EP0912806B1 - Process and arrangement for controlling a sequence of movements in a moving construction machine - Google Patents

Description

The invention relates to a method and an arrangement for optimal control of recurring similar movements in agricultural machinery, such as B. construction site vehicles like excavators, or agricultural machines.

The high degree of automation, which is in the area of industrial manufacturing has prevailed so far not yet established in the field of agricultural machinery. With the increasing demands on energy management Work and efficient, fast editing of larger land areas, however, the degree is also here automation for efficient use of natural Resources and for the rapid control of motion sequences more urgent. Automation is an example of excavators not very far with electronics advanced. In particular, the individual axes and an operator typically drives an excavator controlled. Especially with repetitive movements the excavator or other agricultural machinery, such as when pulling a slope slope for highways or when digging canals this is very much elaborate, exhausting and monotonous and can often not the required accuracy over a long period of time become. Similar problems occur when driving off larger ones Fields and cultivation of the country, such as harrows, Plowing or sowing or harvesting.

Because of the strong competitive pressure, however, not only work quickly but also efficiently. this means for the agricultural machinery used in particular, that they use the fuel to save energy have to.

From US-A-5,438,771 an agricultural machine is known where a means of global positioning, a means for electronic control and a means of input of control commands are available.

The problem underlying the invention therefore exists therein an improved method for controlling an agricultural machine specify. Furthermore, by the invention working with the agricultural machine as energy-efficiently as possible to be possible.

This task is accomplished by a method according to the characteristics of claim 1 and by an arrangement according to Features of claim 8 solved.

Further developments of the invention result from the dependent Claims.

There is a particular advantage of the method according to the invention in that the place of action of the agricultural machine precisely determined using the global positioning system can be made by the dimensions and orientations known attachments of the agricultural machine under Use the global position for precise referencing of the place of action can be used. Particularly advantageous can by using the inventive method Help with global positioning and the well known Repeat activities are performed automatically in the place of action by planning control commands and in a second step the planned control commands under Variation of a step can be repeated. The variation A control command is preferably the transfer the place of action, or in the manual execution of a Control commands, as this relieves the operator optimally.

The individual control commands of the Agricultural machine taught by an operator about this using the control device of the device or executes and the respective control commands with the associated Parameters can be saved.

However, CAD design data can also be particularly advantageous for entering the control commands into the agricultural machine can be used by creating a model of this machine and with a model of the country to be worked on or the construction site to be processed is, so that control command sequences directly on the computer Suitable models can be created. This has the Advantage that often very expensive agricultural machinery is more efficient can be used as for the planning of each Control command sequences of the use of the machine itself is not required.

Can be particularly advantageous when using the invention Procedure can be assigned to each control command, whether this manually or automatically. To this In this way, an operator can determine which commands are better for him performs itself and thus can optimally perform and which He leaves the commands to the automatic.

The method according to the invention allows this in a particularly advantageous manner individual control commands according to a predefined function to parameterize. Accordingly, can be particularly advantageous excavate canals by excavators, for example the depth of penetration of the blade from movement to movement is increased by a fixed amount, or by, for example, a tillage machine Field leaves in a meandering shape, for example in agriculture Spread seed, one each when turning Offset taken into account, for example the width of the used implement corresponds. This leads to advantage to a higher degree of automation and an individual The operator can check several such machines on a case-by-case basis.

The use of an agricultural machine is particularly advantageous according to the inventive method two locations, for example by varying a parameter the first location can be varied while for example the second place using absolute world coordinates, which result from the global positioning system, can be captured. This has the advantage that the agricultural machine for example during excavation work fixed depot point, for example approaching a loading truck can and there with a movement sequence valid at the second location, which is the depot point here, for example can load excavated earth onto the truck. This has advantages However, processes also apply to agricultural Machines, for example because seeds are in a fixed location can be recorded and the current position, at which the sowing process was interrupted becomes.

However, it is also conceivable that a special depot point was determined Attachments of the machine are replaced and therefore different Operations can be performed in sequence without the operator having to intervene.

A particular advantage is achieved by using the invention Drive control method as a result most or all of the commands for a motion sequence are known in advance and thus the engine and used occasionally Hydraulic elements according to the previously known power requirement controlled for the individual movements can be. This enables a particularly energy economy Use of the agricultural machine, because of this adjusted power control from the tillage machine less fuel is consumed.

