EP4148190A1 - Method for controlling an equipment movement of a working equipment of a working machine and working machine - Google Patents

Abstract

The invention relates to a method for controlling an equipment movement of a working equipment (4) of a working machine (1), which is rotatably mounted about an axis of rotation (18) at a free end (16) of a telescopic arm (2) mounted pivotably on a carrier of the working machine. whereby an angle of rotation (9) of the working equipment about the axis of rotation can be changed by a rotary drive (26), a swivel angle (8) of the telescopic arm relative to the carrier can be changed by a swivel drive (24) and an extension length (7) of the telescopic arm can be changed by a The pull-in/out drive can be changed, with an initial position of the rotary axis (18) being detected (130), with the swivel drive (24) and the pull-in/out drive being automatically controlled during the equipment movement (160) based on a movement signal in order to Pivoting angle (8; 8_1, 8_2) and the extension length (7; 7_1, 7_2) to change simultaneously so that the axis of rotation (18) starting from the initial position along a straight path (88; 89) at a certain angle relative to a defined horizontal direction (12, 34).

Description

The present invention relates to a method for controlling an equipment movement of a work equipment of a work machine, a computing unit and a computer program for its execution, and a work machine.

Background of the Invention

Mobile work machines can have several moveable (e.g. hydraulic) components. Thus, a movable arm can be provided, on which working equipment (such as a shovel, a grapple, a fork or the like) that can be moved relative to the arm is attached. A typical example of this are telehandlers, which have a pivotable telescopic arm, at the end of which working equipment that can be rotated about an axis is attached. Such working machines with working equipment can be operated using operating components such as pedals and hand levers or joysticks, with additional elements, e.g. rollers, being provided on the handle of an operating component for extended functions, e.g. retracting/extending a telescopic arm, so that an operator can control the movements of different movable components of the work machine simultaneously, e.g. with one hand.

Disclosure of Invention

According to the invention, a method for controlling an equipment movement of a work equipment of a work machine, a computing unit and a computer program for its execution, and a work machine with the features of the independent patent claims are proposed. Advantageous configurations are the subject of the dependent claims and the following description.

The invention makes use of the measure, based on an initial position of an axis of rotation of the working equipment, to automatically control a swivel angle and an extension length of a telescopic arm on which the working equipment is rotatably attached in such a way that the axis of rotation moves along a (specified) straight path, e.g. horizontally or vertically to a carrier of the working machine or to the environment or earth. As a result, an operator only has to control one movement, namely the movement along the (one-dimensional) path, instead of having to coordinate several degrees of freedom of movement. This leads to a simplified operation of the working machine, errors and accidents in particular being able to be avoided and faster work being made possible.

The work machine is in particular a telehandler, e.g. a telehandler, a telehandler or a telescopic wheel loader. The work machine has, in particular, a travel drive, i.e. the carrier carrying the telescopic arm can be the chassis or a structure which is rotatably seated on the chassis. The working equipment, also referred to as equipment for short, represents a working tool or tool at the free end of the telescopic arm. Examples of this are a shovel, a fork or a gripper. Changing the angle of rotation, i.e. rotating the equipment around the axis of rotation, can also be referred to as tilting or tilting in or out, depending on the direction of rotation. Changing the pivoting angle, i.e. pivoting the telescopic arm relative to the carrier, can also be referred to as raising or lowering the telescopic arm, depending on the pivoting direction.

