EP3872023A1 - Control unit for recording motion sequences of a mobile construction and working machine - Google Patents

Abstract

Work machine (10) and control unit (51) for a mobile work machine, with a processor (51p) which is designed to control at least two actuators that move a tool and / or a movable machine part along at least two degrees of freedom; a memory (51s) which is designed to record and store a movement sequence of the at least two actuators along the at least two degrees of freedom; wherein the processor (51p) is designed to execute the recorded and stored sequence of movements of the at least two actuators along the at least two degrees of freedom in a corresponding and / or opposite order.

Description

Embodiment of the present invention relates to a control unit for a mobile work machine and a method for controlling a mobile work machine. Further exemplary embodiments relate to a mobile work machine, in particular a working platform, a crane, a construction machine, a road construction machine, a roller, a paver, an excavator or a backhoe comprising a corresponding control unit. In general, exemplary embodiments of the invention are in the field of mobile construction and work machines such as, for example, aerial work platforms or excavators or the like.

Mobile construction and work machines such as B. aerial work platforms or excavators have a machine control system for controlling a tool arranged on the machine (e.g. excavator bucket), a work basket and (if available) a structure that is rotatably attached to a chassis of the machine and on which the tool or work basket is arranged adjustably via a corresponding boom mechanism, for example a telescopic arm or an arm carrying the excavator bucket.

Machine control systems today essentially consist of a control unit (process computer) and a display or operating unit as well as some sensors and actuators (such as the valve control unit). Machine control systems currently have a low level of automation. Therefore, there is a need for an improved approach.

The object of the present invention is therefore to create a machine control system, in particular for mobile work machines, such as aerial work platforms or excavators, which is improved in terms of its ergonomics and automatability.

The object is achieved by the subject matter of the independent claims.

Embodiments of the present invention create a control unit for a mobile work machine. This control unit essentially comprises a processor and a memory. The processor is designed to control at least two actuators that control a tool and / or a movable machine part along at least two degrees of freedom, such as a rotational degree of freedom (rotation) and a stroke degree of freedom (angular movement). The memory is designed to record and store a movement sequence of the at least two actuators along the at least two degrees of freedom. The above-mentioned processor is also designed to execute the recorded and stored movement sequence of the at least two actuators / the at least two degrees of freedom in a corresponding sequence (repetition) and / or the opposite sequence (back to the starting point).

Embodiments of the present invention are based on the knowledge that movement sequences (general functions) of the machine or of machine parts, which are often executed repeatedly or for which a certain path or a certain sequence of individual movements is to be observed, can be recorded. This takes place in that the movement sequences, that is to say a movement of at least two actuators over a time course, are tracked and stored in a memory in such a way that reproducibility is given. In this way, the stored movement sequence can advantageously be called up again and executed by the machine operator if required. According to the exemplary embodiments, sequences of movements can be the retraction and extension or moving of movable machine parts (for example the telescopic arm, a lifting work platform or the boom with an attachment) or a turning or pivoting of the machine structure. For example, in road construction machines an ever repeating or recurring sequence of movements can be a lane change of a roller, setting the transport position of the screed in the road paver or repositioning the road paver several times on the construction site. The two actuators to be controlled are e.g. steering and motion control in the direction of travel, so that the machine / roller or road paver is controlled along the degrees of freedom "forwards / backwards" and "left / right" or "sideways".

An example of a movement sequence in which it is desired to adhere to a certain path or a certain sequence of movement sequences is moving the work cage into, for example, a working position which, as a result of a Obstacle (for example a house wall) cannot be approached directly. In principle, there are various ways of recording this sequence of movements. According to one exemplary embodiment, the recording includes the acquisition of sensor data (for example sensors that acquire the joint positions or the actuator positions). According to a further exemplary embodiment, the recording can also include holding control commands (control commands which the processor issues). The sequence of movements can be reproduced both on the basis of the sensor data and on the basis of the control commands. According to further exemplary embodiments, the corresponding sequences of the sensor data or the corresponding sequences of the control commands are also taken into account. According to further exemplary embodiments, it can also be taken into account that the control data or individual movements take place at corresponding points in time (relative points in time). Corresponding to the exemplary embodiments, it would also be conceivable that the corresponding sequences or the corresponding points in time are also recorded in the memory.

