Method for identifying position of armrest of work machine and armrest

Abstract

To provide a method (300) for identifying a position (A, B) of a seat armrest (100, 200) in a control console of a work machine.SOLUTION: A method includes determining (310) an acceleration and / or a rotational rate using at least one inertial sensor (110, 112) and determining (320) a position (A, B) of armrests (100, 200) based on the determined acceleration or rotational rate. Further disclosed are a computing unit and a computer program for implementing such a method (300), the armrests (100, 200), a seat and a work machine, each of which can be used to implement such a method.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The invention relates to a method for determining the position of an armrest of a seat on a control console of a working machine, a computing unit and a computer program for implementing the method, a corresponding armrest, a seat for a working machine and a working machine.

[0002] 2. Background of the Invention Work machines, for example excavators, often have movable, liftable or upwardly folding armrests. When entering, the armrest can be lifted upward. In this state, for example, the engine can be started, but for safety reasons the work machine (excavator) cannot be moved. When the armrest is folded / lifted downward, machine functions (e.g., operation of the work machine via a joystick and / or foot pedals, etc.) are enabled. The lifting / folding of the armrest can be detected by an electromechanical switch. Such a switch may be provided redundantly to meet the corresponding safety regulations.

[0003] Disclosure of the Invention According to the invention, a method for determining the position of an armrest of a seat on a control console of a working machine, a computing unit and a computer program for implementing the method, a corresponding armrest, a seat for a working machine and a working machine are proposed having the features of the independent claims. Advantageous configurations are the subject of the dependent claims and the following description.

[0004] In the present invention, measures are used to replace or supplement conventional electromechanical switches, in particular using one or more inertial sensors (inertial measurement units (IMUs)), based on microelectromechanical systems (MEMS), to determine the position of the armrest (and thus ultimately to enable the machine function), thereby making it possible to avoid problems associated with electromechanical switches (e.g. complex provision of required minimum currents, wear, undefined states during switching transitions, etc.).

[0005] In particular, the method according to the invention for determining the position of an armrest of a seat on a control console of a working machine comprises determining the acceleration and / or rotational speed by means of at least one inertial sensor and determining the position of the armrest on the basis of the determined acceleration or rotational speed. By using an inertial measurement unit which is in principle free of wear and minimal currents and thus by uniquely and reliably identifying the orientation of the armrest, the measurement of the position or orientation of the armrest becomes simpler and more robust. The mounting position of the inertial sensor can be flexibly selected in the armrest.

[0006] In at least one configuration, the method further includes controlling machine functions dependent on the determined position of the armrest, where the machine functions may include, among others, enabling engine start and / or enabling a work unit of the work machine. Thus, the method allows safety regulations (e.g., certain regulations) to be met, since at least some such safety regulations associated with work machines (e.g., excavators) require enabling or locking of machine functions in relation to the position of the armrest on the control console.

[0007] In at least one configuration of the method, determining the acceleration and / or rotation speed can be performed by means of at least two inertial sensors, thereby achieving a redundancy of the sensor system, which is required for safety reasons in many application scenarios.

[0008] A computing unit according to the invention, for example a control device of a working machine, is adapted, in particular by means of programming techniques, to carry out the method according to the invention.

[0009] It is also advantageous to implement the method according to the invention in the form of a computer program or computer program product with program code for implementing all method steps, since this results in particularly low costs, especially when the executing control device is also used for other tasks and is therefore present anyway. Suitable data carriers for providing the computer program are in particular magnetic, optical and electrical storage means, such as hard disks, flash memories, EEPROMs, DVDs, etc. Downloading the program via a computer network (Internet, intranet, etc.) is also possible.

[0010] Furthermore, corresponding armrests and seats for working machines and working machines equipped with such seats (for example excavators, wheel loaders, tractors or other working machines, in particular equipped with hydraulically operated working implements) are proposed, which benefit significantly and correspondingly from the advantages described herein with regard to the configuration of the method according to the invention.

[0011] Further advantages and configurations of the invention will become apparent from the description and the accompanying drawings.

[0012] It will be understood that the features mentioned above, and those to be further described below, can be used not only in the respective combinations presented, but also in other combinations or alone, without departing from the scope of the present invention.

[0013] The invention is illustrated diagrammatically on the basis of an embodiment in the drawing and will be explained in more detail below with reference to the drawing. [Brief description of the drawings]

[0014] [Figure 1] FIG. 2 is a schematic diagram of a first configuration of an armrest according to the present invention. [Diagram 2] FIG. 4 is a schematic diagram of a second configuration of an armrest according to the present invention. [Diagram 3] FIG. 2 illustrates, in greatly simplified flow chart form, the structure of the method according to the invention;

[0015] Detailed Description of the Drawings In Fig. 1 a first configuration of an armrest according to the invention is shown diagrammatically and generally designated 100. The armrest 100 comprises an inertial sensor 110 and is supported for rotation about a rotation axis 120. By rotation about the rotation axis 120 (suggested by the curved arrows), the armrest 100 can be folded upwards from position A (solid lines) to position B (dashed lines). In the illustrated example, the inertial sensor 110 is arranged at a position remote from the rotation axis, so that during such rotation about the rotation axis, both lateral accelerations and rotations are affected, both of which can be detected by the inertial sensor 110. In particular, gravitational accelerations can be detected at the position of each armrest. The inertial sensor 110 transmits sensor signals, in particular the (gravitational) accelerations and / or rotational speeds detected by the inertial sensor 110, to a calculation unit 130, for example a control device of a working machine (for example an excavator). The armrest 100 is part of the seat of this working machine. The transmission of the sensor signals can take place, for example, wirelessly and / or by wire, for example via a BUS system or via other transmission techniques known per se.

