CN109750715A - Device and method for controlling Work machine - Google Patents
Device and method for controlling Work machine Download PDFInfo
- Publication number
- CN109750715A CN109750715A CN201811307695.2A CN201811307695A CN109750715A CN 109750715 A CN109750715 A CN 109750715A CN 201811307695 A CN201811307695 A CN 201811307695A CN 109750715 A CN109750715 A CN 109750715A
- Authority
- CN
- China
- Prior art keywords
- control unit
- input equipment
- actuator
- work machine
- screen control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G11/00—Manually-actuated control mechanisms provided with two or more controlling members co-operating with one single controlled member
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23067—Control, human or man machine interface, interactive, HMI, MMI
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35438—Joystick
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Mechanical Control Devices (AREA)
Abstract
The present invention relates to a kind of device and method for controlling Work machine (4), the device includes at least one electric input equipment (2), the electricity input equipment connect at least one actuator (3) of Work machine (4) by electric control unit (1) and can influence the operation of at least one actuator (3), wherein, screen control unit (5) can be activated when needed and at least partly undertake at least one operation function of electric input equipment (2) about at least one actuator (3).
Description
Technical field
The present invention relates to a kind of device and method for controlling Work machine, which includes that at least one electricity input is set
Standby, which is connected by the actuator of electric control unit and Work machine.
Background technique
In practice, such as by electrical operating stick mobile operation as such as excavator, crane is manipulated
Telescopic arm or hoisting mechanism mechanical, on mobile operation machinery.Operating stick includes pedestal and handle.Pedestal preferably comprise to
A few electric component, microprocessor, sensor interface, power supply device (if presence) etc..Handle preferably includes base
Seating portion and handle portion.Base part, which is connected to, enables base part along two main freedom degrees, i.e. forward/backward and to the left/
In the mechanism to move right.These freedom degrees are typically for example around the rotary freedom of X-axis and Y-axis.User can use
By computer or control unit show by implementing function and task, such as controlling the surrounding enviroment of Work machine based on
Interaction on calculation machine.The well known human-computer interface device for this interaction includes operating stick, which is connected to department of computer science
On system, surrounding enviroment shown by the computer system control.Computer is typically in response to the operation machine of user's operation physics
Structure, such as operating stick handle update surrounding enviroment.
The wish of operator, such as driver are transmitted in mobile operation machinery, such as excavator by operating stick
To control device.Button and switch are typically provided in operating stick, so that user can be defeated for microprocessor and computer
Enter additional signal.
The shortcomings that well known device, is, in the case where electric input equipment, such as operating stick fail or damage, driver
It is no longer able to be made mobile operation mechanical according to wish or (hydraulic) component of the Work machine is mobile.Especially bring interference
, Work machine, which may be in danger zone or can not be moved to, repairs place.
Summary of the invention
Based on this, the task of the present invention is propose a kind of for controlling the device of Work machine, which alleviates or very
To avoiding the disadvantage.Especially production should be avoided to stop (Produktionsausfall) simultaneously in a manner of structurally simple
And significant the safety in operation for improving mobile operation machinery.
The task is solved using the device according to independent claims.Other design schemes of the invention from
Belong to and being provided in claim.It is noted that specification, especially in combination with attached drawing list it is of the invention can with from claim
The feature other details and improvement project that are combined.
Facilitate this is a kind of for controlling the device of Work machine, which includes at least one electric input equipment,
At least one electric input equipment is connected by least one actuator of electric control unit and Work machine and can influence this
The operation of at least one actuator, wherein screen control unit can be activated when needed and at least partly undertake at least
Operation function of one electric input equipment about at least one actuator.
(flurgebunden) mobile unit relevant to road is especially regarded as Work machine.The Work machine can
To be equipped with driver's cabin and/or manipulation device, at least one electric input equipment or even is arranged for the driver's cabin and/or manipulation device
All electric input equipments are to manipulate the actuator or all actuators of Work machine.
Such a device is deemed to be electric input equipment, which is moved in space, pivoted, rotated or retrofited,
And in the apparatus, the variation in space is further pass on electric signal to control unit.The example of this electricity input equipment
Have: pedal, operating stick or bar assembly, steering wheel.It is (usual) to be arranged for running the electric input equipment of actuator especially by this way
Design, so that the input equipment has been converted to electric control signal simultaneously by the operation or movement of (input equipment) operator
And the actuator accordingly mentioned is transferred to by control unit.
