DE102022204001A1 - Method for evaluating and improving the driving style of an operator of a mobile machine - Google Patents

Abstract

The invention relates to a method for evaluating the driving style of an operator of a mobile machine, the method comprising the following steps:a. Detecting a movement trajectory of a work hydraulics and/or a travel hydraulics of a work machine between a starting point and an end point;b. Comparing the movement trajectory with a pre-stored optimal trajectory between the same starting point and the same end point;c. Calculating a deviation between the detected motion trajectory and the optimal trajectory;d. Providing a parameter that describes the deviation between the trajectories.

Description

TECHNICAL PART

The invention relates to a method for evaluating and improving the driving style of an operator of a mobile machine.

STATE OF THE ART

In today's state of the art, there are monitoring strategies for drivers of cars, trucks and buses. Here, quality parameters relating to the driving style are primarily evaluated in relation to the longitudinal dynamics of the vehicles. Parameters used to evaluate driving style include, for example, fuel consumption, speed, idle times, CO2 emissions, use of the brake, gear changes, speeds, etc.

Taking into account a selection of the parameters mentioned, a quality value for the driving style is calculated. This can be used, for example, to derive measures to optimize driving style, to evaluate machine operators or to be included in the remuneration/reward of machine operators.

The information obtained may be of interest to various bodies. Fleet operators can evaluate and, if necessary, improve the efficiency of their drivers, insurance companies can draw conclusions about the risk of accidents based on their driving style, and the driver himself can optimize his driving style based on the broad evaluation.

Such assessments are not known for mobile work machines because the functions carried out there are very complex. It is therefore an object of this invention to provide a method that makes it possible to carry out an evaluation of the driving style of a work machine.

SHORT VERSION

1. a. Erfassen einer Bewegungstrajektorie einer Arbeitshydraulik und/oder einer Fahrhydraulik einer Arbeitsmaschine zwischen einem Anfangspunkt und einem Endpunkt;
2. b. Vergleichen der Bewegungstrajektorie mir einer vorgespeicherten optimalen Trajektorie zwischen demselben Anfangspunkt und demselben Endpunkt;
3. c. Berechnen einer Abweichung zwischen der erfassten Bewegungstrajektorie und der optimalen Trajektorie;
4. d. Bereitstellen eines Parameters, der die Abweichung zwischen den Trajektorien beschreibt.

According to one embodiment of the present invention, a method for evaluating the driving style of an operator of a mobile work machine is provided, the method comprising the following steps:

1. a. Detecting a movement trajectory of a work hydraulics and/or a travel hydraulics of a work machine between a starting point and an end point;
2. b. Comparing the movement trajectory with a pre-stored optimal trajectory between the same starting point and the same end point;
3. c. Calculating a deviation between the detected movement trajectory and the optimal trajectory;
4. d. Providing a parameter that describes the deviation between the trajectories.

1. I. Grundsätzliche Bereitstellung der Funktion einer automatisierten Bewertung der Fahrweise eines Fahrers einer mobilen Arbeitsmaschine, inklusive der Ermittlung von erforderlichen Kenngrößen.
2. II. Automatisierte Bewertung der Fahrweise eines Fahrers, welche über die Längsdynamik des Fahrzeugs hinausgeht
3. III. Ableiten von Vorschlägen zur Verbesserung für den Bediener

The main advantages are the following compared to the known ones:

1. I. Basic provision of the function of an automated evaluation of the driving style of a driver of a mobile machine, including the determination of necessary parameters.
2. II. Automated evaluation of a driver's driving style, which goes beyond the longitudinal dynamics of the vehicle
3. III. Derive suggestions for improvement for the operator

BRIEF DESCRIPTION OF THE FIGURES

• 1 zeigt schematisch eine Arbeitsmaschine mit beweglichen Elementen;
• 2 zeigt schematisch ein Verfahren nach einer Ausführungsform der vorliegenden Erfindung.

The present invention will be described with reference to the accompanying figures, where like reference numerals refer to like parts and/or to similar parts and/or to corresponding parts of the system. About the characters:

• 1 shows schematically a work machine with moving elements;
• 2 shows schematically a method according to an embodiment of the present invention.

DETAILED DESCRIPTION

The present invention will be described below with reference to certain embodiments as shown in the accompanying figures. Nevertheless, the present invention is not limited to the particular embodiments described in the following detailed description and shown in the figures, but the described embodiments merely illustrate some aspects of the present invention, the scope of which is defined by the claims.

Other modifications and variations of the present invention will be apparent to those skilled in the art. The present description therefore includes all modifications and/or variations of the present invention, the scope of which is defined by the claims.

1 shows an excavator 1 as an example of a work machine in which the method of the present invention can be carried out. The Excavator 1 has a main body 2 and a moving device 3, which are connected to the main body 2 of the work machine 1. The movement device is configured to receive loads and move them with respect to the main body 2. The movement device 1 has a boom, which in turn has a plurality of boom elements in order to move a holding element 6. The boom elements here are, for example, a lifting arm 4 (or simply known as a “boom”) and an arm 5 (or also known as a “stick”), which are rotatably or pivotally connected to each other or to the main body 2 of the excavator 1. In addition, the in 1 excavator shown has a bucket 6 which is arranged at an end portion of the arm 5. The boom elements 4, 5 and the bucket can be moved by means of actuators 7, 8, 9, ie the rotation or pivoting movement about the axes is caused by a movement of the actuators.

