System comprising a construction machine and a plurality of attachments

Abstract

The present application relates to a system comprising: a construction machine (2) having a boom, a plurality of attachments (5) that are able to be interchangeably received on the boom, wherein each attachment from the plurality of attachments has a transponder (6), wherein the transponder has at least one technical specification of the respective attachment stored therein or an identifier which is stored therein and uniquely identifies the type of the respective attachment, and wherein at least the technical specification or the identifier is able to be read out of the transponder in an automated manner, and a controller (8) arranged on the construction machine, wherein the controller is able to be connected to the transponder of an attachment, received on the construction machine, from the plurality of attachments such that, during operation of the system, the controller receives at least the technical specification or the identifier from the attachment.

Description

[0001] System consisting of a construction machine and a number of attachments

[0002] The present invention relates to a system comprising a construction machine with a boom, a plurality of interchangeable attachments removable from the boom and a controller arranged on the construction machine for calculating a status signal, wherein the status signal describes an operating state of the system.

[0003] Construction machinery, especially excavators and hydraulic excavators, is so widespread on construction sites worldwide, not least because it can be used for a multitude of tasks. For this purpose, attachments of various types are mounted on the construction machine's boom, which is usually hydraulically operated. Such an attachment constitutes the tool of a construction machine. With the help of the attachment, the construction machine can perform a variety of work processes. A distinction is made between loading and digging tools, especially buckets, demolition tools, drilling and pile-driving tools, and lifting tools.

[0004] Depending on the attachment fitted to the respective boom after a change, even if the attachment is within the same category, the system needs to be recalibrated to account for the specific characteristics of the new attachment when operating the construction machine. A striking example of changing an attachment within the same category is swapping a small bucket for a large one.

[0005] Possibilities for such adjustments include providing appropriate control functions for operating the respective attachment, restricting the movement functionality of the construction machine or boom to prevent, for example, the machine from tipping over due to excessive torque, or adapting an assistance feature of this system to enable the operator to use the construction machine with the attachment mounted on the boom safely, efficiently, and according to plan. Such system adjustments are currently performed manually.In contrast, an object of the present invention is to provide a system comprising a construction machine with a boom, a plurality of interchangeable attachments that can be mounted on the boom, and a controller arranged on the construction machine for calculating a status signal, wherein the status signal describes an operating state of the system, wherein the system is automatically adapted to the new attachment mounted on the boom after a change of the attachment.

[0006] At least one of the aforementioned problems is solved by a system according to independent claim 1 of the present application. For this purpose, the system of the type mentioned at the outset comprises a construction machine with a boom, a plurality of attachments interchangeably mountable on the boom, and a controller arranged on the construction machine. Each attachment from the plurality of attachments has a transponder, wherein the transponder contains at least one stored technical specification of the respective attachment or an identifier stored therein that uniquely identifies the type of the respective attachment, and wherein at least the technical specification or the identifier can be automatically read from the transponder.Furthermore, the controller can be connected to the transponder of the attachment mounted on the construction machine from the majority of attachments in such a way that the controller receives at least the technical specification or the identifier of the attachment during operation of the system.

[0007] The basic idea of ​​the present invention is to store either the technical specification of each attachment or an identifier that uniquely identifies at least the type of attachment in a transponder permanently connected to each attachment. When this data is automatically read by the controller, either the technical specification of the attachment itself can be used to automatically adapt the system to the respective attachment, or the type of the respective attachment, identified by the identifier, can be used to download the corresponding technical specification or other information required to adapt the system to the attachment, in particular a software module, from memory.

[0008] For the purposes of this application, any information that identifies the type of the respective attachment constitutes an identifier. The technical specification of the attachment also constitutes such an identifier. A software module, as discussed later in embodiments of the invention, also uniquely identifies the type of the respective attachment.

[0009] Examples of a technical specification of an attachment include its dimensions, the center of gravity of the attachment relative to a reference point of the construction machine, the empty weight of the attachment, the volume of a bucket, a function of the attachment, or the controllable actuators of the attachment.

[0010] A controller is a computer with an integrated circuit that performs specific control tasks. The controller of the system according to the invention can have very different configurations. In one embodiment, the controller can at least control and monitor the attachment or generate instructions for the operator of the construction machine. In another embodiment, the controller can also be used to control the construction machine itself.

[0011] In one embodiment of the invention, the controller comprises several units, in particular the assistant controller and / or the machine controller, which will be discussed later.

[0012] An operating state of the system includes, in particular, a state of the construction machine, its boom, or the attachment mounted on the boom.

[0013] In one embodiment of the invention, the transponder transmits at least the technical specification or the identifier stored therein in response to receiving a read command from the respective controller. In one embodiment of the invention, the system is configured such that the controller receives the identifier or the technical specification when the attachment is picked up from the construction machine.

[0014] In one embodiment of the invention, the construction machine is an excavator, in particular a hydraulic excavator.

[0015] In one embodiment of the invention, the plurality of attachments comprises at least one loading and / or digging tool, in particular a bucket, a demolition tool, a drilling and piling tool or a lifting tool.

[0016] The following describes various possibilities for the automated identification of an attachment mounted on the boom, as well as the use of such identification to adapt the system.

[0017] It is known from the prior art to provide an assistance device on a construction machine that makes it easier for the machine operator to perform a specific task on a construction site as planned. Such assistance devices are commercially available. The function of such an assistance device is always based on the information that the assistance controller receives from at least one additional measuring unit, so that the measure for the condition of the construction machine or its environment includes at least a position or a position of the boom relative to a reference on the construction machine.