An arrangement for carrying out is particularly advantageous of the procedure means for global positioning, as well as means for controlling functional elements and means for input of the control commands for these functional elements. On this is achieved through the least possible technical effort a functional arrangement for performing the invention Procedure provided.

Are particularly advantageous in the arrangement according to the invention Means available, which represent the work area the agricultural machinery related to the global position, because in this way an accurate Planning the sequence of movements is made considerably easier and the use of CAD design documents or data in Connection with the movement planning of the agricultural machine is made possible.

The arrangement according to the invention is particularly advantageous Means for controlling the power of the drive means used on because it is the energy-saving control of the agricultural machine is made possible and thus the fuel requirement of the device is reduced.

Is particularly advantageous when using the invention Procedure based on the recurring control commands of the Pressure requirement determined in hydraulic elements used occasionally and exactly this pressure requirement is provided, because it is fuel generated by the use of the hydraulic pump is consumed, can be saved.

It is particularly advantageous when controlling the agricultural machine the time required for a complex movement determined and depending on this time requirement and of the control commands to be carried out, the performance characteristic of the engine and a hydraulic pump that may be required customized. In this way, unnecessary power peaks, which would arise with manual control avoided and thus fuel saved.

Figur 1

zeigt als Beispiel eine Landbearbeitungsmaschine in Form eines Baggers.

Figur 2

gibt als Beispiel eine Landbearbeitungsmaschine an, welcher ein zulässiger Arbeitsbereich zugewiesen wurde.

Figur 3

gibt ein Beispiel eines Bewegungsablaufs auf zwei zueinander geneigten Ebenen an.

The invention is explained in more detail below with reference to figures.

Figure 1

shows an example of an agricultural machine in the form of an excavator.

Figure 2

specifies an agricultural machine as an example, to which a permissible work area has been assigned.

Figure 3

gives an example of a sequence of movements on two inclined planes.

In Figure 1, an implement AG is shown in the form of an excavator. If there is talk of excavators in the following, it should this does not mean that the invention is only on excavators is limited. Also related to the invention other land moving devices conceivable, or can the Use of agricultural equipment to be monitored.

The excavator AG shown in FIG. 1 has antennas, for example A1 and A2 on what data from a global positioning system can be received. In a tax calculator the unit, for example, is accurate to a few cm determined in which position the construction of the excavator located. By controlling the excavator, for example Axes 10 to 50 can be controlled separately. On this Suitable axes are provided, which it the Controls allow the exact position of the respective add-on parts AT to determine. For example, with the Bagger AG an earth excavation can be carried out on a soil BO. The described Axes 10 to 50 allow any degree of freedom. Variable parameters of the device should preferably be used be monitored for all degrees of freedom of the excavator, so it is known at all times in what position the excavator is and which contour the intended, for example Attachment AT takes. About AT attachments it can be said that these are not generally movable as they are have kinematics given by their geometry. This Kinematics here is due to the degrees of freedom, for example the axes 10 to 30 indicated. If by a tax calculator or should be checked by other means whether the implement AG or an attachment a predefined Leaves work area so can by using the control the kinematics and using angle encoders or other measuring devices, which are provided on the corresponding axes, can be determined very easily which final geometry of the attachment is taken. In connection with the exact Position of the implement, which via the global positioning system a position of an am farthest point, the far point, which should preferably be monitored. In Figure 1 there are two such distant points entered FP1 and FP2. To be favoured when determining position GPS / DGPS exhausted possibilities, with which the position of a mobile vehicle, such as the work tool AG, determined as precisely as possible can be. By knowing your own position and orientation of, for example, construction equipment, and one by for example a work area entered by an operator, knowledge of the articulation angle and the dimensions of the construction equipment and occasionally other parameters it is at any time possible to decide whether the work tool AG in permissible work area is or is about to be to leave. In this case, a warning signal, which is addressed to the operator of the device and / or the movement of the device first slowed down and then stopped altogether, for example to avoid an accident.

