Control unit for mobile work machine, mobile work machine equipped with control unit, and work machine control method

Abstract

To provide a control method for a mobile work machine allowing a control unit to intuitively adjust a target plane, a mobile work machine to intuitively adjust the target plane, and a target plane of the work machine to be intuitively adjusted.SOLUTION: A control unit for a mobile work machine is provided with: a grip element allowing motion to manually control operation points of the work machine; a detection unit detecting positions of the operation points in a space; and an assist unit provided with an adjustable target plane and automatically controlling at least a part of operation points along the target plane. Further, a mobile work machine provided with the control unit and a control method of the mobile work machine are disclosed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control unit for a mobile work machine as defined in the preamble of claim 1, to a mobile work machine as defined in claim 10 and to a method for controlling a work machine as defined in claim 12.

[0002] Mobile work machines, such as excavators, cranes or forklifts, have a positionable operating point in space, which may be, for example, a characteristic point on the work equipment, such as the top of a digging bucket, a grapple, a breaker or a fork, or, in the case of a crane, the lifting point of the load. The operating point here is located at the end of a segment or at the end of a sequence or chain of articulated rigid segments, which segment or segments are articulated by an actuator and therefore have an adjustable position.

[0003] Since spatial movement and spatial positioning are important, the user interface (HMI) should be as intuitive as possible for these. Joysticks, or grip elements, that can be rotated in multiple axes and with multiple degrees of rotational freedom are commonly used.

[0004] In the case of a backhoe, for example, the four degrees of freedom of movement of the backhoe's segments, i.e., the boom, arm, bucket, and pivot mechanism, which are articulated via actuators, are assigned to the four degrees of freedom of two joysticks. Each joystick movement sets a target speed for the assigned actuator, which articulates each segment. For example, the movement of the boom joystick is interpreted as the target speed of the boom actuator, i.e., the boom cylinder. The machine control then controls the actuator accordingly, thereby achieving the desired actuator movement. In the case of a manually controlled machine, the synchronization of the parallel movements of multiple actuators, resulting in the desired movement of the operating point for digging or leveling, can only be achieved by the operator. This is extremely demanding and not very intuitive.

[0005] Control methods that place less demands on the operator are coordinate open-loop control or operating point (TCP) open-loop control or coordinate closed-loop control or operating point (TCP) closed-loop control. Here, the movement of the operating point is set directly via the movement of the gripping element. From this movement, the machine control calculates the set target speed and target direction of the operating point and from this calculates the required synchronized drive control of multiple actuators. Such methods are known, for example, from "Robotics - Modeling, Planning and Control" (L. Sciavicco, L. Villani, G. Oriolo, B. Siciliano, 2009).

[0006] A typical work task is the creation of a plane, i.e., a plane with a predetermined tilt angle, or more generally, a plane with a predetermined attitude and tilt, to be created. In existing approaches, the setting of the target plane is performed by setting a target path via a display. Here, the plane is defined relative to the machine coordinate system, or in world coordinates if a GNSS positioning system is present. The assist function can adjust the operating point to the target plane. When the assist function is active, the operating point is automatically moved / adjusted from its current position to a pre-adjusted target path.

[0007] The drawback here is that, on the one hand, this adjustment, which is based on coordinate inputs, is not very intuitive and not very useful, and, on the other hand, the operating point, when approaching the surface, moves, at least temporarily, not in a direction explicitly set by the operator, but simply in a direction that occurs under the control of the assistance function, where the distinction between manual and assistance-mediated movements is not clearly visible, which gives the impression of a lack of control.

[0008] In known implementations, an interactive display is used to set or adjust the target plane and activate or deactivate the assist function; in such cases, it is not possible to switch between manual and partially automated control without turning the assist function on or off in the display. If the position of the target plane is to be changed (e.g., another layer is to be scraped off), the target plane must be changed again in the display. To do this, the operator must release the grip element or joystick and correct the adjusted value in the display. This method makes it difficult to switch between manual operation and partially automated control, which can also create the impression of a lack of control.

[0009] In response to this, an object of the present invention is to realize a control unit that can intuitively adjust the target plane. A further object is to realize a mobile work machine in which the target plane can be intuitively adjusted, and finally, a control method for a mobile work machine that can intuitively adjust the target plane of the work machine is to be realized.

[0010] The first problem is solved by a control unit having the features of claim 1, the second problem is solved by a mobile work machine having the features of claim 10, and the last problem is solved by a method having the features of claim 12.