[0018] In one embodiment, such a measuring unit incorporates an inertial measurement unit (IMU), which is arranged on the boom. In one embodiment, such an IMU comprises a combination of several inertial sensors that detect accelerations and rotation rates about a plurality of axes. A typical IMU detects six degrees of freedom, namely the acceleration along three mutually perpendicular spatial directions and the rotation rates about these three mutually perpendicular directions.

[0019] In one embodiment, the measuring unit has a rotary encoder on a joint of the boom, so that the measure for the condition of the construction machine, or its surroundings, includes at least a position or a location of the boom relative to a reference on the construction machine.

[0020] In one version, the measuring unit has a device for capturing the environment of the construction machine, for example a 3D camera.

[0021] However, commercially available assistance systems are not able to automatically identify the respective attachment and easily transmit visualized information about the operating status of the system to third-party systems that are not part of the assistance system.

[0022] Therefore, in one embodiment of the invention, the system comprises an assistance device for the construction machine arranged on the construction machine, wherein the controller includes or is an assistance controller, wherein the assistance controller is part of the assistance device, wherein the assistance device includes a measuring unit, wherein the assistance controller is connected to the measuring unit in such a way that the assistance controller receives a measurement signal from the measuring unit during operation of the system, and wherein the assistance controller is configured such that, during operation of the system, the assistance controller performs the steps i) reading at least the technical specification or the identifier from the transponder, ii) optionally receiving a technical specification of the attachment identified by the identifier via a data connection with a data transmission protocol from a storage device.iii) Calculating a status signal from the measurement signal and the technical specification of the attachment, wherein the status signal describes an operating state of the system, iv) Generating a graphical user interface visualizing the status signal, and v) Generating a video signal describing the user interface, and wherein the assistance device has a streaming interface, the streaming interface being connected to the assistance controller such that, during system operation, the streaming interface receives the video signal from the assistance controller, and wherein the streaming interface is configured to stream a data stream representing the video signal to a display device not belonging to the assistance device during system operation.

[0023] The underlying idea of ​​this embodiment is to generate a status signal, taking into account the automatically acquired technical specifications of the attachment mounted on the boom and the measurement signal, and to visualize this signal in a graphical user interface. A video signal representing the graphical user interface is then streamed as a data stream via a streaming interface to any display device that is not part of the assistance system.

[0024] One such display device is, for example, a display, in particular an LCD or LED display. The display of a conventional smartphone also constitutes the display device in one embodiment.

[0025] This design increases the system's operator comfort, as the operator no longer needs to adjust the system to the specific attachment mounted on the boom. Furthermore, it allows the information derived by the assistance unit from its inertial measurement unit and the technical specifications of the respective attachment to be efficiently transferred to any display unit on the construction machine. This, in turn, reduces the number of displays the operator needs to monitor while working with the machine.

[0026] According to this embodiment of the invention, the assistance controller calculates the status signal not only from the measurement signal but also from the technical specifications of the respective attachment. The technical specifications of the attachment can be fed into the assistance controller for further processing in various ways.

[0027] In a first embodiment, the technical specification is read directly from the transponder. This requires that it is stored there. In a second embodiment, instead of the technical specification itself, the identifier of the attachment type is read from the transponder, and then the technical specification of the attachment, which corresponds to this identifier, is retrieved from a storage device via a data connection using a data transmission protocol and read from there. An example of this is an internet connection of the assistance controller and the provision of the technical specification on a data server as the storage device.

[0028] In one embodiment of the invention, the system therefore comprises a network interface and a data network connected to the network interface with a network protocol, wherein the storage device is a data server connected to the data network. In one embodiment of the invention, the data transmission protocol, in particular the network protocol, is different from the data transmission protocol used by the controller to read the transponder.

[0029] In one embodiment of the invention, the assistance device has an inertial measuring unit on at least two articulated segments of the boom. In another embodiment of the invention, an inertial measuring unit of the assistance device is also provided on the attachment mounted on the boom.

[0030] In one embodiment of the invention, the assistance device has a GNSS receiver or a data interface for receiving a GNSS signal from a GNSS receiver. The assistance controller is connected to the GNSS receiver or the data interface.

[0031] Alternatively or additionally to using the technical specification or identifier automatically read from the transponder of the respective implement in an assistance system, it is possible to use the identifier to implement a software module specific to the respective implement in a machine controller of the system. In this case, the software module is downloaded from a storage device that is not part of the machine controller. Depending on the specific implementation, such a concept is also referred to as software over wire or software over air.

[0032] Such a machine controller within the system serves, directly or indirectly, to control the construction machine. According to the present embodiment, the machine controller does not necessarily have to directly control the construction machine, e.g., its hydraulic valves. Rather, the machine controller can also be used exclusively to control the attachment mounted on the boom, to monitor at least the attachment or the construction machine, or to generate instructions for the operator of the construction machine.

[0033] Therefore, in one embodiment of the system according to the invention, the controller comprises a machine controller arranged on the construction machine, wherein the machine controller is configured such that the machine controller performs the following steps during the operation of the system:

[0034] A) Receiving the identifier and

[0035] B) Receiving a software module specific to the identifier and executable in the machine controller via a data connection using a data transmission protocol from a storage device, wherein the software module is configured to generate or adapt at least one graphical user interface for the attachment mounted on the construction machine that can be displayed on a display device connected to the machine controller, assign a movement of the attachment mounted on the construction machine to a control element connected to the machine controller, set a response behavior of a movement of the attachment mounted on the construction machine depending on an actuation of a control element connected to the machine controller, or implement an algorithm for data evaluation of operating data of the attachment mounted on the construction machine in the machine controller.