Therefore, according to further exemplary embodiments, it is possible for the movement sequence of the at least two actuators to be defined by the at least two positions for the first of the at least two degrees of freedom and by at least two further positions for the second of the at least two degrees of freedom. According to further exemplary embodiments, the first and second of the positions as well as the first and second of the further positions are defined for a first and a second point in time. If one compares this approach with the "Coming Home" functions previously used in the state of the art of aerial work platforms (automatic movement back to the zero position starting from the end or working position), this approach according to exemplary embodiments can ensure that obstacles such as balconies, wall projections etc. are bypassed. In other words, based on the storage of the sequence of movements, it is advantageous not only to return to a zero position (home position or transport position) on the fastest or shortest path, but also to return the sequence of movements in the reverse order or in a previously saved sequence is adhered to and so only an already known and collision-free movement path is followed.

According to further exemplary embodiments, the sequence of movements is defined between two end points. According to the example, these endpoints can be entered once in the Home position or transport position and on the other hand the working position or target position.

According to further exemplary embodiments, the movement of the tool and / or the movable machine part is also defined between the two end points, at least with regard to a degree of freedom, a change of direction within the movement sequence between the two end points. According to the example, this change in direction can be a change in the direction of rotation or a change in the angle of the telescopic arm, a lifting work platform or the boom with attachment, for example to lift a machine part over an edge.

According to the exemplary embodiment, a movement sequence is defined by at least one vector for the first of the at least two degrees of freedom and by at least one further vector for the second of the at least two degrees of freedom. Using the vectorial position determination, the respective position of the tool can be recorded and checked.

According to further exemplary embodiments, the processor is designed to interrupt and / or start the movement sequence when executing the recorded and stored sequence of movements in a corresponding and / or opposite sequence in response to a user input. This is the only way to ensure that the machine operator can interrupt the sequence of movements at any time in the event of a possible collision with obstacles. The machine operator can also change the sequence of movements and / or overwrite the recorded and stored sequence of movements. This saves the machine operator from having to go back and forth from the zero position to move the sequence of movements to be re-recorded.

According to further exemplary embodiments, the machine operator is able to vary the sequence of movements in its process speed. This means that recurring motion sequences can be increased depending on the execution speed in order to relieve the machine operator. If a newly set speed should be too high for processing, it can be throttled again or adjusted so that work safety is guaranteed.

According to further exemplary embodiments, user input is possible via an operating unit, which can be arranged on the machine itself or, for example, directly in the work basket. For example, not only movement sequences can be saved, but also all conceivable types of operation, such as. B. keyboard inputs, mouse inputs, "touchscreen" inputs, "touchpad" inputs, pen inputs, joystick inputs and / or joystick movements. The background to this is that such operating inputs result in a movement or sequence of movements after the operating command has been implemented (internally in the control unit). With the aid of an embodiment of the invention, the machine operator can record and call up the movement sequences using several different colored buttons on a display and control unit or a joystick. If the joystick is pressed in one direction (up), the sequence of movements can be initiated from a corresponding position and if pressed in another direction (down), the sequence of movements can be carried out in the opposite direction. The recorded and / or stored movement sequences can be viewed and / or selected via a display of an operating and display unit in order to provide the machine operator with clear information on the movement sequence.

With the aid of a further embodiment of the invention, the machine operator can, for example, influence the stored sequence by means of a proportional joystick, i. E. H. Depending on the position of the joystick lever, the sequence of movements can be carried out quickly or slowly or even stopped. If, for example, the joystick lever is moved forwards (away from the operator) or upwards, the sequence of movements can proceed forwards and, depending on the position of the joystick lever, quickly, slowly or stopping. Similarly, if the joystick lever is moved backwards (towards the operator) or downwards, for example, the sequence of movements can be back and, depending on the position of the joystick lever, be fast, slow and stop. The sequence of movements would be stopped, for example, when the joystick lever is in a zero, middle or basic position.