A first actuator 7 is provided for the lifting arm 4, which causes the movement or rotation of the lifting arm 4 relative to the main body 2. Likewise, a second actuator 8 is provided for the arm 5, which causes the movement or rotation of the arm 4 relative to the lifting arm 4. A third actuator 9 is also provided for the spoon, which moves or rotates (tilts) the spoon (or also called “shovel”).

The actuators 7, 8, 9 can be controlled by a controller, with directional control valves being provided in the case of hydraulic cylinders, which control the flow of hydraulic fluid to the hydraulic cylinders.

Sensors are provided (in 1 not shown) that record force data and position data. Force data is data or measurement data that characterizes or displays the forces applied by the actuators. In particular, pressure sensors can be used for this purpose, for example the pressure on both sides of the piston can be measured on the hydraulic cylinders, in which case the force applied by the hydraulic cylinder is characterized by the pressure difference. Position data are data or measurement data that characterize or display the position (eg angle) of the cantilever elements, in particular their relative position or their position relative to the cantilever support (in particular also relative angles). For this purpose, angle sensors in particular can be provided, or sensors that determine the deflection of the hydraulic cylinders.

In particular, force data and position data and corresponding sensors are discussed. These are preferred examples of status data or sensors; in general, status data from other sensors can also be acquired in addition or alternatively, for example to capture pressure data, torque data, torque data, speed data, acceleration data and / or voltage data (which, as noted, in principle can also be understood as force and/or position data).

Since the geometric relationships of the boom elements and their weights or masses are known, the weight or mass of a picked up load can be calculated or estimated from the force and position data. For this purpose, a so-called weighing function is used, the implementation of which is known to those skilled in the art. The time or period at which the force and position data is collected, based on which the load carried is calculated, is referred to as the weighing time or period.

An example of a weighing function is in the patent application DE 102021205407.2 disclosed, which had not yet been published on the filing date of this patent application.

As in 1 is shown, the angle θa corresponds to the inclination of the lifting arm 4 with respect to a horizontal plane, the angle θb corresponds to the inclination of the arm 5 with respect to the axis of the lifting arm 4, the angle θc corresponds to the inclination of the bucket 6 with respect to the axis of the arm 5. The angle φ corresponds to the inclination of the bucket 6 with respect to a horizontal plane. The angle φ is represented in a coordinate system that is independent of the other cantilever elements 4, 5.

As in 1 As can be seen, a typical work machine has different movements that can be carried out: movement of the work kinematics and driving. The movement of the work kinematics is particularly complex, as there are an infinite number of combinations that make it possible to achieve a desired target position. The operator's experience therefore plays an important role in the control. For this reason, the introduction of an evaluation method on such machines is particularly relevant so that the driving behavior of an inexperienced operator can be compared with the driving behavior of an experienced operator.

For mobile machines, the efficient use of the working hydraulics can be included in the assessment. In particular, it can be evaluated whether the movements of the working equipment of the mobile machine during a work cycle suggest that the machine is being used in an energy-efficient or low-wear manner. A y-loading cycle can be used as a reference, especially for the wheel loader application. Esp Specially for the crawler excavator application, a 90° loading cycle or 180° loading cycle can be used as a reference.

Another possible parameter for evaluating the driving style can be the unbraked reaching of end stops in the kinematics of the mobile machine.

Another possible parameter for evaluating the driving style can be the material handling performance of the mobile machine in relation to the fuel consumption. Such an evaluation requires a function in the vehicle to weigh the load.

Various data from numerous machines and different machine operators can be collected via a connectivity module and then evaluated using various mathematical methods so that optimized trajectories (e.g. in terms of energy consumption or noise emissions) can be suggested for various (repetitive) work tasks.

The data used to control a mobile machine from experienced, professional drivers in real use can not only be used to improve other operators, they can also be used to develop assistance functions or automated functions.

Regarding 2 only a method for evaluating and improving the driving style of an operator of a mobile work machine according to an embodiment of the present invention is described.

For a recurring work cycle, as is the case with the standard excavator with the 90° digging cycle, the evaluation function is described in detail here.

The corresponding systems are available on the machine, which provide all the information required for an evaluation. The engine control unit provides the energy consumption of the diesel engine. On an electrified machine, the information can come from the battery control unit. The movement trajectory is determined, for example, using joint angle sensors or inertial measuring sensors. The load in the shovel and thus the handled mass can be determined via a weighing function on the machine, for example through a suitable evaluation of pressure sensor information from the cylinders in combination with a joint angle sensor.

In a first step 100, a movement trajectory of the work hydraulics and/or the travel hydraulics of the work machine between a starting point and an end point is recorded. The movement trajectory is detected using a sensor device that is configured to detect the movement of individual components. Alternatively, the movement trajectory can be detected using a sensor device that is configured to detect the target movements of the working hydraulics and/or the driving hydraulics (e.g. by detecting movements of a joystick).