[0036] In this embodiment, the automated reading of the identifier from the transponder enables the automated download and implementation of the software module in the machine controller. The software module then adapts the machine controller and its associated components to the specific characteristics of the attachment mounted on the boom.

[0037] This design allows the system to be easily and automatically adapted to a type of attachment previously unknown to the system. In other words, not all types of attachments need to be pre-programmed into the machine controller on the construction machine upon delivery.

[0038] In one embodiment of the invention, the controller, in particular the assistant controller and / or the machine controller, comprises a display unit with a graphical user interface generated by the controller, as well as a control element for the construction machine and / or the attachment, implemented as hardware or software. In one embodiment of the invention, the machine controller and the display unit for showing the graphical user interface are integrated in a single housing.

[0039] According to the invention, there are two distinct possibilities for transferring the software module into the machine controller and implementing it there.

[0040] In one embodiment of the invention, the transponder includes the storage device, such that the software module is transferred from the transponder to the machine controller. Such an embodiment is advantageous because it does not require any further connection of the system to any data sources, since each attachment itself carries and provides the software module necessary for its use.

[0041] In an alternative or additional embodiment, the system has a network interface and a data network connected to the network interface with a network protocol, wherein the storage device is a data server connected to the data network. In this embodiment as well, as described previously, in one embodiment the network protocol is different from the data transmission protocol that connects the transponder to the controller.

[0042] In one embodiment of the invention, the system comprises a wired fieldbus that connects the transponder of the attachment mounted on the boom of the construction machine, and optionally a transponder of a quick coupler mounted on the boom of the construction machine, and optionally a transponder of a tiltrotator mounted on the boom of the construction machine, to the controller. The transmission protocol is a fieldbus protocol, e.g., the CAN bus. In one embodiment of the invention, the data transmission protocol is Ethernet.

[0043] Alternatively, a wireless connection of the transponder(s) to the controller is also possible, for example via a Bluetooth or WiFi protocol.

[0044] The system according to the invention can be supplemented with at least one quick coupler or one tiltrotator, regardless of how the information read from the transponders is processed or used. Both a quick coupler and a tiltrotator are optionally mounted on the boom of the construction machine to provide additional functions beyond those of the attachment. It is possible to provide a quick coupler and a tiltrotator simultaneously on the boom. In such an embodiment, either the quick coupler is mounted on the tiltrotator, so that the attachment can be automatically picked up on the quick coupler, or the tiltrotator, optionally with an attachment, is mounted on the quick coupler, so that the tiltrotator, optionally together with the attachment, can be automatically picked up on the quick coupler.

[0045] Quick couplers make it possible to attach and detach an implement or tiltrotator to the boom of a construction machine without tools and in an automated manner.

[0046] In one embodiment of the invention, the quick coupler is a hydraulically operated quick coupler.

[0047] In contrast, tiltrotators, also known as swivel rotators, enable the attachment on the boom of the construction machine to be equipped with at least one additional degree of freedom of rotation or tilting, which the boom itself does not provide. In this application, the term tiltrotator is also used when, contrary to its literal meaning, not both a tilting and a rotational capability are provided, but only one of the two.

[0048] Even though the quick coupler in particular often remains on the boom of a single construction machine for a very long time, both elements, quick coupler and tiltrotator, represent additional equipment from the perspective of the construction machine or the construction machine manufacturer.

[0049] Therefore, both the quick coupler and the tiltrotator can be treated similarly in the system according to the invention, as previously described for one of a plurality of attachments.

[0050] Therefore, in one embodiment, the system includes a quick coupler, the quick coupler being mounted on the boom and designed for the automated attachment of a variety of attachments or a tiltrotator to the boom. The quick coupler includes a transponder, the transponder containing at least one stored technical specification of the quick coupler or an identifier uniquely identifying the type of quick coupler. The machine controller can be connected to the transponder of the quick coupler in such a way that, during system operation, the machine controller receives at least the technical specification or the identifier from the quick coupler. The machine controller is configured to perform the following step during system operation: receiving a specific identifier for the quick coupler,The quick coupler software module executable in the machine controller is transmitted via a data connection from a storage device, wherein the quick coupler software module is configured to generate or adapt at least one graphical user interface for the quick coupler mounted on the construction machine that can be displayed on the display device connected to the machine controller, assign a movement or function of the quick coupler mounted on the construction machine to a control element connected to the machine controller, set a response behavior of a movement of the quick coupler picked up on the construction machine depending on an actuation of a control element connected to the machine controller, or implement an algorithm for data evaluation of operating data of the quick coupler mounted on the construction machine in the machine controller.

[0051] If the quick coupler is part of a system with an assistance device, the assistance controller can be connected to the transponder of the quick coupler in such a way that the assistance controller receives at least the technical specification or the identifier from the quick coupler during operation of the system, wherein the assistance controller is configured to perform the following steps during operation of the system:

[0052] Reading at least the technical specification or the identifier from the transponder, optionally receiving a technical specification of the quick coupler identified by the identifier via a data connection with a data transmission protocol from a storage device,

[0053] Calculating a status signal from the measurement signal and the technical specification of the quick coupler, where the status signal describes an operating state of the system.

[0054] Generating a graphical user interface that visualizes the status signal, generating a video signal that describes the user interface, and

[0055] Streaming a data stream representing the video signal via the streaming interface to the display device that is not part of the assistance device.