Actuator can include the servo motor for implementing movement of the component on Work machine or with Work machine.
Actuator may, for example, be the adjustment axis of electro-hydraulic pressure, which can set for example in terms of the height of component and/or orientation
Hoisting mechanism, power shovel, plough or the like.Actuator be especially arranged for receiving and/or handle electric input equipment or
The corresponding control signal of control unit.Actuator then cause Work machine or on Work machine or Work machine
In component corresponding movement.This can be referred to as common control mechanism.
When needed, i.e., for example according to the specific wish of operator, the decision relevant to situation of control unit and/or
In (part) failure, this common control mechanism will be abandoned and (at least partly or for previously given number
The electric input equipment of amount) it is substituted by the operation of actuator via screen control unit.It is deactivated or is latched at least
Therefore part is undertaken the operation function of one electric input equipment by least one screen control unit.The screen control unit can
Constantly (but mostly inactively) to be arranged on Work machine.Achievable to be, the screen control unit is in activation
Moment could allow operator's access, for example by (new) instruction over the display and/or make (otherwise can not just access
) screen becomes accessible (Zug nglichmachen).The screen control unit can be designed as with keyboard, adjust
Save (screen control elements) such as device, sliding parts, wherein show the movement of screen control element on the screen and therefore allow to lead to
Cross the inspection of the vision of operator.Screen control element can be a part of screen.
At least one electric input equipment can activate screen control unit.For example, the slave control unit side of electric input equipment
The functional fault identified in terms of face and/or electric input equipment itself can activate screen control unit.
Such sensing device can be set, which can at least monitor at least one electric input equipment or at least
One actuator and can (directly and/or pass through operator) promote the activation of screen control unit.
For example, the functional fault of identification can be in terms of slave sensing device of electric input equipment and/or attached actuator
Activate screen control unit.Sensing device can electronically analysis and Control signal and/or sensing ground analysis actuator and/or make
The movement of industry machinery (component).
Such sensing device can be set, which can at least monitor at least one electric input equipment or at least
One actuator, display function failure and/or damage and therefore promoted by operator or allow screen control unit swash
It is living.
Screen control unit can undertake the operation function of multiple electric input equipments.When carrying out reality using multiple electric input equipments
Each (component) of Work machine increasingly complex movement or manipulation is applied, functional fault occurs for one of electricity input equipment simultaneously
And then it is all thus needed for electric input equipment when being deactivated and then undertaking this mobile by screen control unit, this
Then for instance it can be possible that it is significant.
Screen control unit may include touch display or be designed to this touch display.
The device herein proposed is related to through touch display to Work machine (building machinery, excavator, tractor etc.)
Control.Other than the operating stick of electronics, manipulation signal should be able to be also transferred to by touch display HMI(man-machine interface,
Human Maschine Interface).HMI is second (busf hig) input equipment that can be used in bus herein.
The construction component of existing computer can be considered in a manner of structurally simple for screen control unit.The input of redundancy is set
For in order to avoid production stops and can be combined with each other association to improve safety in operation.
One special to be advantageous in that, when the input equipment of electronics, failing or damaging for operating stick herein, driver
It also has the ability to keep mobile operation machinery mobile.Do so and bring the advantage that, can make it is mechanical be moved from danger zone or
It is moved to maintenance place, even if one or more HMI device failures.Also it may be implemented with the urgent of only limited movement speed
Operation.The additional input possibility of driver's wish is advantageously achieved using the device herein proposed.
Screen control unit is used for by worthily setting, is executed by menu shown over the display to Work machine
The setting of parameter.Screen control unit, which is preferably arranged, to be used for, and executes the setting to the parameter of Work machine by display.
According to a kind of method for running Work machine on the other hand, is proposed, which has at least one
Electric input equipment and at least one screen control unit, at least one described electric input equipment pass through electric control unit and working rig
At least one actuator of tool connects and can influence the operation of at least one actuator.The method includes at least following
Step:
A) operation of at least one at least one previously given actuator of electric input equipment is utilized；
B) functional fault about at least one electric input equipment is identified；
C) at least one electric input equipment is deactivated when necessary；
D) at least one screen control unit is so activated, so that at least one screen control unit at least partly undertakes at least
The operation of one actuator.
Even if the step of the method, is provided according to lexicographic order, but the step of with this arrangement temporal and/
Or continuous order is not enforceable.