[0011] Advantageous developments of the invention are set forth in the respective dependent claims.

[0012] The control unit for a mobile work machine has at least one movable grip element for manually controlling the operating point of the work machine. A detection unit is provided, which detects and / or determines, in particular, the position of the operating point in space, in particular continuously. Furthermore, the control unit has an assist unit, in which or in which the target plane is adjustable, in particular storable. The assist unit is used for at least partially automated control of the movement and / or positioning of the operating point along the target plane. In accordance with the present invention, the control unit is configured so that a point of the target plane, in particular a start point or anchor point, is adjustable in relation to the detected position of the operating point.

[0013] Therefore, knowledge of the coordinates of the target plane points, particularly the start or anchor point, as was still required in the prior art, is no longer necessary. Instead, the operator can manually control the operating point of the work machine by means of the grip element or joystick to a desired point in space and then define this as the start or anchor point of the target plane. Starting from this point, the target plane extends. This configuration of the invention has proven useful when, for example, another layer is to be removed with each change of the target plane. That is, changing the target plane point on an external display is no longer necessary. The operator can always keep his hand on the grip element and simply drive the new, e.g., deeper, point to re-adjust the target plane point. It should be noted here that, of course, the tilt of the target plane may also need to be adjusted, as may be necessary. This will be explained in more detail below.

[0014] The control unit is advantageously configured so that it can always be manually operated, even in the event of a failure of the detection unit or the assistance unit.

[0015] The operating point is advantageously a characteristic point of the work tool of the work machine, which is in particular a crawler excavator, a wheel excavator, a mini excavator, a mining excavator, a backhoe loader, a truck loading crane or a concrete pump.

[0016] The grip element can be advantageously moved in several, in particular three or four degrees of freedom, and is advantageously configured as a joystick. Several grip elements, in particular two grip elements, can be provided, one for each operating hand.

[0017] In a further development, if an operating element is provided via which the point can be adjusted in dependence on the detected position, the adjustment of the point can be carried out easily in terms of device technology.

[0018] In a further development, the detected position can then be assigned to this point by operating the operating element. This assignment can be carried out in a further development with or without an offset. In a further development, this offset can be pre-adjusted in the assistance unit, i.e. stored as a default.

[0019] In an advantageous development, via such an operation, an at least partly automated control may also be activated.

[0020] Otherwise, i.e. when not operated, the operating element has, in a developed form, a non-operated basic position and is preloaded or adjusted to this basic position in order to keep the partially automated control in an inactive state.

[0021] In a further development, if the operating element is arranged on the grip element so that it can be touched, in particular while maintaining the intended gripping position, the adjustment of the point or, in addition, the activation of the partially automated control is carried out particularly ergonomically and efficiently, thus enabling a quick and easy switch between manual control and partially automated or assisted control by operating and releasing the operating element without having to take the hand off the grip element.

[0022] The operating element may be configured, for example, as a sensor field or a button, a switch, a wheel, or the like.

[0023] In a further development, the control unit has an interface arranged on the grip element or arranged separately from the grip element, via which at least one inclination of the target plane can be adjusted, and after adjusting this at least one inclination, the target plane is in each case completely adjusted or defined.

[0024] Alternatively or additionally, the assist unit is configured in such a way that a standard inclination is pre-adjustable as a default, in particular via an interface.

[0025] To allow the tilt to be adjusted as desired, the interface may be configured as an operating or touch element whose position can be adjusted in steps or continuously.

[0026] In particular, the interface may be configured as a wheel or roller that is arranged so that it can be touched or separately arranged on the grip element while maintaining the grip position.

[0027] Advantageously, the assistance unit has a display, in particular a touch display with the just-mentioned interface, via which the target plane, in particular the spatial arrangement and inclination of the target plane, can be displayed to the operator for observation and / or modification, thus giving the operator full control over the target plane currently being adjusted.

[0028] The at least partially automated control along the target plane, in other words the assistance function, can advantageously only be activated when the operating element is operated, as described above.

[0029] In particular, switching to partially automated control is only possible if safety criteria are met for this. Such safety criteria are, in particular, the neutral position of the gripping element, detected by the detection unit, in which the gripping element does not have any movement. After releasing the operating element, purely manual control is always provided.

[0030] In a development, the speed of the operating point along the target plane can be controlled by the detected movement of the grip element.

[0031] In a further development, the assist unit is configured for this purpose in such a way that the velocity of the operating point requested in accordance with the movement of the gripping element can be converted via the assist unit into a velocity vector of the operating point along the adjusted target plane, and in this connection, one or more actuators of the work machine can be driven via the assist unit, with the operating point being articulated indirectly or directly by one or more actuators of the work machine.