The illustrated machine AG, which is, for example, an excavator or an agricultural machine such as can be a tractor, e.g. an excavation in one Dig through to which the shovel S, for example on Point FP2 must be positioned. To do this, the agricultural implement AG regarding its possible degrees of freedom 10 take up to 50 precisely defined positions. These positions are, for example, by angle encoders or by others Sensors set. These positions are preferred already when entering the control commands to learn the movement sequence saved for the digging process. To a defined one To reach digging depth, for example, the shovel progressively deeper with the progress of the excavated excavation in the Immerse the channel. For this purpose, it sees the method according to the invention advantageous that, for example, the control commands, which operate the hydraulic cylinders 10, 20 and 30 accordingly be adjusted so that the place of action of the blade S accordingly is deeper in the ground. It is also conceivable that with progress of canal excavation, the excavators accordingly of the bucket width moves to the right or left in order to to start digging again at a new location. The global positioning system via antennas A1 and A2 it to determine the exact location of action of the blade S and the parameters for the necessary control commands of the agricultural implement to specify accordingly. It is too conceivable that the excavator or the agricultural machine after the bucket has been filled automatically to the depot drives, the soil tilts there and automatically becomes one next working position. In this way, agricultural machinery enables such activities as, for example Channel excavations or slope pulling operations, such as required for highway noise barriers, in automated to a high degree. The invention is intended However, they are not just limited to such activities, since they work on all conceivable land moving work is applicable. In particular, the invention is also in areas can be used in agriculture, in which frequently recurring Activities such as spreading seeds or plowing or harrowing or hay turning or similar activities are to be carried out. In particular, by the Use of the invention in the field of agriculture such Activities such as lifting the tool and Automated depositing of the tool after a turning process become.

Figure 2 shows the implement AG of Figure 1 in connection with a permissible working area AZU, being essential Parts of the implement with volume elements V10 to V70 are circumscribed. The use of solid elements in the Monitoring the work area AZU allows the computing effort for the calculations to be carried out, since not the real dimensions, but approximate Dimensions have to be considered. In particular then only cuboids and simple volume blocks can be expected. The permissible work area AZU shown here is here represented simply as a cuboid or as a surface. There are but also any three-dimensional structures conceivable and definable. For example, an allowable work area can be entered in the form of a teach-in process, in which an operator with the work tool AG and existing ones Add-on parts the entire work area in one step, which should be allowed afterwards leaves while moving existing attachments so that they the desired Do not violate the boundary of the work area. From one Control of the device can perform the specified movements can be saved and used later during work these control positions can be updated with the device entered control positions of the operator compared become. When entering three-dimensional structures plays when learning to the current position of the implement AG a role that over the global positioning system is obtained and preferably in connection with everyone currently performed movement is stored. If one Violation of the permissible work area occurs the control unit emits an alarm signal or cause that the device at all times with its boom AT in the permissible Working area AZU remains by controlling automatically Control commands of the operator modified. The allowable work area AZU can also be specified inversely, for example, by only avoiding obstacles should be marked explicitly. Preferably, the permissible Work area AZU can also be entered in the form that Data from an existing CAD model of the work area available. Design data are conceivable here, for example, which is an architect when measuring the terrain and in the construction of a building or excavation has already entered, which then only the Control of the device communicated or supplied electronically Need to become.

For example, the position and location of the device is determined using GPS receivers. Today's high-performance systems, such as the DGPS, allow an accuracy in position determination of approximately 2 cm [source: Trimble:
7400Msi: High precision GPS receiver for dynamic control systems]. Preferably, by attaching two antennas, as shown in FIG. 1 with A1 and A2, the orientation of the implement can also be determined by comparing their positions. Although the position inaccuracy of 2 cm results in angular errors of approximately 0.4 ° in large excavators, this inaccuracy can be taken into account when warning or regulating possible collisions. In the case of large excavators, for example, with a reach of 15 m, the maximum inaccuracy can expand up to 12 cm at the tip of the bucket.
It is particularly important for the method according to the invention that the changes in movement of the implement are measured precisely and are known so that they can be reproduced exactly.