The method can use the device that herein proposes and execute, otherwise can use the device that is proposed at this also to hold
Row the method.
It can be used for illustrating the method to the elaboration of the details of described device, and vice versa.
About step b) it should be noted that functional fault can be identified by operator and/or personnel and/or electric control unit
Or it determines.
Functional fault also may include damage, thus not be especially mandatory to need to deactivate phase in the case of damages
The electric input equipment of pass.It is also possible to it is suitable, it is also deactivated even in this case, to avoid CAN system
Mistake.It therefore, especially can be optionally according to the type of functional fault and/or specific electric input equipment come implementation steps
c)。
And then, a kind of system for data processing is proposed on the other hand, which includes having processor
Control unit, which is adapted such or configures so that its step a) for implementing proposed method, b), c) and/or
d)。
Detailed description of the invention
Next the present invention and technical field are elaborated by attached drawing.Here, identical component utilizes identical attached drawing
Label mark.Diagram is schematical and there is no provide for illustrating dimension scale.Referring to listed by each details of attached drawing
The elaboration of act can be won and can freely be combined with the actual conditions from other attached drawings or preceding description, unless this field
Technical staff has obtained convictive other situations or has clearly forbidden this combination herein.In figure:
Fig. 1 is the block diagram for controlling the device of Work machine, and described device includes control unit, input equipment, screen control
Unit, actuator and Work machine processed；And
Fig. 2 is a kind of block diagram of embodiment, with control unit and multiple input equipments, screen control unit and two
Actuator.
Specific embodiment
Fig. 1 shows the block diagram of the device for controlling Work machine 4, the device include control unit 1, electricity input set
Standby 2, screen control unit 5, actuator 3 and Work machine 4(are entire or are also used for the subsystem of such as cylinder and/or motor
System).Electric input equipment 2, such as operating stick and screen control unit 5, such as touch screen be connected to control unit 1, for example with
On the electrical control equipment of processor 17.In addition, being connected for Work machine 4, such as actuator 3 of excavator, such as regulating valve
Onto control unit 1.Connection, such as electrical connection line and/or the hydraulic letter of conduct data are marked with appended drawing reference 6
Number route.The connection 6 of conduct data can be realized wiredly or wirelessly.User is marked with appended drawing reference 7.
One of human-computer interface device includes input equipment 2 and another human-computer interface device includes screen control list
Member 5.Input equipment 2 and screen control unit 5 are in connection with user 7 respectively.
Fig. 2 shows a kind of block diagrams of embodiment, with electric control unit 1 and multiple input equipments, screen control
Unit processed and two actuators.
First operating stick 8 and the second operating stick 9, the first pedal 10 and the second pedal 11 and other human-computer interface devices
12 are connected on control device 1 as input equipment 2.In addition, display 13, such as touch screen connect as screen control unit 5
It is connected on control device 1.There are also regulating valve 14, such as hydraulic regulating valve and pumps 15, such as hydraulic pump to connect as actuator
Onto control device 1.
Failure is being identified by the sensing device 16 of electric input equipment 2, such as operating stick 8,9 using the device herein proposed
It is that driver realizes that being moved wish is input to control device by screen control unit 5, such as display 13 or when damage
Additional input possibility in 1.
It is previously given can to pass through operator by the display with (virtually) button for viewing screen control unit 5
Such as the customer speed (Verbrauchergeschwindigkeit) of cylinder or motor.To valve, such as regulating valve 14 with
And this is come under to the manipulation of pump 15, such as hydraulic pump.It also gives while to two or more customers and cause
A possibility that dynamic device 3, such as two chains (Kette) for straight-line travelling are energized.
Reference signs list
1 control unit
2 input equipments
3 actuators
4 Work machines
5 screen control units
The connection of 6 conduct datas
7 users
8 first operating sticks
9 second operating sticks
10 first pedals
11 second pedals
12 human-computer interface devices
13 displays
14 regulating valves
15 pumps
16 sensing devices
17 processors.
Claims (7)
1. the device for controlling Work machine (4), which includes at least one electric input equipment (2), the electricity input equipment
It is connect by electric control unit (1) at least one actuator (3) of Work machine (4) and at least one actuating can be influenced
The operation of device (3), wherein screen control unit (5) can be activated when needed and at least partly undertake at least one electricity
Operation function of the input equipment (2) about at least one actuator (3).