In a second step 101, the recorded movement trajectory is compared with a pre-stored optimal trajectory between the same starting point and the same end point. The optimal trajectory is calculated during operation of the function by specifying a start and an end point.

In a further step 102, a deviation between the detected movement trajectory and the optimal trajectory is calculated and from this a parameter is provided which describes the deviation between the trajectories. This parameter can, for example, provide information about the efficiency of the recorded trajectory.

Furthermore, the method can additionally include further steps to enable an improved assessment.

Another feature can be made possible, for example, through the mentioned weighing function.

On the one hand, the driver's handling performance (= mass handled per time) can be determined. On the other hand, the transferred mass can also be related to the energy used, which the diesel or battery control unit can supply. The mass transferred per amount of energy used results in an efficiency value, which is higher when driving economically than when driving inefficiently.

In particular, energy consumption is first recorded, which is required to enable the recorded movement trajectory. Furthermore, the energy consumption required to enable the optimal movement trajectory is calculated, taking into account the recorded weight (load transported by the working hydraulics). Furthermore, the recorded energy consumption is compared with the calculated energy consumption (or a difference is made). From this difference, a parameter is provided that corresponds to the calculated difference.

The calculated parameters can be sent to a server via a connectivity module and used there by the excavator fleet operator to evaluate/compare different drivers. A good driver can be rewarded accordingly (e.g. monetarily). Other drivers may be able to receive appropriate training if necessary.

Alternatively, the various machine parameters can be sent directly via the connectivity module, so that the evaluation does not take place on the machine itself, but on a central computer.

Another way to increase the efficiency of the driver-machine combination can be the active intervention of the machine control. This means that the control of hydraulic consumers can be prevented if it is known that, for example, the corresponding cylinder is at its limit.

Another possibility can be to actively oversteer the driver's wishes in order to drive a more efficient trajectory in the cycle. The information on this can be obtained from the entire excavator fleet: All machines send their measurement data (weight handled, trajectory traveled, power/energy consumed, ...) via the connectivity unit to a central computer for evaluation. Here the data is analyzed and the insights gained are sent back to the machines in order to prevent inefficient dredging and save energy.

This method can be used for various types of mobile work machines, in particular wheel loaders, wheel excavators, forklifts and telehandlers.

Furthermore, the present invention describes a computer program that causes a computing unit to carry out a method according to an embodiment of the present invention when it is executed on the computing unit. Furthermore, a machine-readable storage medium with the computer program stored thereon is described.

While the present invention has been described with reference to the embodiments described above, it will be apparent to those skilled in the art that it is possible to make various modifications, variations and improvements to the present invention in light of the teachings described above and within the scope of the appended claims without departing from the scope of the invention.

In addition, the areas in which those skilled in the art would be knowledgeable have not been described here in order not to unnecessarily obscure the invention described. Accordingly, the invention is not intended to be limited by the specific illustrative embodiments, but rather by the scope of the appended claims.

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102021205407 [0017]

Claims (9)

Method for evaluating the driving style of an operator of a mobile machine, the method comprising the following steps: a. Detecting a movement trajectory of a work hydraulics and/or a travel hydraulics of a work machine between a starting point and an end point; b. Comparing the movement trajectory with a pre-stored optimal trajectory between the same starting point and the same end point; c. Calculating a deviation between the detected movement trajectory and the optimal trajectory; d. Providing a parameter that describes the deviation between the trajectories. Procedure according to Claim 1 , wherein the movement trajectory is detected by means of a sensor device that is configured to detect the movement of individual components. Procedure according to Claim 1 , wherein the movement trajectory is detected by means of a sensor device which is configured to detect the target movements of the working hydraulics and / or the driving hydraulics. Procedure according to one of the Claims 1 until 3 , the method further comprising these steps; e. detecting energy consumption required to enable the detected movement trajectory; f. Calculating an energy consumption required to enable the optimal movement trajectory; G. Comparing the energy consumption of the steps e. and f.; H. Providing a parameter that is the one in step g. corresponds to the calculated difference. Procedure according to Claim 4 , wherein the method further comprises a weighing function that makes it possible to detect a weight of a load transported by the working hydraulics, the detected weight being taken into account in the calculation of step f. Computing unit which is set up to carry out a method according to one of the preceding claims. Work machine (1), which comprises a main body (2) and a movement device (3) which is connected to the main body (2) of the work machine (1) and which is configured to receive loads and to move them with respect to the main body (2), wherein the movement device has a boom with one or more boom elements (4, 5) and a holding element (6) arranged at an end section of the boom for receiving load, the boom elements (4, 5) and the holding element (6) being supported by one or more independently acting actuators (7, 8, 9) are movable, with sensors being provided which are set up to record status data of the movement device, a controller being provided which implements a weighing function which is set up to evaluate recorded status data in order to to determine a weight of a load picked up by the movement device (3); having a computing unit Claim 6 . Computer program that causes a computing unit to carry out a method according to one of the Claims 1 until 6 to be carried out when it is executed on the computing unit. Machine-readable storage medium with a computer program stored on it Claim 8 .

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