[0056] In one embodiment of the invention, the system has a quick coupler, wherein the quick coupler is mounted on the boom and is designed for the automated attachment of the attachment from the plurality of attachments or a tiltrotator on the construction machine, wherein the system has a wired fieldbus that connects the transponder of the attachment from the plurality of attachments picked up on the construction machine to the controller, and wherein the data transmission protocol is a fieldbus protocol, wherein the identifier or the technical specification of the attachment is passed through the quick coupler.

[0057] In one embodiment of the invention, the system comprises a tiltrotator, wherein the tiltrotator is mounted on the boom, wherein the system comprises a wired fieldbus that connects the transponder of the attachment from the plurality of attachments mounted on the boom of the construction machine to the controller, and wherein the data transmission protocol is a fieldbus protocol, wherein the identifier or technical specification of the attachment is passed through the tiltrotator.

[0058] In a configuration where an attachment, a tiltrotator and a quick coupler are mounted on the boom, the identification or technical specification of the attachment is passed through the tiltrotator and the quick coupler.

[0059] In a further embodiment, in which the controller comprises a machine controller, the system includes a tiltrotator, the tiltrotator being mounted on the boom and designed for the automated movement of the attachment and, optionally, a quick coupler. The tiltrotator includes a transponder, the transponder containing a unique identifier that identifies the type of tiltrotator. The machine controller can be connected to the tiltrotator's transponder such that, during system operation, the machine controller receives the identifier from the tiltrotator. The machine controller is configured to perform the following step during system operation: receiving a tiltrotator software module specific to the tiltrotator's identifier and executable within the machine controller via the data connection from the storage device.wherein the tiltrotator software module is configured such that it generates or adapts at least one graphical user interface for the tiltrotator mounted on the construction machine, which can be displayed on the display device connected to the machine controller, assigns a movement of the tiltrotator mounted on the construction machine to a control element connected to the machine controller, sets a response behavior of a movement of the tiltrotator mounted on the construction machine depending on an actuation of a control element connected to the machine controller, or implements an algorithm for data evaluation of operating data of the tiltrotator mounted on the construction machine in the machine controller.

[0060] In another embodiment, where the controller includes an assistant controller, the system features a tiltrotator. The tiltrotator is mounted on the boom and is designed for the automated movement of attachments from a range of attachments or a quick coupler on the construction machine. The tiltrotator includes a transponder containing at least a stored technical specification of the tiltrotator or a stored identifier that uniquely identifies the tiltrotator type. The assistant controller is connectable to the tiltrotator's transponder in such a way that, during system operation, the assistant controller receives at least the technical specification or the identifier from the tiltrotator. Furthermore, the assistant controller is configured to execute the following steps during system operation.

[0061] Reading at least the technical specification or the identifier from the transponder, optionally receiving a technical specification of the tiltrotator identified by the identifier via a data connection with a data transmission protocol from a storage device,

[0062] Calculating a status signal from the measurement signal and the technical specifications of the tiltrotator, where the status signal describes an operating state of the system; generating a graphical user interface visualizing the status signal; generating a video signal describing the user interface; and

[0063] Streaming a data stream representing the video signal via the streaming interface to the display device that is not part of the assistance device.

[0064] The advantages, features, and possible applications of the present invention will become clear with reference to the following description of one embodiment and the accompanying figures. In the figures, identical elements are designated with identical reference numerals.

[0065] Figure 1 is a schematic representation of the hardware of an embodiment of the system according to the invention.

[0066] Figure 2 is a schematic block diagram of a first variant of the system according to the invention.

[0067] Figure 3 is a schematic block diagram of a modified implementation of the system from Figure 2.

[0068] Figure 4 is a schematic block diagram of an extended implementation of the system from Figure 2.

[0069] Figure 5 is a schematic block diagram of an alternative variant of the system according to the invention compared to the system shown in Figure 2. Figure 6 is a schematic representation of a variant of the system according to one of Figures 2 to 4 with a first implementation of the streaming.

[0070] Figure 7 is a schematic representation of a variant of the system according to one of Figures 2 to 4 with a second realization of the streaming.

[0071] Figure 8 is a schematic representation of a variant of the system according to one of Figures 2 to 4 with a third realization of streaming.

[0072] Figure 9 is a schematic representation of a variant of the system according to one of Figures 2 to 4 with a fourth realization of streaming.

[0073] Figure 1 shows a schematic representation of a system 1, which comprises a construction machine, namely a hydraulic excavator 2. The hydraulic excavator 2 rests on a crawler chassis 3 and has a boom 4. An attachment 5 is mounted on the boom 4. The attachment 5, which is mounted on the boom 4, is one of a plurality of different attachments of the system 1. In Figure 1, the attachment is shown by way of example as a bucket 5, so that some functions of the system 1 can be described using the bucket 5 as an example.

[0074] The bucket 5 is equipped with a transponder 6, which stores a technical specification of the bucket 5 or a unique identifier for the bucket 5. This information can be read automatically from the transponder 6.

[0075] System 1 further comprises a quick coupler 20, which is mounted on the boom 4 and is designed for the automated attachment of the bucket 5 or a tiltrotator 21 to the hydraulic excavator 2. The quick coupler 20 is also equipped with a transponder 22, which contains at least one stored technical specification of the quick coupler 20 or a unique identifier of the quick coupler 20.

[0076] Furthermore, a tiltrotator 21 is also mounted on the boom 4. This is designed for the automated rotation of the bucket 5 and the quick coupler 20 about the axis shown in Figure 1. The tiltrotator 21 is equipped with a transponder 24, which contains at least one stored technical specification of the tiltrotator 21 or a unique identifier of the tiltrotator 21.

[0077] A controller 8 is arranged on the hydraulic excavator 2 and connected to the bucket's transponder 6.