Figure 3 shows two levels E1 and E2. The agricultural machine AG is used, for example, at one location O10. Of This location O10 leads you, for example, with the help of a Scoop through smoothing work on plane E2, where the attachment in this case, for example, the excavator boom AT perpendicular to the boundary of plane E1 and parallel to Limitation of level E2 must be performed. The agricultural machine should be parallel along a direction 15 Move to the slope and smooth or excavate it or similar. By using the global positioning system, becomes the place of action WO of the blade via the kinematics of the AT attachment and the available parameters, which is the movement of the tillage machine characterize, and that when learning the movement process were saved for the respective control commands, exactly referenceable. It is Z. B. conceivable that the agricultural machine after having traveled a length of level E2 has returned to the beginning of level E2 and the place of action the blade by the amount of its width along the direction E2 is moved to level E2, after which the movement process is carried out again along the direction 15. Especially This advantageously ensures that the operator does not must intervene to carry out such regular recurring activities perform. If the shovel is filled with soil is, for example, by prior definition a control command to be carried out manually in the course of the Control commands are determined where decided by the operator is whether the agricultural machine AG to a location 020 drives, where, for example, the soil is unloaded can. After that, it can automatically return to the place where she stopped working because the place is known and preferred via the global positioning system is saved before it is exited.

• Meßbarkeit der Gelenkwinkel sowohl beim Ausleger als auch die Drehung des Oberwagens gegenüber dem Unterwagen
• Bestimmung der Eigenposition und der Orientierung des Baggers
• computer-steuerbare Servohydraulik
• Möglichkeit zur Eingabe von Bewegungsdaten.

The angle TAU describes the inclination of the plane E2 to the plane E1 and the angle PHI describes the vertical angle between the attachment AT of the implement and the plane E2. In particular, the following parameters are preferably determined and used when using the method according to the invention:

• Measurability of the articulation angle for both the boom and the rotation of the uppercarriage relative to the undercarriage
• Determination of the own position and the orientation of the excavator
• computer-controlled servo-hydraulics
• Possibility to enter movement data.

This preferably ensures that the excavator movement can be repeated using a software engineering process can that the division of the movement into several Substeps, each of which is either manual or automatic can be repeated, is enabled and that a high Efficiency through either parameterized or non-parameterized Repetition of movements is achieved. Preferably the process is carried out in two stages. In a first step, the ones to be repeated Movements of the agricultural machine are shown, or the entered trajectories. In a second If necessary, these movements are compared with the step World position to which the global positioning system is used repeatedly.

1. Fahren des Baggers zum Einsatzort und Ausrichten des Baggerarms

2. Ausstrecken des Baggerarms

3. Einsetzen der Schaufelspitze unter definiertem Winkel an den Boden

4. Durchführen einer Grabbewegung bzw. Abfahren einer geradlinigen Trajektorie und Ziehen des Erdreichs.

5. Einklappen der Schaufel und Anheben zum LKW oder Abladeort

6. Öffnen der Schaufel und Abladen des Schaufelinhalts

The first step for teaching the individual movement sequence of the agricultural machine is preferably as follows:
This sequence of movements for an excavator is shown here, but this is not intended to limit the invention only to excavators, since analogous processing steps can be predetermined for any agricultural machine.

1. Drive the excavator to the job site and align the excavator arm

2. Extend the excavator arm

3. Insert the tip of the bucket at a defined angle on the ground

4. Performing a digging movement or tracing a straight trajectory and pulling the soil.

5. Fold in the bucket and lift it to the truck or unloading location

6. Open the bucket and unload the bucket contents

1. Die Aufzeichnung des durch den Baggersteuerknüppel vorgegebenen Bewegungsablauf, welcher dann in genau dieser Form wiederholt wird. Dies ist vor allen bei Grabe- oder Auslegerbewegungen der Schaufel interessant oder

2. der parametrisierten Aufzeichnung von später aufzuführenden Baggerbewegungen wie