[0016] In Fig. 2, a second configuration of the armrest is shown diagrammatically and is generally designated 200. In particular, the armrest 200 differs from the armrest 100 shown in Fig. 1 in that it is provided with two inertial sensors 110, 112, which in the example shown are arranged rotated by 90° relative to one another. This improves the accuracy or reliability of the detection compared to a single sensor. The inertial sensors 110, 112 are connected to a calculation unit 130 in a data-deriving manner and are arranged to transmit sensor signals to the calculation unit 130, as already explained with reference to Fig. 1.

[0017] 3, a method arrangement according to the present invention is shown generally in flow chart form and generally indicated by the reference numeral 300. In particular, the method 300 can be implemented using the armrest 100 or 200 as shown in FIG.

[0018] The method 300 comprises a detection step 310 in which the acceleration and / or rotational speed of one or more inertial sensors (e.g., inertial sensors 110, 112) is determined (e.g., by the sensors 110, 112 themselves). In step 320, the current position or orientation of the armrest 100, 200 is determined from the acceleration or rotational speed of the sensors 110, 112 determined in the detection step 310. For this purpose, for example, the direction of gravitational acceleration can be detected. Alternatively, it is also possible to indicate that the armrest has reached a stop by evaluating an abrupt change in the corresponding sensor signal. From the sign of the sensor signal before impact with the stop, the direction of movement can be determined and therefore also whether this stop is an upper stop (armrest in position B) or a lower stop (armrest in position A).

[0019] Based on the position of the armrest thus determined, in an enabling step 330, it is determined whether or not a machine function is enabled and, if so, which machine function is enabled. For example, if the armrest is folded up (position B), engine start may be enabled (step 350), but the working machine may be blocked from moving (step 340), for example by refusing to enable the drive control of the hydraulic unit or the travel transmission. Conversely, if the armrest is folded down (position A), the working machine may be enabled (step 340) or allowed to move, and in this situation engine start (enabling in step 350) may be blocked, for example. In some cases, engine start may also be enabled when the armrest is folded down (position A), i.e. there is no locking of engine start related to the position of the armrest. In such a case, step 350 is no longer performed, since there is no need to enable engine start.

[0020] After execution of each enabled machine function (step 340 and / or step 350), the method 300 may return from time to time to the detection step 310 (or steps 310, 320 and / or 330 may be executed substantially continuously or periodically in parallel with steps 340 and / or 350), thereby possibly locking one or more machine functions when changing the position of the armrest. This may, for example, cancel the enabling of the machine to move when the armrest 100, 200 is moved from position A (where enabling is permitted) to position B (which may, for example, indicate dismounting of the machine operator). In such a case, if the machine remains enabled to move, this may result in an erroneous operation of the work machine (e.g. lowering of the excavator arm) if the machine operator remains stuck on the operating element when dismounting, etc. Thus, reversing the enablement can potentially prevent an accident by preventing the machine from moving if the machine operator would attempt to leave the work machine's control console.

[0021] In FIG. 3, steps 320, 330, 340 and 350, which are diagrammatically enclosed by dashed lines, can in particular be controlled by the calculation unit 130, whereas the detection step 310 can be substantially performed by the sensor or sensors used.

Claims

1. A method (300) for determining a position (A, B) of a seat armrest (100, 200) in a control console of a work machine, comprising: Determining (310) an acceleration and / or rotation rate using at least one inertial sensor (110, 112); determining (320) the position (A, B) of the armrest (100, 200) based on the determined acceleration or rotational speed; The method (300) comprising:

2. 2. The method (300) of claim 1, comprising controlling a machine function (340, 350) dependent on the determined position (A, B) of the armrest (100, 200).

3. 3. The method (300) of claim 2, wherein controlling the machine functions (340, 350) includes enabling (330) engine start (350) and / or enabling (330) drive control (340) of a working unit of the work machine.

4. The method (300) of any one of claims 1 to 3, wherein determining (310) the acceleration and / or the rotational speed is performed using at least two inertial sensors (110, 112).

5. A computing unit (130) comprising a processor configured to perform the method (300) of any one of claims 1 to 4.

6. An armrest (100, 200) for a seat of a control console of a working machine, comprising at least one inertial sensor (110, 112), in particular at least two inertial sensors, The at least one inertial sensor (110, 112) is configured to transmit data to a calculation unit (130) according to claim 5, in order to enable the implementation of the method (300) according to any one of claims 1 to 4. Armrest (100, 200).

7. 1. A seat for a control console of a work machine, comprising: A seat having at least one armrest (100, 200) according to claim 6.

8. A work machine, A work machine comprising a seat according to claim 7 and a computing unit (130) according to claim 5.

9. A computer program comprising instructions for causing a computer to carry out the method (300) of any one of claims 1 to 4, when said program is executed by a computer.

10. A computer-readable data carrier, comprising:

10. A computer readable data carrier on which a computer program according to claim 9 is stored.

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