According to further exemplary embodiments, sensor data from at least one inclination sensor and / or at least one rotary encoder sensor and / or a length measuring system, which detect the corresponding inclination and angle of rotation of a boom, can be recorded in order to detect the movement sequence.

An application for a recurring motion sequence using the example of an excavator is when earth, gravel, sand or the like is loaded onto a truck. The following movements are detailed: Picking up material on or in the ground with the excavator bucket, closing or retracting the excavator bucket, moving the excavator arm out of the ground or upwards, turning the excavator body towards the truck and stopping it over the truck trough, material picked up in the Unload the excavator bucket on the truck, knock out the excavator bucket, close or retract the excavator bucket, turn the excavator assembly in the direction of the hole / soil / material, move the excavator bucket down or to the ground. The advantage of the invention results from the fact that this sequence of movements can be recorded once, partially or even completely and then carried out again and again, so that the excavator driver is relieved.

An additional positioning system via GPS or a similar system, which can be arranged on the chassis of the machine or on the tool / work basket, is optional. Movement sequences in which moving machine parts are determined using GPS or a similar system are tied to the environment, as the GPS cannot always be available. The invention can process additional position determination systems and, as in the examples described, carry out such that no collisions occur and the machine operator can be relieved.

According to further exemplary embodiments, it is more advantageous if control commands from at least valve controls are detected and evaluated by the control unit.

Another exemplary embodiment in accordance with the present invention provides a method for controlling a mobile work machine. The method includes controlling at least two actuators that move a tool and / or a movable machine part along at least two degrees of freedom. In addition, the method includes recording and storing a movement sequence consisting of at least two actuators along the at least two degrees of freedom by means of a memory, the execution of the recorded and stored movement sequence of the at least two actuators along the at least two degrees of freedom in a corresponding and / or opposite sequence .

The corresponding method is based on the same considerations as the control unit explained above. It should also be noted that the procedure includes all features, Functionalities and details can be added that are described herein with regard to the control unit according to the invention. The method can be supplemented by the features, functionalities and details mentioned both individually and in combination.

Fig. 1

eine schematische Darstellung einer mobilen Arbeitsmaschine gemäß einem Basisausführungsbeispiel;

Fig. 2

eine schematische Darstellung einer Hubarbeitsbühne als mobile Bau- und Arbeitsmaschine neben einem Hauptgebäude und einem Nebengebäude gemäß einem Ausführungsbeispiel der vorliegenden Erfindung;

Fig. 3

eine schematische Darstellung einer Hubarbeitsbühne als mobile Bau- und Arbeitsmaschine neben einer Straßenlaterne gemäß einem Ausführungsbeispiel der vorliegenden Erfindung;

Fig. 4

eine schematische Darstellung eines Baggers beim Aufladen und Abladen von Material gemäß Ausführungsbeispielen; und

Fig. 5

eine schematische Darstellung eines Maschinen-Steuerungssystem gemäß Ausführungsbeispielen.

Exemplary embodiments according to the present invention are explained in more detail below with reference to the accompanying figures. With regard to the schematic figures shown, it is pointed out that the function blocks shown are to be understood both as elements or features of the device according to the invention and as corresponding method steps of the method according to the invention, and corresponding method steps of the method according to the invention can also be derived therefrom. Show it:

Fig. 1

a schematic representation of a mobile work machine according to a basic embodiment;

Fig. 2

a schematic representation of a working platform as a mobile construction and work machine next to a main building and an auxiliary building according to an embodiment of the present invention;

Fig. 3

a schematic representation of a working platform as a mobile construction and work machine next to a street lamp according to an embodiment of the present invention;

Fig. 4

a schematic representation of an excavator loading and unloading material according to embodiments; and

Fig. 5

a schematic representation of a machine control system according to embodiments.