[0032] In order to minimize the deviation of the operating point from the target plane, a position adjustment unit is provided in the assist unit or in a separate control unit or machine control of the working machine which is in signal connection with the assist unit.

[0033] The path of the operating point along the target plane results in particular from the integration of the pre-adjusted points and the velocity vectors required by the movement of the gripping elements.

[0034] The mobile work machine has an operating point that is indirectly or directly articulated by at least one actuator, and a control unit configured according to at least one aspect of the above description.

[0035] The at least one actuator is preferably hydraulic, in particular a hydraulic cylinder. Alternatively or additionally, an electrical design of the actuator is possible. Mixtures of different actuators, hydraulic, electrical or other designs are possible.

[0036] In a further development, the work machine has a machine control, which can be selectively directly or via an assist unit to the grip element, or can be directly or via an assist unit to the grip element. At least one actuator can be driven and controlled by the machine control in connection with the movement of the grip element and in connection with the operation of the operating element. An input signal of the machine control is related to the assist unit when the operating element is operated, i.e., when partially automated control is activated. When no operation is performed, the input signal is directly related to the grip element and the assist unit has no effect.

[0037] In a further development, the assist unit is modularly separated from the machine control by a boundary, which makes it possible to easily retrofit or equip a conventional working machine with the control unit of the invention.

[0038] The machine controls may alternatively be part of the control unit.

[0039] A method for manual and at least partially automated control of an operating point of a mobile work machine along an adjustable target plane, configured according to at least one aspect described above, includes the steps of "adjusting the target plane" and "performing at least partially automated control of the operating point (TCP) along the target plane." In accordance with the present invention, the step of "adjusting the target plane" includes the steps of "driving control and detecting the position of the operating point (TCP)" by a grip element and a detection unit, and "adjusting a point of the target plane relative to the detected position of the operating point (TCP)."

[0040] The advantages of such an approach have already been explained in detail in the above series of descriptions of the configuration of the inventive control unit, which in particular allows the implementation of this method, in particular the inventive method being stored for implementation in the above-mentioned control unit.

[0041] In a further development, the step of "adjusting a point on the target plane in relation to the detected position of the operating point (TCP)" is carried out by operating an operating element which is arranged so that it can be touched, in particular on the grip element, in particular while maintaining the intended gripping position.

[0042] In a further development, the step of "adjusting the target plane" comprises a step of "adjusting the inclination of the target plane", in particular performed by an interface of a control unit which is arranged on the grip element or arranged separately from the grip element.

[0043] In a further development, the switching between the steps of "performing manual control of the operating point (TCP)" and "performing at least partially automated control of the operating point (TCP) along the target plane" is performed by operating and releasing an operating element.

[0044] Advantageously, the method comprises a security query, according to which switching can only be performed if the security query results in a movement of the grip element equal to zero.

[0045] In the following, an embodiment of the inventive control unit, an embodiment of the mobile work machine and an embodiment of the inventive method are shown in more detail in the drawings. [Brief explanation of the drawings]

[0046] [Figure 1] 1 is a side view of a mobile work machine of the present invention, with its operating points and its degrees of freedom, when manually controlled, according to an embodiment; FIG. [Figure 2] 2 is a side view of the mobile work machine shown in FIG. 1 with its operating points and its degrees of freedom during partially automated control. FIG. [Figure 3]3 is a schematic diagram of a control unit of the present invention for the mobile work machine shown in FIGS. 1 and 2, the mobile work machine having actuators that are driven and controlled by the control unit; FIG. [Figure 4] FIG. 4 is a schematic diagram of an assist unit of the control unit shown in FIG. 3. [Figure 5] FIG. 1 illustrates the method of the present invention.

[0047] 1 shows a mobile work machine which is a backhoe 1 having a lower work 2. An upper work 4 is provided on the lower work 2. A boom 6 is attached to the upper work 4 by a swivel joint, and together with an arm 8 which is supported so as to be rotatable on the boom 6, the boom 6 forms the working arm of the backhoe 1. A work implement formed as a bucket 12 is supported at the end of the working arm so as to be swingably operated. The apex of the bucket 12 is the operating point TCP of the work machine 1.