• Ausstrecken des Baggerarms dies ist interessant für das Ziel von Böschungen. Hier kann es wichtig sein, daß der Baggerarm möglichst weit ausgestreckt wird.
• Anfahren eines bestimmten Punktes oder eines Punktes auf einer Ebene
  Eine Anwendung der Erfindung ist beispielsweise das Aufhäufen des Aushubs an einer Stelle, wie beispielsweise durch den Punkt 020 dargestellt. Diese Stelle kann vorgegeben werden und der Bagger oder die Landbewegungsmaschine kann in dieser Teilbewegung, welche beispielsweise auch durch mehrere Steuerbefehle angefahren werden kann wieder an diese Stelle zurückfahren. Ein solcher Bewegungsablauf kann neben dem Anheben auch ein koordiniertes Drehen des Baggeroberwagens sowie ggf. sogar eine automatische Bahnplanung zum kollisionsfreien und schnellstmöglichen Drehen zum Zielort beinhalten. Das Anfahren eines Punkts auf einer Ebene ist dabei wichtig für das Ziehen von Böschungen. Hier kann es nötig sein, zunächst einen möglichst weit entfernten Punkt auf der Böschungsebene anzufahren, um dann von hier aus das Abfahren der Gerade zu beginnen. Vorzugsweise wird hierbei vorausgesetzt, daß sich der Ausleger parallel zu einer der ebenen Begrenzungen ausrichtet.
• Abfahren einer Trajektorie mit definiertem Winkel Diese Bewegung führt zu einer Bewegung der Baggerschaufel entlang einer vorgegebenen Gerade/Ebene oder eines vorgegebenen Profils. Vorzugsweise wird eine solche Bewegungsabfolge beim Ziehen von Böschungen notwendig.
  All diese Bewegungen können neben einer Schaufel- bzw. Auslegerbewegung auch eine Bewegung des Unter- oder Oberwagens beinhalten. Bei anderen Landbearbeitungsmaschinen können fallweise andere bewegbare Ausleger oder Anbauteile AT vorgesehen sein und diese können mehr oder weniger Bewegungsfreiheitsgrade aufweisen, als in diesem Beispiel dies der Fall ist. In einer analogen Betrachtungsweise kann jedoch der Fachmann auch für diese verschiedenen Landbearbeitungsmaschinen, für welche hier der Bagger als Beispiel dient, eine geeignete Anwendung der Erfindung durchführen. Zur Eingabe dieser parametrisierten Baggerbewegungen sollte vorzugsweise dem Baggerführer ein geeignetes Eingabegerät, wie z. B. ein touchscreen zur Verfügung stehen, mit dem er die notwendigen Eingabe, wie z. B. Lage und Abmessung einer Ebene tätigt.
  Diese parametrisierte Aufzeichnung beinhaltet vorzugsweise das Aufzeichnen der später auszuführenden Baggerbewegungen in Echtweltkoordinaten, d. h. neben dem eigentlichen Bewegungsablauf auch die Position, an der diese Bewegung durchgeführt werden soll. Aus dieser Anpassung an die Echtweltkoordinaten, welche die Koordinaten sind, die das globale Positionierungssystem zur Verfügung stellt, resultiert der große Vorteil der Erfindung, das eine automatische Wiederholung eines Bewegungsablaufs, mit leicht veränderten Standorten oder leicht veränderten Steuerbefehlen ermöglicht werden kann.

It is possible to pretend or enter all these movements and record them. Only in the rarest of cases, however, will it make sense to have all these sub-sequences repeated almost automatically without manual intervention / interruptions. Mixed mode operation of automatic and manual movements will probably be used more frequently. With the teach-in, the movement to be repeated automatically preferably has the option of carrying out each of the above sub-steps in the form of manual control by the operator or automatically. The following forms of recording can preferably be used for the movement sequence:

1. The recording of the movement sequence specified by the excavator control stick, which is then repeated in exactly this form. This is particularly interesting when digging or moving the bucket or

2. the parameterized recording of excavator movements to be performed later, such as