Fig. 1 shows schematically a mobile work machine that has a control unit that controls two actuators that move a tool and / or a movable machine part along at least two degrees of freedom. The following is based on Fig. 1 the control unit 51 for a mobile work machine, here a working platform 10, is explained.

The control unit comprises a processor 51p and a memory 51s. The access platform 10 or in particular its actuators is controlled by means of the processor 51p. The aerial work platform 10 comprises a telescopic arm 13 which pivots a work cage 14. The telescopic arm 13 can be extended in the variant simplified here (cf. longitudinal movement axis 13l and the tilting movement based on the angular position 13w). By changing the angular position 13w, the entire telescopic arm 13 can be moved from a horizontal position to an angled position, so that the height of the working cage 14 can be varied. As a result of the longitudinal movement 13l, the telescopic arm 13 is extended and retracted, which also means that when the work basket 14 is angled, it assumes a higher height position.

As can be seen here, the work basket 14 is to be in a working position (here in Fig. 1 shown) are moved, the work basket 14 is then above an obstacle (here a building 60). Assuming that the telescopic arm 13 (see longitudinal movement 13l) is retracted in a starting position or transport position for the aerial work platform 10 and the angular position 13w is selected so that the telescopic arm 13 is horizontal, both actuators for the movements 13w and 13l controlled to move from the start position to the end position (cf. Fig. 1 ) to reach. This control takes place by means of control commands which the processor 51p issues.

So that the basket 14 does not collide with the housing 60, the angle 13w is first controlled so far that the basket and the house 60 cannot collide when the telescopic arm 13 is extended along the longitudinal axis 13l. Thereafter, the telescopic arm 13 is extended along the direction 13l, for. B. up to its maximum position. In order to then move the work basket 14 into its end position (cf. Fig. 1 ) to be able to move, the angular position 13w is again slightly reduced, e.g. B. from 60 to 45 degrees. This means that in this variant shown here, an angular position 13w is first approached, then a longitudinal position for the movement 13l is approached and then a further angular position 13w is approached. The further angular position 13w is characterized in relation to the first angular position 13w in that it has a smaller angle. These three movements, which can be described either on the basis of intermediate positions or vectorially, in combination, ie in their chronological sequence, form a movement sequence.

In order to ensure the reproducibility of the sequence of movements, this sequence of movements, ie the control of the actuators for angular position 13w and for Longitudinal axis 13l recorded. The recording includes tracking the movement and storing it in the memory 51s.

There are different variants for recording. According to a first variant, the control signals of the processor 51p can be picked up and stored in the memory 51s. According to a further variant, it would also be conceivable that each actuator with an additional position transmitter, for. B. is equipped on the basis of a sensor or on the basis of limit switches and gives feedback about the corresponding current position. This feedback can be stored as position information in the memory 51s. According to preferred exemplary embodiments, the storage takes place in such a way that points in time relative to one another, i. H. that is, between the positions or between the movements that can be described vectorially, so that a data record describes the entire sequence of movements from the start position to the end position.

Regardless of whether a vector description of the movement or a description of the movement based on the intermediate positions is stored in the memory, this approach enables the movement from the starting position to the end position to be reproduced. It is thus advantageously possible to automatically control the movement sequence at the push of a button, so that a collision between the cage and the building is avoided. According to a further variant, the movements can be controlled backwards, that is to say that the positions are traversed in the opposite order in order to move the work basket 14 from the end position (cf. Fig. 1 ) to move back to the starting position.

With regard to the two axes of movement 13w and 13l, it should be noted that these are only shown by way of example, i. H. so that corresponding movements, e.g. B. a rotational movement or a tilting movement or rotary movement can hide behind it. It is important that the working machine has at least two axes of movement which then describe the degrees of freedom accordingly.

Now that a basic variant according to a basic exemplary embodiment of the present invention has been explained above, expanded exemplary embodiments will be discussed below.