[0078] 5 and optionally also with the transponders 22, 24 of the quick coupler 20 and the tiltrotator 21. During operation of the system 1, the controller 8 receives at least the technical specification or the identifier of the bucket 5 and optionally of the quick coupler 20 and the tiltrotator 21.

[0079] Based on Figure 1 and the block diagrams in Figures 2 to 4, a first variant of System 1 in various configurations will now be described in detail.

[0080] In the embodiment shown in Figures 2 to 4, the system 1 comprises an assistance device 7, which is arranged on the hydraulic excavator 2. The controller is an assistance controller 8 of the assistance device 7. The assistance device 7 also includes an inertial measuring unit 9 arranged on the boom 4. The assistance controller 8 is connected to the inertial measuring unit 9 such that, during operation of the system 1, it receives an inertial measurement signal 23 from the inertial measuring unit 9. This inertial measurement signal 23 describes a pose (position) of the boom relative to the chassis of the hydraulic excavator 2. In the embodiment shown, the assistance device further comprises a GNSS receiver 15, which is connected to the assistance controller 8 to provide it with a position signal.

[0081] The assistance device 7 further comprises a streaming interface 12, which is connected to the assistance controller 8 in such a way that it receives a video signal 11 from the assistance controller 8 during operation of the system 1. The streaming interface 12 is configured to stream a data stream 13 representing the video signal 11 to a display device 14 that does not belong to the assistance device 7 during operation of the system 1.

[0082] System 1 also includes a wired fieldbus 19, which connects the transponder 6 of the picked-up bucket 5 to the assistance controller 8. The CAN bus protocol of the fieldbus 19 enables communication between the transponder 6 and the controller 8.

[0083] The assistance controller 8 is set up according to the design shown in Figure 2 such that, during the operation of the system 1, it first reads the technical specification from the transponder 6 of the spoon 5.

[0084] From these technical specifications of the spoon 5, as well as from the inertial measurement signal 23, the assistance controller 8 calculates a status signal, whereby the status signal describes an operating state of the system 1. Furthermore, the assistance controller 8 generates a graphical user interface 10 that visualizes the status signal and a video signal 11 that describes the user interface 10.

[0085] The embodiment shown in Figure 3 differs from the embodiment shown in Figure 2 in that, instead of reading the technical specification from the transponder 6 of the spoon 5, it only reads an identifier specifying the type of spoon from the transponder. The technical specification itself is not stored in the transponder 6 of the spoon 5.

[0086] Rather, the assistance device 7, as depicted in Figure 3, has a network interface 16 which is connected to a data network 17. A data server 18, acting as a storage device, is in turn connected to the data network 17. The technical specifications of all attachments, including the bucket 5, are stored on this data server.

[0087] When the bucket 5 is picked up by the boom 4, the assistance controller 8 reads the bucket's identifier from the transponder 6 and downloads the technical specification associated with the identifier from the data server 18 via the data network 17.

[0088] As previously described, the assistance controller 8 calculates a status signal from this technical specification of the bucket 5, as well as from the inertial measurement signal 23 and the position signal, where the status signal describes an operating state of the system 1.

[0089] Figure 4 illustrates an embodiment in which the assistance controller 8, via the fieldbus 19, reads not only the technical specifications from the transponder 6 of the bucket 5, but also the technical specifications from the transponder 22 of the quick coupler 20 and the technical specifications from the transponder 24 of the tiltrotator 21. Since the embodiment in Figure 4, like Figure 2, does not have an additional network connection, the assistance controller 8 reads the technical specifications directly from the transponders 6, 22, and 24.

[0090] From these technical specifications of the bucket 5, the quick coupler 20 and the tiltrotator 21, as well as from the inertial measurement signal 23 and the position signal, the assistance controller 8 calculates the status signal.

[0091] The fieldbus 19 makes it easy to loop the signal from the transponder 6 of the bucket 5 through the quick coupler 20 and the tiltrotator 21.

[0092] Figures 6 to 8 illustrate examples of what type of display device 14 the data stream 13 can be streamed to and how the assistance device 7 can be connected to the assistance controller 8 in the remaining devices of the hydraulic excavator 2.

[0093] Figure 6 shows an embodiment in which the display device is the display 14 of the machine control 25 of the hydraulic excavator 2. The assistance controller generates the graphical user interface for the attachment 5 and streams it to the machine controller 25 of the hydraulic excavator 2 via the streaming interface 12. The machine controller 25 then integrates the user interface of the attachment into the graphical user interface of the hydraulic excavator 2 and displays it on the display 14 of the hydraulic excavator 2. While the machine controller 25 and its display 14 are installed by the manufacturer of the hydraulic excavator 2 and delivered with the excavator, the assistance device 7 is a unit that can be retrofitted by the customer or dealer of the hydraulic excavator 2. Neither the machine controller 25 nor the display 14 are part of the assistance device 7.

[0094] In one variant of Figure 6, the streaming interface 12 streams the graphical user interface of the attachment 5 directly to the display 14 of the excavator, if the latter is able to display it without the controller 25.

[0095] Figures 7 to 9 show variants in which, in addition to the assistance unit 7 with the assistance controller 8 and the streaming interface 12, and the machine controller 25 with the machine display 14, a machine management unit 30 with a management controller 31 is also provided. This machine management unit 30 serves to integrate the various functions of the individual controllers 8 and 25 and to provide them with additional functions. Typically, the machine management unit 30 is also an accessory component that is supplied directly to the customer of the hydraulic excavator 2 or the machine dealer by another manufacturer and installed by them.