In the method, an initial position of the axis of rotation relative to the carrier is detected; During the equipment movement, based on a movement signal, the swing drive and the extension/extension drive are automatically controlled to change the swing angle and extension length at the same time so that the axis of rotation starts from the initial position along a straight path to a certain angle relative to a defined horizontal one direction is moved (ie the straight path has the certain angle relative to the horizontal direction). The horizontal direction is a direction that is within the (vertical) plane defined by the pivoting movement of the telescopic arm (ie, within the plane defined by the movement of the telescopic arm caused by changing the pivoting angle). Together with another dimension independent of the horizontal direction within this vertical plane (e.g. the vertical direction) a frame of reference is formed with respect to which the movements of the telescopic arm and equipment relative to the carrier can be specified. The horizontal direction or straight line can be obtained by cutting the vertical plane (telescopic arm movement plane) with a defined horizontal plane, the direction in the line of intersection thus formed being defined by the direction in which the telescopic arm protrudes. The horizontal plane (which is used for the section) can be defined by the support (e.g. chassis or body) and is then referred to as the horizontal working machine plane. The horizontal direction obtained by the intersection of the working machine horizontal plane and the vertical plane is referred to as the working machine horizontal direction. The swivel angle can be specified as the angle between the horizontal working machine direction and the telescopic arm. In general, the horizontal plane can be a horizontal plane different from the horizontal working machine plane, such as a so-called horizontal environmental plane, which is defined by the environment of the working machine. Instead of specifying the angle of the straight path relative to the horizontal direction, since the horizontal direction is defined as an intersection with a horizontal plane, it would also be possible to specify a specific angle to the horizontal plane. Accordingly, the pivot angle and the extension length are changed simultaneously in such a way that the rotary axis is moved from the initial position along a straight path which has a certain angle relative to the defined horizontal plane. In general, the term horizontal plane could therefore be used in the present application instead of the term horizontal direction or straight line.

The horizontal direction is preferably a horizontal working machine direction, which is defined by the working machine or its carrier, in particular by a chassis of the working machine, or a horizontal environmental direction, which is determined in particular by an inclination sensor. The horizontal working machine direction is defined in relation to the working machine, in particular in relation to its chassis or in relation to a structure on which the telescopic arm is attached. Together with a perpendicular (or more generally non-parallel) coordinate, the horizontal direction forms a coordinate system with respect to which the movements of the telescopic arm and the equipment are defined. A horizontal environmental direction is a horizontal direction that is defined by an environment or by a horizontal environmental plane of the working machine, e.g. by the floor surface on which the working machine is standing, or by the direction of gravity (ie, by the plane orthogonal to the direction of gravity). The working machine direction can, but does not have to, be parallel to the surrounding direction. If it is not parallel, e.g. when the working machine is at an angle or tilted, the relative angle of the environmental direction to the working machine direction can be determined, e.g. by inclination sensors and/or also the deflection of supports of the working machine or the chassis (e.g. relative position of the wheels with respect to the chassis), ie in other words, the position of the environmental direction is determined.

The working equipment preferably has an orientation relative to the horizontal direction, with an initial orientation of the working equipment (i.e. the orientation of the working equipment relative to the defined horizontal direction at the beginning or at the start of the equipment movement) being detected, and the rotary drive being automatically controlled during the equipment movement is used to change the rotation angle simultaneously with the swing angle and the extension length, so that the orientation of the attachment remains the same as the initial orientation. By automatically keeping the equipment orientation constant, a load carried by the equipment can be prevented from slipping, etc., without the operator having to intervene of the work equipment is fixed, e.g. the direction from the axis of rotation to an equipment reference point.

Preferably, the straight path is a vertical path orthogonal to the horizontal direction or a horizontal path parallel to the horizontal direction. Vertical and horizontal trajectories are advantageous as these correspond to typical repetitive movements of the equipment.

Preferably, a trigger signal is detected and in response to the presence of the trigger signal, the initial position of the axis of rotation is determined and equipment movement is initiated. This makes it possible, in particular, to use existing operating elements and operating components (eg a joystick) for detecting the movement signal or, if the movement signal is predetermined, to carry out the equipment movement automatically without further intervention by the operator of the work machine.

Preferably, an abort signal is detected and equipment movement is terminated in response to the trigger signal being present. This enables the operator to stop the equipment movement in a targeted manner, e.g. when a desired target position is reached or e.g. if an error occurs.

The trigger signal and/or the abort signal are/are preferably detected by an operating element, in particular a function button. Existing controls can be used for this.

The movement signal is preferably detected by a first operating component, in particular a joystick, during the movement of the equipment. This enables the operator to specifically control the movement of the equipment, in particular its speed and direction.

A speed of the movement of the axis of rotation along the straight path preferably corresponds to an amplitude or height of the movement signal and/or a direction of the movement of the axis of rotation along the straight path to a sign of the movement signal. This allows the speed and direction of equipment movement to be varied. If an operating component, e.g. a joystick, is used to detect the movement signal, in particular the amplitude of the movement signal can correspond to the magnitude of a deflection of the operating component, e.g. the magnitude of the deflection of the joystick (joystick deflection angle), and the sign of the movement signal to the direction of the deflection correspond to the operating component.