Fig. 2 shows schematically an aerial work platform 10 as a construction and working machine, which has a movable lower machine chassis 11 (e.g. undercarriage), an upper machine chassis 12 (e.g. uppercarriage) which is designated on it with DM (rotation of the machine or crane mechanism) and is rotatably arranged. and a crane mechanism 13 arranged on the upper machine chassis 12. The crane mechanism 13 (e.g. telescopic arm or telescopic boom) can be retracted and extended and its angle of incidence can be changed with respect to the upper machine chassis 12 by means of lifting cylinders (not shown). A work basket 14 is arranged on the crane mechanism 13, in which a machine operator 15 (as shown) or also work materials can be transported. In order to control the crane mechanism 13 (e.g. telescopic boom) and / or the work cage 14 of the work platform 10, ie to move the work cage 14 to a required work position or to rotate the crane mechanism 13 with respect to the lower machine chassis 11, the Work basket 14 arranged an operating and display unit, not shown in this figure. An operating and display unit can essentially consist of operating levers (e.g. joysticks), keyboard elements and display elements such as a display. It is customary here for the operating and display unit to be arranged in the work cage 14 in the direction of the elevating work platform 10 and thus for the operator 15 in the work cage 14 to look in the direction of the machine 10. Consequently, when the telescopic boom 13 (for example crane mechanism) is extended, the operator 15 moves with his back to the corresponding working position. The arrangement of the operating and display unit in the work cage 14 enables the operator 15 to work more easily and better at the work position, since there are no obstructive parts, such as the operating and display unit itself, in the way. A working position could, for example, be a building roof 64 or a gutter 63 to be repaired on a building 61 in the area of the building roof 64. In order to get to the gutter 63 of the building 61 to be repaired (working position, as in Figure 2 shown), it is not possible for the machine operator 15 to move the work cage 14 or the crane mechanism 13 (e.g. telescopic arm or telescopic boom) over the direct travel path marked with A, since the work cage may be at the points marked with the reference symbol K. marked collision points could collide with an auxiliary building 62 of the building complex 60 or with a railing 65 located on the auxiliary building 62. This is because such collision points K are usually difficult to see by the machine operator 15, also because the operator 15 (as already described above) moves with his back to the corresponding work position when the telescopic boom 13 (crane mechanism) is extended (as already described above). A Another movement sequence that is difficult to see is, for example, when the work cage has to be moved back to the zero position and the machine operator in the work cage usually drives from above (e.g. from the roof 64 of a house) down to the chassis of the aerial work platform. In order to avoid such collisions, it is therefore necessary to move the work cage 14 over a different travel path, for example over the path identified by the reference symbols B1 and B2. It may also be necessary to rotate the work cage 14 or the crane mechanism 13 accordingly with respect to the lower machine chassis 11. These twists are in Figure 2 with the reference symbols DM (rotation of the machine or crane mechanism) and DA (rotation of the work basket).

With regard to the direct travel path A, the machine operator should choose an alternative travel path of the work cage 14 in order to avoid collisions between the work cage 14 or the crane mechanism 13 with parts of the building at the collision points K in order to reach the working position. It is therefore advantageous to use the movement sequences of the machine 10 or the machine parts of this alternative travel path in which the obstacles mentioned (according to the example from FIG Figure 2 the adjoining building 62 and the railing 65) should be bypassed, recorded and saved so that the machine operator can partially or completely automate (autonomous or partially autonomous) these movements if necessary in two directions (e.g. to the working position and back to the machine's basic position) can expire.

Fig. 3 . shows another example with an off Figure 2 known and already described aerial work platform 10. This example explains so-called recurring movement sequences such as the replacement of defective lights in street lights 70. The machine operator 15 will, for example, drive with the aerial work platform 10, as a rule, from street light 70 to street light 70, for example to replace defective lights, ie (if the lights should be defective in several street lamps) carry out a repetitive sequence of movements. This recurring sequence of movements can consist, for example, in that a movement of the machine 10 or the machine parts (e.g. telescopic arm 13 or work basket 14) towards the working position (in the present case a lamp 72 arranged on a lamp post 71) through the following steps is formed: (1.) a rotation of the upper machine chassis 12 relative to the lower machine chassis 11; (2.) erecting the crane mechanism 13 (ie increasing the angle of attack); (3.) Extending the telescopic arm 13 to the required height and, if necessary, (4.) rotating the work basket 14, so that the machine operator 15 can work on the lamp 72 without any problems. After the lamp has been replaced, the machine 10 or the machine parts (e.g. telescopic arm 13 or work basket 14) move from the working position back to the basic position of the machine 10, ie the above-mentioned movement sequences (1.) to (4.) are carried out in reverse order (4, 3, 2, 1.).