[0096] In the embodiments shown in Figures 7 and 8, the streaming interface 12 streams the data stream containing the graphical user interface for the attachment 5 to the management controller 31. The management controller 31 can then display the graphical user interface of the attachment 5 either on its own display (not shown), on a general retrofitted display 32 in the hydraulic excavator 2 (one such variant is shown in Figure 7), or stream it to the machine controller 25 for display on the machine display 14 (one such variant is shown in Figures 8 and 9). None of the aforementioned displays are part of the assistance device 7.

[0097] The variants shown in Figures 8 and 9 differ in how the technical specification or the identifier is read from the transponder 6 of the attachment 5. While in the embodiment of Figure 8 the assistance controller 8 receives the information directly from the transponder 6, in the embodiment of Figure 9 the information is read via the management controller 31.

[0098] Based on Figure 1 and the block diagram in Figure 5, a second variant of System 1 in various configurations is described in detail below. In the variant shown in Figures 1 and 5, the identifier of the attachment 5, which defines the type of attachment, is automatically read from the transponder 6 of the attachment 5 by a machine controller 25 of the hydraulic excavator 2. The machine controller 25 serves as the central control unit for all units of the hydraulic excavator 2. For example, the machine controller translates the inputs from a joystick into control commands for the hydraulic pumps and valves, so that the movements of the individual elements of the hydraulic excavator 2 follow the movements of the joystick.

[0099] In the schematic representation of Figure 5, the joystick 27 serves to control the attachment 5. For the example considered here, it is assumed that the attachment 5 is a gripper that can perform an opening and closing movement.

[0100] In addition to the identifier from the transponder of the attachment 5, the identifiers of the tiltrotator 21 and the quick coupler 20 are also read from their respective transponders 24 and 22 in the example shown in Figure 5. However, the operation of the machine controller with regard to the tiltrotator 21 and the quick coupler 20 is analogous to the procedure now described for the gripper.

[0101] It is obvious that a grapple as an attachment 5 requires different control functionalities than a bucket as an attachment. Therefore, the functionality of the joystick 27 responsible for the attachment 5 must be adapted to the respective attachment 5 mounted on the boom 4. However, due to the large number of available attachments, it is almost impossible to implement them all as selectable options in the machine control system upon delivery of the hydraulic excavator 2.

[0102] Therefore, according to the invention, the attachment 5, which is mounted on the boom 4, carries its own software code, which individualizes the machine controller for the attachment 5, when coupled. Such a method is referred to as software over wire when the software is transmitted via a fieldbus 19, as in the example discussed. The transponder 6 transmits this gripper-specific code for the machine controller to the machine controller 25 via the fieldbus 19 when the gripper is coupled, in the form of an attachment software module. Similarly, the transponders 22 and 24 of the quick coupler 20 and the tiltrotator 21 transmit their machine controller-specific code to the machine controller 25 in the form of a quick coupler software module 28 and a tiltrotator software module 29, respectively.

[0103] These software modules 26, 28, 29 are then integrated into the software of the machine controller 25. In the illustrated embodiment, the attachment software module 26 assigns the opening and closing movement of the gripper mounted on the boom 4 to the joystick 27 connected to the machine controller 25 as a control element.

[0104] In an alternative embodiment, not shown in the figures, the software module does not simultaneously form the identifier of the attachment 5 or the quick coupler 20 or the tiltrotator 21 as schematically shown in Figure 5, wherein the software module is stored on the respective transponder 6, 22, 24.

[0105] Rather, upon coupling, the identifier separate from the software module is first read from the transponder 6, 22, 24, and then the software module 26, 28, 29 is downloaded via a network interface 16, which is connected to a data network 17. A data server 18 is connected to the data network 17 as a storage device. The attachment software modules of all attachments 5, including the grapple, are stored on this data server, as are the quick coupler software modules 28 and the tiltrotator software modules 29 of all quick couplers and tiltrotators of system 1.

[0106] For the purposes of the original disclosure, it is pointed out that all features as they can be deduced by a person skilled in the art from the present description, the drawings, and the claims, even if they are specifically described only in connection with certain other features, can be combined individually or in any combination with other features or groups of features disclosed herein, unless this has been expressly excluded or technical circumstances render such combinations impossible or pointless. A comprehensive, explicit description of all conceivable combinations of features is omitted here solely for the sake of brevity and readability.

[0107] While the invention has been illustrated and described in detail in the drawings and the preceding description, this illustration and description are merely exemplary and are not intended to limit the scope of protection as defined by the claims. The invention is not limited to the disclosed embodiments.

[0108] Variations of the disclosed embodiments are obvious to a person skilled in the art from the drawings, the description, and the accompanying claims. In the claims, the word "have" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude multiple features. The mere fact that certain features are claimed in different claims does not preclude their combination. Reference numerals in the claims are not intended to limit the scope of protection. List of reference numerals