2. the apparatus according to claim 1, wherein at least one described electric input equipment (2) can activate the screen
Control unit (5).
3. device according to any one of the preceding claims, wherein sensing device (16) can at least monitor it is described extremely
Lack an electric input equipment (2) or at least one described actuator (3) and can promote to the screen control unit (5)
Activation.
4. device according to any one of the preceding claims, wherein the screen control unit (5) can undertake multiple
The operation function of electric input equipment (2).
5. device according to any one of the preceding claims, wherein the screen control unit (5) includes touching display
Device.
6. the method for running Work machine (4), the Work machine has at least one electric input equipment (2) and at least one
A screen control unit (5), at least one described electric input equipment pass through electric control unit (1) and Work machine (4) at least
One actuator (3) connects and can influence the operation of at least one actuator (3), wherein this method includes at least
The following steps:
A) operation of at least one electric previously given at least one actuator (3) of input equipment (2) is utilized；
B) functional fault about at least one electric input equipment (2) is identified；
C) at least one described electric input equipment (2) is deactivated when necessary；
D) at least one screen control unit (5) is so activated, so that at least one described screen control unit is at least partly held
Carry on a shoulder pole the operation of at least one actuator (3).
7. the system for being used for data processing, which includes the control unit (1) with processor (17), and the processor is at least
It is so adapted to or is configured, implement the processor according to the method for claim 6.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017219649.1 | 2017-11-06 | ||
| DE102017219649.1A DE102017219649A1 (en) | 2017-11-06 | 2017-11-06 | Device and method for controlling a work machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109750715A true CN109750715A (en) | 2019-05-14 |
Family
ID=64655328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811307695.2A Pending CN109750715A (en) | 2017-11-06 | 2018-11-05 | Device and method for controlling Work machine |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109750715A (en) |
| DE (1) | DE102017219649A1 (en) |
| GB (1) | GB2570184A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11866909B2 (en) | 2020-11-04 | 2024-01-09 | Caterpillar Inc. | Machine control component with input device to control machine display |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101413279A (en) * | 2008-11-29 | 2009-04-22 | 湖南山河智能机械股份有限公司 | Electromechanical integrated digging loader and control method thereof |
| EP2587419A2 (en) * | 2011-10-17 | 2013-05-01 | ZTR Control Systems, Inc. | Method for utilization calculation on mobile equipment including independent component |
| CN204753686U (en) * | 2015-02-12 | 2015-11-11 | 徐州徐工挖掘机械有限公司 | Automatically controlled guide control system redundancy apparatus of excavator |
| US20160340866A1 (en) * | 2015-05-22 | 2016-11-24 | Harnischfeger Technologies, Inc. | Industrial machine component detection and performance control |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6253136B1 (en) * | 1999-03-31 | 2001-06-26 | Caterpillar Inc. | Method and apparatus for a limp home mode |
| KR102156945B1 (en) * | 2014-03-07 | 2020-09-16 | 두산인프라코어 주식회사 | Emergency driving method according to failure of joystick and pedal for construction machine |
| KR20150133489A (en) * | 2014-05-20 | 2015-11-30 | 현대중공업 주식회사 | Emergency operating system of construction machinery |
-
2017
- 2017-11-06 DE DE102017219649.1A patent/DE102017219649A1/en active Pending
-
2018
- 2018-11-05 GB GB1818052.1A patent/GB2570184A/en not_active Withdrawn
- 2018-11-05 CN CN201811307695.2A patent/CN109750715A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101413279A (en) * | 2008-11-29 | 2009-04-22 | 湖南山河智能机械股份有限公司 | Electromechanical integrated digging loader and control method thereof |
| EP2587419A2 (en) * | 2011-10-17 | 2013-05-01 | ZTR Control Systems, Inc. | Method for utilization calculation on mobile equipment including independent component |
| CN204753686U (en) * | 2015-02-12 | 2015-11-11 | 徐州徐工挖掘机械有限公司 | Automatically controlled guide control system redundancy apparatus of excavator |
| US20160340866A1 (en) * | 2015-05-22 | 2016-11-24 | Harnischfeger Technologies, Inc. | Industrial machine component detection and performance control |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2570184A (en) | 2019-07-17 |
| GB201818052D0 (en) | 2018-12-19 |
| DE102017219649A1 (en) | 2019-05-09 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190514 |