[0048] The work implements, namely, the lower works 2, the upper works 4, the boom 6, the arm 8, and the bucket 12, form a chain of segments, which are articulated by actuators, starting from each preceding segment. Thus, the upper works 4 can be operated to rotate by a hydraulic rotary motor (not shown) located on the lower works 2. The boom 6 can be operated to swing or pivot by a hydraulic boom cylinder 14 provided on the upper works 4, the arm 8 can be operated to swing or pivot by a hydraulic arm cylinder 16 provided on the boom 6, and the bucket 12 can be operated to swing about a rotation axis via a bucket cylinder 18 provided on the arm 8 through a linkage and a coupler. The combined movements of the segments 4, 6, 8, and 12 result in the movement of the operating point TCP in three-dimensional space, which allows the operating point to be located in three-dimensional space. To detect the actual position of the operating point TCP, each segment 4, 6, 8, and 12 is provided with a tilt sensor (not shown) of a detection unit. Alternatively or additionally, angle and / or displacement sensors may be provided.

[0049] The control unit processes the signals from at least two of these sensors to determine the position of the operating point TCP and thereby adjusts the volume flow rates to the hydraulic cylinders 14, 16, 18 using a calculation of the required cylinder travel distance. The actual position of the operating point TCP can therefore be adjusted according to a manual target setting via a movable grip element (joystick).

[0050] 1, the control unit of the work machine 1 has two graspable, ergonomically shaped grip elements 26, 28 (hereinafter referred to as joysticks), each having a holding portion 30 for the operating hand. The joysticks 26, 28 are each supported for pivotable movement in two rotational degrees of freedom indicated by arrow symbols.

[0051] In a possible embodiment of the control unit or the working machine 1, a purely manual control of the operating point TCP is optionally provided, as shown in Figure 1. For this purpose, in the control unit, the allocation of the degrees of freedom of the joysticks 26, 28 for moving the segments 4, 6, 8, 12 is defined as follows:

[0052] Pivoting the joystick 26 downwards, according to the arrow, to the left, representing pulling the joystick 26 towards the operator, extends the arm cylinder 16, thereby pulling the arm 8 towards the upper mechanism 4. Pivoting the joystick 26 in the opposite direction retracts the arm cylinder 16, thereby pushing the arm away from the upper mechanism 4. Pivoting the joystick 26 to the left, according to the arrow, rotates the upper mechanism 4, and with it the operating point TCP, counterclockwise "to the left" about the vertical axis of the upper mechanism 4, and vice versa.

[0053] Pivoting the right joystick 28 downward, according to the arrow, i.e., pulling it toward the operator (see above), extends the boom cylinder 14, thereby raising the boom 6. Pivoting the joystick 28 in the opposite direction retracts the boom cylinder 14, lowering the boom 6.

[0054] Pivoting the right joystick 28 to the left, according to the arrow, extends the bucket cylinder 18, thereby closing the bucket 12, and vice versa.

[0055] The operating point TCP is kinematically coupled to follow the motion of segments 4, 6, 8, and 12.

[0056] In order to facilitate the movement of the operating point along the target plane 32 shown in Figure 2, an assisted and partially automated control is provided in accordance with the invention in the control unit or in an embodiment of the working machine 1, whereby the operating point TCP is always, with exceptions, adjusted to the target plane 32.

[0057] This assist function can be activated by an operating element 31 tactilely arranged in the region of the grip portion 30 of the left joystick 26 and is maintained for as long as the operation is continued. For partially automated control, the movement of the joysticks 26, 28 is primarily defined in the control unit as a movement of the operating point TCP along the adjusted target plane 32.

[0058] As with manual control, also with partially automated control, pivoting the joystick 26 to the left according to the arrow causes the upper mechanism 4 and with it the operating point TCP to rotate counterclockwise "to the left" about the vertical axis of the upper mechanism 4, and vice versa, such that the target plane may "move away" from the operating point TCP.

[0059] 2, the operating point TCP is attracted towards the upper mechanism 4, in particular onto the target plane 32, more precisely onto the path of the target plane 32. By pivoting the joystick 26 in the opposite direction, the operating point TCP is pushed away on a path from the upper mechanism 4. The movement of the joystick here defines the speed at which the operating point is attracted or pushed away on the path.

[0060] By pivoting the right joystick 28 downwards, i.e. pulling it towards the operator (see above), the operating point TCP is raised vertically from the target plane 32, and in the opposite direction, downwards, from the target plane 32 (i.e. into the soil).

[0061] Therefore, even during assisted control, the movement of the operating point can be manually corrected.