[0109] 1 system

[0110] 2 hydraulic excavators

[0111] 3 crawler chassis

[0112] 4 outriggers

[0113] 5. Attachment, for example a bucket or grab

[0114] 6 T transponder of the attachment

[0115] 7 Assistance facility

[0116] 8 Assistant Controllers

[0117] 9 inertial measurement unit

[0118] 10 Graphical User Interface

[0119] 11 Video signal

[0120] 12 Streaming interface

[0121] 13 Data stream

[0122] 14 Display

[0123] 15 GNSS receivers

[0124] 17 Data network

[0125] 18 data servers

[0126] 19 Fieldbus

[0127] 20 quick couplers

[0128] 21 Tilrotator

[0129] 22 transponders of the quick-change system

[0130] 23 Inertial measurement signal

[0131] 24 tiltrotator transponders

[0132] 25 machine controllers

[0133] 26 Attachment software module

[0134] 27 Joystick

[0135] 28 Quick-change software module

[0136] 29 Tiltrotator software module

[0137] 30 machine management equipment

[0138] 31 Management Controllers

[0139] 32" Retro-fit Display

Claims

P a t e n t a n s p r ü c h e 1. System (1) comprising a construction machine (2) with a boom (4), a plurality of attachments (5) interchangeably mountable on the boom (4), each attachment (5) from the plurality of attachments (5) comprising a transponder (6) wherein the transponder (6) has at least a technical specification of the respective attachment (5) stored therein or an identifier stored therein that uniquely identifies the type of the respective attachment (5), and wherein at least the technical specification or the identifier can be automatically read from the transponder (6), and a controller (8) arranged on the construction machine (2), wherein the controller (8) can be connected to the transponder (6) of an attachment (5) mounted on the construction machine (2) from the plurality of attachments (5) such that the controller (8) receives at least the technical specification or the identifier from the attachment (5) during the operation of the system (1).

2. System (1) according to the preceding claim, wherein the system comprises an assistance device (7) arranged on the construction machine (2) for the construction machine (2), wherein the controller comprises an assistance controller (8), wherein the assistance controller (8) is part of the assistance device (7), wherein the assistance device (8) comprises a measuring unit (9), wherein the measuring unit is arranged and configured such that the measuring unit (9) detects a measure of a characteristic of the construction machine (2) or its environment during operation of the system (1) and outputs a measurement signal (23) representing the measure, wherein the assistance controller (8) is connected to the measuring unit (9) such that the assistance controller (8) receives the measurement signal (23) from the measuring unit (9) during operation of the system (1), and wherein the assistance controller (8) is configured such thatthat the assistance controller (8) performs the following steps in the operation of the system (1): i) reading at least the technical specification or the identifier from the transponder (6), ii) optionally receiving a technical specification of the implement (5) identified by the identifier via a data connection (17) using a data transmission protocol from a storage device (18), iii) calculating a status signal from the measurement signal (23) and the technical specification of the implement, wherein the status signal describes an operating state of the system (1), iv) generating a graphical user interface (10) visualizing the status signal, and v) generating a video signal (11) describing the user interface (10), and wherein the assistance device (7) has a streaming interface (12), wherein the streaming interface (12) is connected to the assistance controller (8) such that the streaming interface (12) receives the video signal from the assistance controller (8) during the operation of the system (1), and wherein the streaming interface (12) is configuredthat in the operation of the system (1) it streams a data stream (13) representing the video signal (11) to a display device (14) that does not belong to the assistance device (7).

3. System (1) according to the preceding claim, wherein the measuring unit comprises at least one inertial measuring unit (9) arranged on the boom (4) or a rotary encoder on a joint of the boom (4), such that the measure for the condition of the construction machine (2) or its environment comprises at least one position or a location of the boom (4) relative to a reference on the construction machine (2), or the measuring unit comprises a device for detecting an environment of the construction machine (2).

4. System (1) according to one of the preceding claims, wherein the controller comprises a machine controller (25) arranged on the construction machine (2), wherein the machine controller (25) is configured such that the machine controller (25) performs the steps during the operation of the system (1). A) Receiving the identifier and B) Receiving an attachment software module (26) specific to the identifier and executable in the machine controller (25) via a data connection (19) using a data transmission protocol from a storage device (6), wherein the attachment software module (26) is configured such that it at least a graphical user interface for the attachment (5) mounted on the construction machine (2) that can be displayed on a display device connected to the machine controller (25) or adapts it to the attachment (5) mounted on the construction machine (2), assigns a movement of the attachment (5) mounted on the construction machine (2) to a control element (27) connected to the machine controller (25), sets a response behavior of a movement of the attachment (5) mounted on the construction machine (2) depending on an actuation of a control element (27) connected to the machine controller, or implements an algorithm for data evaluation of operating data of the attachment (5) mounted on the construction machine (2) in the machine controller (25).

5. System (1) according to one of the preceding claims, wherein the system (1) is configured such that the controller (8) receives the identifier or the technical specification when the attachment (5) is picked up on the construction machine (2).

6. System (1) according to one of claims 3 or 4, wherein the transponder (6) comprises the storage device such that the attachment software module is transferred from the transponder (6) to the machine controller.

7. System (1) according to one of the preceding claims, wherein the system (1) has a network interface (16) and a data network (17) connected to the network interface (16) with a network protocol, wherein the storage device is a data server (18) connected to the data network (17).

8. System (1 ) according to one of the preceding claims, wherein the system (1 ) comprises a wired fieldbus (19) which connects the transponder (6) of the attachment (5) mounted on the construction machine (2) to the controller (8), and wherein the data transmission protocol is a fieldbus protocol.

