, data transmission may be performed via a wireless standard other than BLE. The identification unit 24 is connected to the vehicle controller 26 via a corresponding interface, and data can be exchanged.

[0091] The vehicle controller 26 is successively connected to the cloud 28 via a cellular wireless communication module (in this case, an IoT gateway). Therefore, data can be exchanged between the cloud 28 and the vehicle controller 26 or the identification unit 24 (for example, information can be retrieved from the cloud 28, or data can be stored there). [Explanation of symbols]

[0092] 10 Excavators 12 Lower running body 14 Superstructure 16 Boom 18 Connection Areas (Quick Changer) 18' Connection area (quick changer) 20 Transmission range 21 First communication unit 22 Second communication unit 23 Reception range 24 Identification device 25 Swivel Joint 26 Controllers 28 Cloud 30 Attachment Tools 30' Attachment Tool 30" Attachment Tool

Claims

1. A system for locating an attachment tool (30) for a work implement (10), comprising: a first communication unit (21) connected to the attachment tool (30) and having a first acceleration sensor configured to provide a first acceleration signal related to an instantaneous acceleration of the attachment tool (30); a second communication unit (22) connected to the working device (10) in the region of a connection area (18) for the attachment tool (30) and having a second acceleration sensor configured to provide a second acceleration signal related to an instantaneous acceleration of the connection area (18); an identification module coupled to the first and / or second communication unit (21, 22) and configured to acquire the first and second acceleration signals and to enable safe positioning of the attachment tool relative to the work apparatus by evaluating the first and second acceleration signals.

2. the first communication unit (21) is configured to wirelessly transmit the first acceleration signal to a receiving unit, the receiving unit preferably being configured to receive the signal within a limited reception radius. The system of claim 1 .

3. the second communication unit (22) has the receiving unit and is configured to provide the first and second acceleration signals to the identification module, the second communication unit (22) having the identification module or an identification unit (24) connected to the working device (10) including the identification module and configured to receive the first and second acceleration signals from the second communication unit (22) in a wired or wireless manner; The system of claim 2.

4. 3. The system of claim 2, further comprising an identification unit (24) connected to the working device (10) including the identification module and the receiving unit, and the second communication unit (22) configured to transmit the second acceleration signal to the identification unit (24) by wire or wirelessly.

5. the first communication unit (21) is configured to provide and transmit an identification signal relating to the position and / or size and / or type and / or other properties of the attachment tool (30) to the identification module and / or to a controller (26) of the working device (10); The system of claim 1 .

6. The identification module determines, in a comparison between the first acceleration signal and the second acceleration signal, the following information: the properties of the wireless connection of the first communication unit, in particular the signal strength, an instantaneous position of the attachment tool (30), which can preferably be determined by a position determination unit arranged on the attachment tool (30); a position of the first communication unit (21) on the attachment tool (30); the instantaneous position of the working device (10), which can preferably be determined by at least one sensor, and an instantaneous coupling state of the attachment tool (30) at the connection area of ​​the working device (10), which can preferably be determined by a coupling sensor; configured to take into account one or more of the following: The system of claim 1 .

7. the identification module is configured to receive the first acceleration signals from the first communication units (21) of a plurality of the attachment tools (30), compare each of the first acceleration signals with the second acceleration signals of the second communication units (22), and determine, with reference to the comparison, whether and / or which of the attachment tools (30) are connected to the work device (10). The system of claim 1 .

8. The identification module may use the following criteria in determining whether and / or which attachment tool (30) is connected to the work device (10): a difference between the first acceleration signal and the second acceleration signal; and a difference between the second acceleration signal and a predicted acceleration for the attachment tool (30) calculated with reference to the second acceleration signal; is configured to take into account one or both of The system of claim 7.

9. at least two first communication units (21) are provided which are connected to different attachment tools (30) which may be coupled to each other and / or to the connection area (18), and the identification module is configured to obtain the first acceleration signals of the at least two first communication units (21) and compare them to each other and / or to the second acceleration signal and to determine the attachment order of the attachment tools (30) using the comparison, The system of claim 1 .

10. At least two of the first communication units (21) are provided on each of the different attachment tools which additionally communicate with each other, The system of claim 1 .

11. the identification module is configured to calculate a predicted acceleration for the attachment tool (30) based on the second acceleration signal, compare it with the first acceleration signal of the first communication unit (21) of the attachment tool (30), and recognize with reference to the comparison whether the attachment tool (30) is connected to the work implement (10) and / or perform a plausibility assessment for an assumed equipment state of the work implement (10). The system of claim 1 .

12. A set of said working implement (10), in particular a hydraulic excavator, and at least one said attachment tool (30) comprising a system according to any one of claims 1 to 11, said working implement (10) preferably comprising a controller (26) configured to obtain identification signals relating to the position and / or dimensions and / or type and / or other properties of said attachment tool (30) and to adapt its working operations based on said identification signals. set.

13. A method for locating the attachment tool (30) for the work implement (10) by means of a system according to any one of claims 1 to 10, comprising: detecting an instantaneous acceleration of the attachment tool by a first acceleration sensor of the first communication unit (21) connected to the attachment tool (30) to provide the first acceleration signal; detecting an instantaneous acceleration of the connection area of ​​the working device (10) by the second acceleration sensor of the second communication unit (22) to provide the second acceleration signal; transmitting the first and second acceleration signals to the identification module; comparing the first and second acceleration signals to verify the attachment tool (30), in particular to recognize whether the attachment tool (30) is connected to the work device (10). method.

14. at least two first communication units (21) connected to different attachment tools (30) are provided, the attachment tools (30) being coupleable to each other and / or to the connection area (18), and expected accelerations of at least two of the attachment tools (30) are calculated based on the second acceleration signals and compared with the first acceleration signals of the first communication units (21) of the attachment tools (30), to recognize whether one or more of the attachment tools (30) are connected to the working device (10) and / or to perform a plausibility assessment for an assumed equipment state or for an equipment state of the working device (10) transmitted by the first communication units (21), The method of claim 13.

15. information relating to the position and / or dimensions and / or type and / or other properties of the attachment tool (30), preferably transmitted by each of the first communication units (21) to the identification module, is taken into account for the plausibility assessment and / or an identification signal relating to the position and / or dimensions and / or type and / or other properties of the attachment tool (30) is provided by the associated first communication unit (21), said identification signal being transmitted to a controller of the working device (10) which adapts the operation of the working device (10) based on said identification signal; The method of claim 14.

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