[0062] By turning the right joystick 28 to the left, according to the arrow, the operating point TCP is fixed on the path and the bucket 12 is swiveled around the operating point TCP in the indicated swiveling direction. In the case of a swiveling to the right, this is done in the opposite swiveling direction.

[0063] 3 shows a schematic diagram of a working machine equipped with a control unit 34 of the present invention. The working machine has a detection unit 36 ​​for detecting the positions of the above-mentioned segments 4, 6, 8, 12 or the rotary mechanism drive units, which are actuators, and the hydraulic cylinders 14, 16, 18.

[0064] The control unit 34 is in signal connection with a machine control 38 of the working machine 1, which controls the actuation of the actuators by means of an assist unit 40 in conjunction with the above-mentioned movements of the joysticks 26, 28 and, if necessary, in conjunction with activated, partially automated control.

[0065] Furthermore, the control unit 34 has a touch display 42 as an input and output interface, by means of which the tilt or flattening angle of the target plane 32 can be adjusted, the aforementioned partially automated controls can be activated with the operating element 31, pitch compensation can be activated, and the scaling of the flattening speed can be adjusted. These four listed adjustments or activations can be transferred to the assistance unit 40 via signal connections 44, 46, 48, and 50. The position detected by the detection unit 36 ​​can be transferred to the assistance unit 40 via signal connection 52. The assistance unit 40 supplies the interface 42 with the following displayable information via signal connections 54, 56, 58, and 60: the tilt / flattening angle, the position of the operating point TCP, the status of the partially automated control (active, yes / no), and generally the availability of the partially automated control, e.g., in relation to a security query. The status of the partially automated control (active, yes / no) is also transferred to the machine control unit 38.

[0066] The speed request set by the operator by a corresponding movement of the joysticks 26, 28 is passed directly to the machine control 38 via signal connection 62 and to the assist unit 40 via signal connection 64. The signal of the operating element 31 for activating / deactivating the partially automated control is passed to the assist unit 40 via signal connection 66.

[0067] If the partially automated control is active, i.e. if the signal via input 66 is positive, signal connection 62 is ignored by machine control 38 and assistance unit 40 modifies the raw signal on signal connection 64 so that the adjusted target plane 32 can be maintained in accordance with the allocation described with reference to FIG. 2. For this purpose, the modified signal is passed on to machine control 38 via signal connection 62'.

[0068] FIG. 4 shows the assist unit 40 and its function in a detailed diagram.

[0069] The assist unit 40 has a state coordinator 68 to which the above-mentioned signal inputs, partially automated control active "yes / no" 46, detected position 52 of the segment or actuator, detected movement 64 of the joystick and actuation element 31 actuation "yes / no" 66, are input. Furthermore, the assist unit 40 has an assist device 70 to which the above-mentioned signal inputs 52, 64, 66 as well as signal inputs for pitch compensation 48 and operating point velocity scaling 50 are input.

[0070] From these inputs 46, 52, 64, 66, the status coordinator 68 determines the status of the machine, determines the availability of partially automated controls, and generates status information for the operator that is displayed on the interface 42 shown in FIG. 3.

[0071] From these inputs 48, 50, 52, 64, 66, the assist device 70 reinterprets the movement as a desired movement of the operating point TCP along the target plane, and for this purpose solves the differential inverse kinematics of the working machine 1 and correspondingly calculates drive control signals for the advance control of the actuators, the pivoting mechanism and the hydraulic cylinders 14, 16, 18, and adjusts them based on the detected positions and / or velocities of the actuators and / or segments so that the deviation of the operating point TCP from the target plane 32 is offset.

[0072] FIG. 5 shows an embodiment of a method 72 for controlling a mobile work machine 1 according to the present invention, provided that the target plane 32 is first adjusted and then flattened.

[0073] In a first step 74, the operator, with the operating element 31 not being operated, controls the operating point TCP to the desired starting point of the target plane 32 in space. Here, the assignment of the grip element 30 movement to the movement of segments 4, 6, 8, and 12 shown in FIG. 1 is active. In a second step 76, this point is set as the starting or anchor point of the target plane 32 by simple operation of the operating element 31. In a third step 78, the tilt / flattening angle of the target plane can be adjusted via an adjustment on the touch display 42 or via an interface, such as a roller, that is grippably arranged on one of the joysticks 26, 28. In a fourth step 80, while holding the operating element 31, the operator initiates a partially automated, i.e., assisted, flattening operation, where the assignment of the grip element 30 movement to the movement of the operating point shown in FIG. 2 is active and the assistance unit shown in FIGS. 3 and 4 comes into effect. In a fifth step 82, the assisted control is ended by simply releasing the operating element 31.