9. System (1) according to any of the preceding claims insofar as dependent on claim 3, wherein the system (1) comprises a quick coupler (20), wherein the quick coupler (20) is mounted on the boom (4) and is used for the automated attachment of the implement. the quick coupler is designed from a plurality of attachments or a tiltrotator (21) on the construction machine (2), wherein the quick coupler has a transponder (22), wherein the transponder (22) has at least one technical specification of the quick coupler (20) stored therein or an identifier stored therein that uniquely identifies the type of the quick coupler (20), wherein the machine controller (25) is connectable to the transponder (22) of the quick coupler (20) such that the machine controller (25) receives at least the technical specification or the identifier from the quick coupler (20) during the operation of the system (1), wherein the machine controller (25) is configured such that the machine controller (25) performs the step during the operation of the system (1). Receiving a quick coupler software module (27) specific to the identifier of the quick coupler (20) and executable in the machine controller (25) via the data connection (19) from a storage device (22), wherein the quick coupler software module (27) is configured to generate or adapt at least one graphical user interface for the quick coupler (20) mounted on the construction machine (2) that can be displayed on the display device connected to the machine controller (25), assigns a movement or function of the quick coupler (20) mounted on the construction machine (2) to an operating element (27) connected to the machine controller (25), and sets a response behavior of a movement of the quick coupler (20) picked up on the construction machine (2) depending on an actuation of an operating element (27) connected to the machine controller (25).or implements an algorithm for data evaluation of operating data of the quick coupler (20) mounted on the construction machine (2) in the machine controller (25).

10. System (1) according to one of the preceding claims insofar as dependent on claim 2, wherein the system (1) has a quick coupler (20), wherein the quick coupler (20) is mounted on the boom (4) and is designed for the automated picking up of the attachment (5) from the plurality of attachments (5) or a tiltrotator (21) on the construction machine (2), wherein wherein the quick coupler has a transponder (22), wherein the transponder (22) has at least one technical specification of the quick coupler (20) stored therein or an identifier stored therein that uniquely identifies the type of the quick coupler (20), wherein the assistant controller (8) is connectable to the transponder (22) of the quick coupler (20) such that the assistant controller (8) receives at least the technical specification or the identifier from the quick coupler (20) during the operation of the system (1), wherein the assistant controller (8) is configured such that the assistant controller (8) performs the steps during the operation of the system (1). Reading at least the technical specification or the identifier from the transponder (6), optionally receiving a technical specification of the quick coupler (20) identified by the identifier via a data connection (17) with a data transmission protocol from a storage device (18), calculating a status signal from the measurement signal (23) and the technical specification of the quick coupler, wherein the status signal describes an operating state of the system (1 ), Generating a graphical user interface that visualizes the status signal (10), Generating a video signal (11) describing the user interface (10) and Streaming a data stream (13) representing the video signal (11) via the streaming interface (12) to the display device (14) which does not belong to the assistance device (7).

11. System (1) according to one of the preceding claims, wherein the system (1) comprises a quick coupler (20), wherein the quick coupler (20) is mounted on the boom (4) and is designed for the automated attachment of the attachment (5) from the plurality of attachments (5) or a tiltrotator (21) on the construction machine (2), wherein the system (1) comprises a wired fieldbus (19) that connects the transponder (6) of the attachment (5) from the plurality of attachments (5) mounted on the construction machine (2) to the controller (8), and wherein the data transmission protocol is a fieldbus protocol, wherein the identifier or technical specification of the attachment (5) is passed through the quick coupler (20).

12. System (1) according to any one of the preceding claims insofar as dependent on claim 3, wherein the system (1) comprises a tiltrotator (21), wherein the tiltrotator (21) is attached to the The boom (4) is mounted and is designed for the automated movement of the attachment (5), wherein the tiltrotator (21) has a transponder (24), wherein the transponder (6) has an identifier stored therein that uniquely identifies the type of tiltrotator (24), wherein the machine controller (25) is connectable to the transponder (24) of the tiltrotator such that the machine controller (25) receives the identifier from the tiltrotator (21) during the operation of the system (1), wherein the machine controller (25) is configured such that the machine controller (25) performs the step i) receiving a tiltrotator software module (29) specific to the identifier of the tiltrotator (21) and executable in the machine controller (25) via the data connection (17) from the storage device, wherein the tiltrotator software module (29) is set up in such a way,that it generates or adapts at least one graphical user interface for the tiltrotator (21) mounted on the construction machine (2) that can be displayed on the display device connected to the machine controller (25), assigns a movement of the tiltrotator (21) mounted on the construction machine (2) to a control element (27) connected to the machine controller (25), sets a response behavior of a movement of the tiltrotator (32) mounted on the construction machine (2) depending on an actuation of a control element (27) connected to the machine controller (25), or implements an algorithm for data evaluation of operating data of the tiltrotator (21) mounted on the construction machine (2) in the machine controller (25).

13. System (1) according to one of the preceding claims insofar as dependent on claim 2, wherein the system (1) comprises a tiltrotator (21), wherein the tiltrotator (21) is mounted on the boom (4) and is designed for automated movement of the attachment (5) from the plurality of attachments (5) or a quick coupler (20) on the construction machine (2), wherein the tiltrotator (21) comprises a transponder (24), wherein the transponder (24) has at least one technical specification of the tiltrotator (24) stored therein or an identifier stored therein that uniquely identifies the type of tiltrotator (24), wherein the assistance controller (8) is connectable to the transponder (24) of the tiltrotator (21) such that the assistance controller (8) receives at least the technical specification or the identifier from the tiltrotator (21) during the operation of the system (1), wherein the assistance controller (8) is configured such that the assistance controller (8) performs the steps during the operation of the system (1). Reading at least the technical specification or the identifier from the transponder (24), optionally receiving a technical specification of the tiltrotator (21) identified by the identifier via a data connection (17) with a data transmission protocol from a storage device (18), Calculating a state signal from the measurement signal (23) and the technical specification of the tiltrotator (21), wherein the state signal describes an operating state of the system (1), Generating a graphical user interface that visualizes the status signal (10), Generating a video signal (11) describing the user interface (10) and Streaming a data stream (13) representing the video signal (11) via the streaming interface (12) to the display device (14) which does not belong to the assistance device (7).

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