• Extending the excavator arm this is interesting for the aim of embankments. It can be important here that the excavator arm is extended as far as possible.
• Approach a certain point or a point on a plane
  One application of the invention is, for example, to pile up the excavation at one point, as represented by point 020, for example. This point can be specified and the excavator or the land moving machine can move back to this point in this partial movement, which can also be approached by several control commands, for example. In addition to lifting, such a sequence of movements can also include coordinated turning of the excavator superstructure and possibly even automatic path planning for collision-free and fastest possible turning to the destination. Approaching a point on a level is important for drawing embankments. Here it may be necessary to first approach a point on the embankment level that is as far away as possible and then start to follow the straight line from here. It is preferably assumed that the boom is aligned parallel to one of the plane boundaries.
• Traversing a trajectory with a defined angle This movement leads to a movement of the excavator bucket along a predefined straight line / plane or a predefined profile. Such a sequence of movements is preferably necessary when pulling embankments.
  All of these movements can include a movement of the undercarriage or uppercarriage in addition to a bucket or boom movement. In other agricultural machines, other movable booms or attachments AT can be provided on a case-by-case basis and these can have more or less degrees of freedom of movement than is the case in this example. In an analogous view, however, the person skilled in the art can also carry out a suitable application of the invention for these various agricultural machines, for which the excavator serves as an example here. To enter these parameterized excavator movements, the excavator operator should preferably use a suitable input device such as B. a touchscreen are available with which he can make the necessary input, such as. B. Location and dimensions of a level.
  This parameterized recording preferably includes the recording of the excavator movements to be carried out later in real world coordinates, ie in addition to the actual movement sequence also the position at which this movement is to be carried out. This adaptation to the real world coordinates, which are the coordinates that the global positioning system provides, results in the great advantage of the invention that an automatic repetition of a motion sequence can be made possible with slightly changed locations or slightly changed control commands.

While only one sequence of movements is demonstrated in the learning step or is entered and recorded in the above manner when the sequence of the partial movement steps is played or the individual control sequence, this is repeated repeatedly. It should be noted that the kinematics of a boom, it may well require multiple control commands must be released by the control at the same time, so that is not necessarily a sequence of commands issued becomes possible, but also several commands at the same time are which z. B. designated in Figure 1 with 10, 20 and 30 Move axes or lifting cylinders simultaneously to one to enable faster movement of the bucket S.

1. Automatische Abfolge der Steuerbefehle ohne Anpassung an die Echtweltkoordinaten
Vorzugsweise wird in diesem Schritt ein aufgezeichneter Bewegungsablauf erneut abgespielt. Dies z. B. kann eine Drehbewegung beim Graben oder eine Öffnungsbewegung beim Ausleeren über einem Kipper sein. Dabei ist eine Anpassung an eine vorgegebene Position nicht erforderlich, sondern lediglich die reine Bewegungswiederholung. Sollte eine solche Bewegungswiederholung jedoch an einer bestimmten Stelle gewünscht sein, so ist diese Position in einem vorangegangenen Schritt vorzugsweise mit einer Anpassung an die Echtweltkoordinaten herzustellen. Fallweise kann auch ein automatisierter Bewegungsschritt der Landbewegungsmaschine vorgesehen sein, welcher beispielsweise beinhaltet, daß die Abfolge der Befehle, welche notwendig ist um eine Bewegung einen bestimmten Punkt zu ermöglichen, von einem Bediener aufgerufen werden kann und er lediglich in einen aufgezeichneten Bewegungsablauf diese Routine einspielt und dabei eine Koordinate in Form von Weltkoordinaten vorgibt, welche des Landbearbeitungsgerät anfahren soll.

2. Automatische Abfolge der Steuerbefehle mit Echtweltkoordinatenanpassung
Vorzugsweise wird hier bei jeder Bewegung der Landbearbeitungsmaschine ständig ihre aktuelle Position und Orientierung benötigt. Diese Information kann dabei mittels eines GPS-Empfängers gewonnen werden.

The invention preferably provides that individual partial movement steps are carried out manually or automatically. For example, the manual control of the excavator controls the excavator as before, while the automatic execution of partial movements is controlled by a computer in the excavator, that is, an electronic control, which, however, allows manual intervention by the operator at any time. For the execution of the partial movements, which consists of an automatic sequence of the recorded control commands, there are the following types of execution, depending on the recording mode, which is parameterized or non-parameterized, for example:

1. Automatic sequence of control commands without adaptation to the real world coordinates
A recorded movement sequence is preferably played again in this step. This z. B. can be a rotary movement when digging or an opening movement when emptying over a tipper. An adjustment to a given position is not necessary, just the repetition of movement. However, if such repetition of movement is desired at a certain point, this position should preferably be established in a previous step with an adaptation to the real world coordinates. In some cases, an automated movement step of the land-moving machine can also be provided, which includes, for example, that the sequence of commands which is necessary to enable a movement to a specific point can be called up by an operator and he merely imports this routine into a recorded movement sequence and a coordinate in the form of world coordinates specifies which the agricultural implement should approach.