Also, for example, according to Figure 3 It is advantageous to record and save the movement sequences of the machine 10 or the machine parts of the travel path, so that the machine operator can run these movement sequences over and over again, preferably in two directions (e.g. towards the working position and back to the basic position of the machine), partially or completely automatically . It is also possible to record and save several different travel paths, for example if lights are to be exchanged for street lamps 70 of different heights. The machine operator can thus advantageously store or store several “street lamp types” and, if necessary, call up the corresponding “street lamp type”.

Fig. 4 shows another example of so-called repetitive motion sequences. The loading of excavated earth 26 (e.g. earth, gravel, sand or the like) of an excavator 20 onto a truck 80. The repetitive sequence of movements shown here is essentially formed by the following steps: (1.) Excavated earth 26 with an excavator spoon / shovel 25 record; (2.) Rotate the upper excavator structure 22 (upper machine chassis or superstructure) in the direction of the truck 80 and (3.) unload the excavated earth 26 into the truck trough 81. In doing so, several different (and in some cases to be performed simultaneously) movement sequences are often necessary.

When picking up the excavation 26, the excavator driver can move excavator arms 23 and 24 in addition to excavator buckets / excavator shovels 25, ie several individual movements B1, B2 and B3 of machine parts are carried out simultaneously for the above-mentioned movement sequence (1.). For the above-mentioned sequence of movements (2), several individual movements such as, for example, in addition to a rotation of the upper machine chassis 22 relative to a lower machine chassis 21 about an axis of rotation Z, an upward movement of one or both excavator arms 23 and / or 24 may be necessary. When unloading the excavation 26 into the truck trough 81 (movement sequence (3.)), several individual (and possibly simultaneous) movements can still be carried out, such as an upward movement of the Excavator bucket / the excavator shovel 25, so that the excavated earth 26 can fall out of the shovel.

In order to relieve the machine operator here, it is advantageous to partially or completely record and save the movement sequences of the machine 20 or its machine parts so that the machine operator can run these movement sequences over and over again, preferably in two directions, partially or completely automatically. This also applies, for example, when excavating earth, gravel or the like from a trench. Likewise, the knocking out of the excavator bucket, if, for example, damp earth is hanging on it, consists of movement sequences that must always be carried out in the same way, which can also be automated.

Figure 5 shows a machine control system 50 which is commonly used on the machines 10 and 20 already mentioned. The machine control system 50 consists of a control unit (process computer) 51 and an operating and display unit 52, the two units or devices either being arranged as separate (individual) devices on the machine 10 or 20 or as one device, ie as an integrated unit. Control unit (process computer) 51 and operating and display unit 52 are electrically connected to one another. One or more sensors 53, 54 and 55 are electrically connected to the control unit (process computer) 51 via cable connections 53k to 55k, such as a position determination system (GNSS receiver / GPS receiver or similar), an inclination sensor or a rotary encoder. Furthermore, one or more actuators 56, 57 and 58, such as, for example, a valve control for lifting or hydraulic cylinders, are electrically connected to the control unit (process computer) 51 via cable connections 56k to 58k. A position determination system 53, which is arranged on the chassis 11, 12 of the machine 10, 20 or on the tool / work basket 25, 14, is optional, ie not absolutely necessary for the present invention. Because, since GNSS position data may not always be available, for the invention it would also be possible that control commands or control parameters or valve control commands that are generated by the control unit (process computer) 51 and sent to the actuators 56, 57 and 58, or to use sensor values, for example those of the inclination sensor 54, the rotary encoder 55 or a length measuring system. It would also be conceivable in this context to record and / or save keypad actuations or joystick movements (for example operating key plus duration of actuation) which represent a movement sequence.