[0074] A control unit with a movable grip element for manual control and at least partially automated control, supported by an assist unit, of an operating point of a work machine along an adjustable target surface or target path is disclosed, wherein the control unit is configured such that a point on the target path or target surface of the operating point is adjustable as follows: the operating point is manually controlled to a point via the grip element, and subsequently such point is manually assigned to the target path or target surface.

[0075] Furthermore, a mobile work machine equipped with a control unit configured in this manner and a control method for this work machine are disclosed.

Claims

1. A control unit for a mobile work machine (1), comprising: at least one movable grip element (26, 28) for manually controlling the operating point (TCP) of the mobile work machine (1); a detection unit (36) for detecting the position of said operating point (TCP) in space; an assist unit (40) with an adjustable target plane (32) for at least partially automated control of the operating point (TCP) along said target plane (32); and a point on the target plane (32) is adjustable relative to the detected position of the operating point (TCP); an operating element (31) via which the operating point (TCP) is adjustable in relation to the detected position; A control unit characterized by:

2. 2. The control unit according to claim 1, wherein the detected position can be assigned to the operating point (TCP) via the operating element (31) with or without an offset.

3. 3. The control unit according to claim 1 or 2, wherein the at least partly automated control is activatable via the operating element (31).

4. 4. The control unit according to claim 1, wherein the operating element (31) has a non-operated basic position in which the at least partially automated control is deactivated.

5. 5. A control unit according to claim 1, wherein the operating element (31) is arranged on the at least one grip element (26) so as to be tangible, in particular when the intended gripping position is maintained.

6. 6. The control unit according to claim 1, further comprising an interface (42) arranged on at least one grip element or arranged separately from said at least one grip element, via which the inclination of said target plane (32) is adjustable.

7. 7. The control unit according to claim 6, wherein the interface is configured as an operating or touch element (42) whose position can be adjusted in steps or continuously.

8. 8. The control unit according to claim 1, wherein the velocity of the operating point (TCP) along the target plane (32) is controllable by a detected movement of at least one of the at least one grip element (26, 28).

9. A mobile work machine, The device has an operating point (TCP) which is indirectly or directly articulated by at least one actuator (14, 16, 18) and a control unit (34) which is configured according to any one of claims 1 to 8. Mobile work machinery.

10. the control unit (34) comprises an operating element (31) via which the operating point (TCP) is adjustable in relation to the detected position; a mechanical control unit (38) that is or is directly signal-connectable with the at least one grip element (26, 28) or that is or is signal-connectable with the grip element (26, 28) via the assist unit (40); the at least one actuator (14, 16, 18) can be driven and controlled by the machine control (38) in connection with the movement of the at least one grip element (26, 28) and in connection with the operation of the operating element (31) of the control unit (34); 10. A mobile work machine according to claim 9, wherein the input signal of the machine control (38) is associated with the assist unit (40) when operating and is not associated with the assist unit (40) when not operating.

11. 11. A method for at least partially automated control of an operating point (TCP) of a mobile work machine (1) configured according to claim 9 or 10 along an adjustable target plane (32), said method comprising: The method includes the steps of "adjusting (76, 78) the target plane (32)" and "performing (80) at least partially automated control of the operating point (TCP) along the target plane (32)," The step of "adjusting the target plane (76, 78)" includes at least: - "driving control (74) and detection of the position of said operating point (TCP)" by said at least one grip element (26, 28) and said detection unit (36); "adjusting (76) a point of the target plane (32) relative to the detected position of the operating point (TCP)"; A method characterized by:

12. 12. The method according to claim 11, wherein the step of "adjusting (76) the point of the target plane (32) in relation to the detected position of the operating point (TCP)" is performed by operating an operating element (31) that is arranged so that it can be touched, in particular on the at least one grip element (26), in particular while maintaining the intended gripping position.

13. 13. The method according to claim 11 or 12, wherein the step of "adjusting the target plane (32)" comprises the step of "adjusting (78) the inclination of the target plane (32)" performed by an interface (42) arranged on the grip element or arranged separately from the grip element.

14. the control unit (34) comprises an operating element (31) via which the operating point (TCP) is adjustable in relation to the detected position; 14. The method according to claim 12 or 13, wherein switching between the steps of "performing manual control (74) of the operating point (TCP)" and "performing at least partially automated control (80) of the operating point (TCP) along the target plane (32)" is performed by operating and releasing the operating element (31).

Images