2. Automatic sequence of control commands with real world coordinate adjustment
Preferably, with each movement of the agricultural machine, its current position and orientation is constantly required. This information can be obtained using a GPS receiver.

It is then preferably parameterized using the Record the excavator movements known control commands constantly adjusted their own position and the Individual excavator axles can be controlled in a coordinated manner be that the movements you want are on the right ones Position. So here it matters that to a respective control command that is recorded was also the current coordinate resulting from the global Positioning system results in being matched. Preferably the execution of these control commands then remains correct if e.g. B. the agricultural machine a little further drives, or sags on soft ground. Through the global Position determination, the parameterized processing description and computer-aided coordination Deviations compensated so that based on the above Description many repetitions of movement are possible. in the This applies particularly to the creation of embankments. The sequence of control commands can be used here, for example the one-time entry of the slope level and the partial movements-stretching to the lower end of the embankment level with Alignment of the boom on the slope axes, move / pull the embankment along the plain, possibly unloading excess spoil and repeat this procedure with slightly changed excavator position over long distances be repeated continuously.

In a particularly elegant way, by using the inventive method, the performance management of the excavator engine or the hydraulic drive elements used carry out. This is particularly important because of this immediately the economy of the agricultural machine depends. The fact that with a repeating sequence of control commands it is already known in advance which resources of the agricultural machine how long they are needed and approximately what effort is required. This previously known information can be used to Agricultural machine resources in an optimal way to control, so that their energy consumption, which from processing the control commands result in an optimal way is low.

• typische Leistungsanforderungen des jeweiligen Arbeitsmodus
• zukünftige Bewegungen beispielsweise einzelner Hydraulikzylinder
  Diese Information kann sowohl aus der vorausschauenden Berechnung zukünftiger Zylinderbewegungen beim Fahren entlang einer Trajektorie, als auch aus der Analyse der manuell vorgemachten Bewegungen, wie z. B. beim Graben oder Ausleeren gewonnen werden. Die Kenntnis dieser Information läßt Schlüsse auf den zukünftigen Leistungsbedarf beim automatischen Wiederholen der Steuerbefehle, welche diese Bewegung bewirken, zu.
• Zeit, wie lange eine Bewegung durchgeführt werden wird Die Zeitdauer ermöglicht es abzuschätzen, wie lang eventuell vorhandene Leistungsreseveren in einem Druckspeicher noch ausreichen werden und wann die Leistung des Motors entsprechend zu ihrer Regeneration angepaßt werden muß.
• Zeit bis einer neuer Bewegungsmodus beginnen wird Hierdurch kann frühzeitig auf veränderte Leistungsanforderungen aus einem nachfolgenden Bewegungsmodus reagiert werden, so daß die hierfür benötigte Leistung rechtzeitig bereitsteht. Vorzugsweise werden diese Informationen und andere Informationen, die sich aus der zeitlichen Abfolge der einzelnen Steuerbefehle ergeben dazu verwendet um in einem Regelsystem unter Einbeziehung der Verbrauchscharakteristiker des Antriebs, beispielsweise eines Dieselmotors, und des Speichervolumens eines eventuell vorhandenen Druckspeichers, den Dieselmotor derart zu betreiben, daß er mit minimalen Verbrauch arbeitet.

Normally, one of the main difficulties with automatic power management is that the engine has to respond to a power request of an initially unknown size, for example from the hydraulic pump, and then has to provide the required power. In order to counter this difficulty, a pressure accumulator is often used as an additional unit to store the pressure in the hydraulic system. If a construction vehicle, such as an excavator, has to travel a known profile, as shown in FIG. 3, it can be concluded from the type of movement, such as driving along two straight lines, that it is a pulling movement. However, a pulling movement, for example, typically has a different power requirement than, for example, a digging or lifting movement. Analogously, this also applies to other types of movement, such as. B. digging, approaching a point, emptying the bucket, etc. In particular in this context, knowing the current working mode, the following information is advantageous for the power adjustment according to the inventive method:

• typical performance requirements of the respective work mode
• future movements of individual hydraulic cylinders, for example
  This information can be obtained from the predictive calculation of future cylinder movements when driving along a trajectory, as well as from the analysis of the manually made movements, such as. B. when digging or emptying. Knowing this information allows conclusions to be drawn about the future power requirement for the automatic repetition of the control commands which bring about this movement.
• Time how long a movement will be carried out The time period makes it possible to estimate how long any power reserves in a pressure accumulator will still be sufficient and when the power of the engine has to be adapted accordingly to its regeneration.
• Time until a new movement mode is started. This allows early reaction to changed performance requirements from a subsequent movement mode, so that the performance required for this is available in good time. This information and other information, which result from the chronological sequence of the individual control commands, are preferably used to operate the diesel engine in a control system, taking into account the consumption characteristics of the drive, for example a diesel engine, and the storage volume of any pressure accumulator that may be present he works with minimal consumption.

Claims (12)

1. Method for controlling a movement sequence in a mobile earth-working machine having the following features:

   a) in a learning step, the machine (AG) is taught a movement sequence in the form of control instructions for individual functional parts (AT) of the machine, the location of the earth-working machine being determined once by means of a global positioning system (A1, A2) in such a way that at least one operating site (WO) for earth working which is to be carried out can be referenced in conjunction with recorded parameters of degrees of freedom of movement (10-50) of the earth-working machine and its dimensions;

   b) in a second step, the control instructions which have been learnt are repeated, but at least one control instruction is varied automatically or manually.
2. Method according to Claim 1, in which the earth-working machine is taught the control instructions by manual entry by an operator.
3. Method according to Claim 1, in which the earth-working machine is taught the control instructions by control instructions which have been produced and stored by means of a computer design model of the earth-working machine and a computer design model of the earth to be worked being fed to the control system of the machine.
4. Method according to one of the preceding claims, in which it is possible to stipulate in advance for at least one control instruction whether it is to be carried out manually or automatically at the time of repetition.
5. Method according to one of the preceding claims, in which at least one automatic variation of a control instruction is carried out in such a way that each repeated movement of the functional part (15) which this control instruction controls is changed by a predefinable function.
6. Method according to one of the preceding claims, in which the movement sequence includes operations of the earth-working machine in at least two locations (010, 020), the position of the first location being changed by varying a control instruction, the position of the second location being, however, retained by inputting its absolute coordinates relating to the global positioning system, and the control instructions which relate to the movement to the second location being determined automatically as a function of the variation of the position of the first location.
7. Method according to one of the preceding claims, in which the performance requirements for drive functional elements of the earth-working machine are determined in advance from the known control instructions which are to be repeated, and the performance of the drive functional elements are controlled accordingly.
8. Arrangement for controlling a movement sequence in a mobile earth-working machine (AG),

   a) in which first global positioning means (A1, A2) are provided,

   b) in which second means for electronically controlling functional parts (AT) are provided,

   c) in which third means for inputting control instructions are provided,

   d) and in which a further means is provided which is designed such that the following steps can be carried out:

   in a learning step, the earth-working machine (AG) is taught a movement sequence in the form of the control instructions for the individual functional parts (AT) of the earth-working machine (AG), the location of the earth-working machine (AG) being determined once by means for the global positioning system (A1, A2) in such a way that at least one operating site (WO) for earth-working which is to be carried out can be referenced in conjunction with recorded parameters of degrees of movement freedom (10-50) of the earth-working machine (AG) and its dimensions;

   in a second step, the control instructions which have been learnt are repeated, but at least one control instruction is varied automatically or manually.
9. Arrangement according to Claim 8, in which display means for representing the operating area (AZU) and the global position determined are provided.
10. Arrangement according to one of Claims 8 to 9, in which means for controlling the performance of drive functional elements of the earth-working machine are provided.
11. Arrangement according to Claim 10, in which pressure requirements of hydraulic cylinders (10-30) which are used on a case-by-case basis are determined from the control instructions which are to be repeated, for the movement sequence of the earth-working machine and the pressure supply is made available accordingly.
12. Arrangement according to one of Claims 10 or 11, in which the chronological sequence of the control instructions and the interplay of the individual functional elements is used to control the performance of a drive engine.

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