Although some aspects have been described in connection with a device, it goes without saying that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Analogously, aspects that have been described in connection with or as a method step also represent a description of a corresponding block or details or features of a corresponding device. ware apparatus), such as a microprocessor, a programmable computer or an electronic circuit. In some embodiments, some or more of the most important process steps can be performed by such an apparatus.

Depending on the specific implementation requirements, embodiments of the invention can be implemented in hardware or in software. The implementation can be carried out using a digital storage medium such as a floppy disk, a DVD, a Blu-ray disk, a CD, a ROM, a PROM, an EPROM, an EEPROM or a FLASH memory, a hard disk or other magnetic memory or optical memory are carried out on the electronically readable control signals are stored, which can interact with a programmable computer system or cooperate in such a way that the respective method is carried out. Therefore, the digital storage medium can be computer readable.

Some exemplary embodiments according to the invention thus include a data carrier which has electronically readable control signals which are capable of interacting with a programmable computer system in such a way that one of the methods described herein is carried out.

In general, exemplary embodiments of the present invention can be implemented as a computer program product with a program code, the program code being effective to carry out one of the methods when the computer program product runs on a computer.

The program code can, for example, also be stored on a machine-readable carrier.

Other exemplary embodiments include the computer program for performing one of the methods described herein, the computer program being stored on a machine-readable carrier.

In other words, an exemplary embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described herein when the computer program runs on a computer.

A further exemplary embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded. The data carrier, the digital storage medium or the computer-readable medium are typically tangible and / or non-perishable or non-transitory.

A further exemplary embodiment of the method according to the invention is thus a data stream or a sequence of signals which represents or represents the computer program for performing one of the methods described herein. The data stream or the sequence of signals can, for example, be configured to be transferred via a data communication connection, for example via the Internet.

Another exemplary embodiment comprises a processing device, for example a computer or a programmable logic component, which is configured or adapted to carry out one of the methods described herein.

Another exemplary embodiment comprises a computer on which the computer program for performing one of the methods described herein is installed.

A further exemplary embodiment according to the invention comprises a device or a system which is designed to transmit a computer program for performing at least one of the methods described herein to a receiver. The transmission can take place electronically or optically, for example. The receiver can, for example, be a computer, a mobile device, a storage device or the like Be device. The device or the system can comprise, for example, a file server for transmitting the computer program to the recipient.

In some exemplary embodiments, a programmable logic component (for example a field-programmable gate array, an FPGA) can be used to carry out some or all of the functionalities of the methods described herein. In some exemplary embodiments, a field-programmable gate array can interact with a microprocessor in order to carry out one of the methods described herein. In general, in some exemplary embodiments, the methods are performed by any hardware device. This can be hardware that can be used universally, such as a computer processor (CPU), or hardware specific to the method, such as an ASIC, for example.

The devices described herein can be implemented, for example, using a hardware apparatus, or using a computer, or using a combination of a hardware apparatus and a computer.

The devices described herein, or any components of the devices described herein, can be implemented at least partially in hardware and / or in software (computer program).

For example, the methods described herein can be implemented using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.

The methods described herein, or any components of the methods described herein, can be carried out at least in part by hardware and / or by software.

The above-described embodiments are merely illustrative of the principles of the present invention. It is to be understood that modifications and variations of the arrangements and details described herein will become apparent to those skilled in the art. It is therefore intended that the invention be limited only by the scope of protection of the following patent claims and not by the specific details presented herein with reference to the description and explanation of the exemplary embodiments.

List of reference symbols

10

Aerial work platform

11

Lower machine chassis (undercarriage)

12th

Upper machine chassis (superstructure)

13th

Telescopic arm / telescopic boom / crane mechanism

13l

Longitudinal movement / axis of movement longitudinal

13w

Tilting movement / angular position

14th

Work basket

15th

Operator

20th

Excavator

21

Lower machine chassis (undercarriage)

22nd

Upper machine chassis (superstructure)

23

Excavator arm

24

Excavator arm

25th

Backhoe bucket / backhoe bucket

26th

Excavation

50

Machine control system (machine control)

51

Control unit (process computer)

51 p

processor

51 s

Storage unit

52

Control and display unit

53

Sensor (e.g. GNSS receiver)

54

Sensor (e.g. inclination sensor)

55

Sensor (e.g. rotary encoder or length measuring system)

56-58

Actuators (e.g. valve control for lifting or hydraulic cylinders)

53k-58k

Cable connections

60

building

61

Main building (house)

62

Outbuilding (garage)

63

Gutter

64

roof

65

railing

70

Lantern

71

Lamppost

72

lamp

80

truck

81

Truck trough

A.

Movement / travel

B, B1, B2, B3

Movements / travels

THERE

Rotation of work basket

DM

Rotation machine

K

Collision point

Z

Axis of rotation

Claims (15)

Control unit (51) for a mobile work machine, with the following features: a processor (51p) which is designed to control at least two actuators that move a tool and / or a movable machine part along at least two degrees of freedom; a memory (51s) which is designed to record and store a movement sequence of the at least two actuators along the at least two degrees of freedom; wherein the processor (51p) is designed to execute the recorded and stored sequence of movements of the at least two actuators along the at least two degrees of freedom in a corresponding and / or opposite order. The control unit (51) of claim 1, wherein the recording comprises acquiring sensor data; and or
wherein the recording comprises receiving control commands generated by the processor (51p) for controlling the at least two actuators. Control unit (51) according to one of the preceding claims, wherein the movement sequence of the at least two actuators is defined by at least two positions for the first of the at least two degrees of freedom and by at least two further positions for the second of the at least two degrees of freedom; and
wherein each first and second of the positions and each first and second of the further positions are defined for at least a first and a second point in time. Control unit (51) according to one of the preceding claims, wherein the movement sequence is defined between two end points. Control unit (51) according to claim 4, wherein a movement of the tool and / or the movable machine part between the two end points has at least one change of direction within the movement sequence between the two end points with respect to one of the two degrees of freedom. Control unit (51) according to one of claims 1 to 5, wherein the movement sequence of the at least two actuators is defined by at least one vector for the first of the at least two degrees of freedom and by at least one further vector for the second of the at least two degrees of freedom. Control unit (51) according to one of the preceding claims, wherein the processor (51p) is designed to interrupt and / or start and / or interrupt the movement sequence in response to a user input when executing the recorded and stored movement sequence in the corresponding and / or opposite order to continue. Control unit (51) according to one of the preceding claims, wherein the processor (51p) is designed to change the movement sequence and / or the recorded and stored movement sequence in response to a user input when executing the recorded and stored sequence of movements to be overwritten by a changed sequence of movements. Control unit (51) according to one of the preceding claims, wherein the processor (51p) is designed to vary the movement sequence in a travel speed of the movement sequence when executing the recorded and stored movement sequence in corresponding and / or opposite order in response to a user input. Control unit (51) according to one of the preceding claims, wherein the user input is designed to receive an input via an operating unit (52). Control unit (51) according to claims 2-10, wherein sensor data are received from at least one inclination sensor (54) and / or at least one rotary encoder sensor (55). Control unit (51) according to claims 2-11, wherein the control commands comprise at least one valve control command. A mobile work machine, in particular a working platform (10), a crane, a construction machine, a road construction machine, a roller, an excavator (20) or a backhoe, comprising a control unit according to one of the preceding claims. Method for controlling a mobile work machine with the following steps: Control of at least two actuators that move a tool and / or a movable machine part along at least two degrees of freedom. Recording and storage of a movement sequence which consists of at least two actuators along the at least two degrees of freedom by means of a memory. Execution of the recorded and stored sequence of movements of the at least two actuators along the at least two degrees of freedom in a corresponding and / or opposite sequence. Computer program with a program code for carrying out the method according to Claim 14, if the program runs on a computer.

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