The straight path is preferably selected from a plurality of predetermined paths (which differ from one another), with the predetermined paths optionally comprising the vertical path and/or the horizontal path. The selection is preferably based on a selection signal that is detected by a second operating component, in particular a switch panel. The selection can be made, for example, on the basis of switches or function switches on the switch panel, so that the operator of the work machine can choose between different tracks by simply changing switch positions. The second and the first operating component can also be identical, with several operating elements being provided in order to implement different functionalities or their detection.

The angle of rotation, the pivot angle and the extension length are preferably recorded or measured, in particular by appropriate measuring devices, the initial position and/or the initial orientation being determined on the basis of the recorded angle of rotation, the recorded pivot angle and the recorded extension length; and wherein the activation of the pivoting drive, the extension/retraction drive and the rotary drive is preferably based on the detected pivoting angle, the detected extension length and the detected rotation angle. The control can thus be carried out on the basis of current measured values, so that a high level of precision can be achieved.

A computing unit according to the invention, e.g. a control unit of a work machine, in particular a telehandler, is set up, in particular in terms of programming, to carry out a method according to the invention.

The implementation of a method according to the invention in the form of a computer program or computer program product with program code for carrying out all method steps is advantageous because this causes particularly low costs, especially if an executing control unit is also used for other tasks and is therefore available anyway. Suitable data carriers for providing the computer program are, in particular, magnetic, optical and electrical memories, such as hard drives, flash memories, EEPROMs, DVDs, etc. It is also possible to download a program via computer networks (Internet, intranet, etc.).

Further advantages and refinements of the invention result from the description and the attached drawing.

It goes without saying that the features mentioned above and those still to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

The invention is shown schematically in the drawing using exemplary embodiments and is described in detail below with reference to the drawing.

character description

• figure 1 shows an example of a mobile telehandler.
• figure 2 shows exemplary operating components of a telehandler, namely a joystick and a switch panel.
• Figures 3A and 3B 12 illustrate equipment movements along a vertical trajectory and along a horizontal trajectory in accordance with preferred embodiments of the invention.
• figure 4 Figure 12 shows a flow chart according to a preferred embodiment of the invention.

Detailed description of the drawing

figure 1 shows a work machine, namely an exemplary mobile telehandler 1, as it can be used for the invention. The telescopic loader 1 comprises a telescopic arm 2 which is attached to a carrier of the telescopic loader 1 in a pivotable manner. For example, the telescopic arm 2 is mounted on a chassis of the telescopic loader 1 as a carrier, or it can also be provided (not shown) that the telescopic arm is attached to a structure as a carrier, which, in particular rotatable about a vertical axis, is mounted on the chassis is.

The telescopic arm 2 is pivotable up and down with respect to a horizontal telehandler plane 13 (generally a working machine plane) or a horizontal telehandler direction 12 (generally a working machine direction), e.g. defined by the chassis or body. The telescopic arm 2 is pivotally attached to the chassis on a pivot axis 10 and has a pivot angle 8 relative to the horizontal direction 12, which is defined by a vertical (i.e. perpendicular to the horizontal telescopic loader plane or within the vertical plane or telescopic arm movement plane ) Projection of the telescopic arm 1 or a longitudinal axis of the same is defined on the horizontal telehandler plane 13 . As shown, the pivoting angle θ can accordingly be specified as an angle between a longitudinal direction 14 of the telescopic arm and the horizontal direction 12 (of course, other definitions are also conceivable). The Pivoting angle 8 can be changed between a lower limit angle and an upper limit angle (not shown).

In addition to the telescopic handler direction 12, a horizontal surrounding direction 34, here a footprint of the telescopic handler, is drawn in, which is here, for example, parallel to the telescopic handler direction 12, but is generally not parallel to it either, e.g. if the telescopic handler is at an angle. Instead of the standing area, the surrounding level could also be determined by the direction of gravity, for example on a slope.

The telescopic arm 2 can be retracted and extended or retracted and extended in its longitudinal direction 14; i.e. the length of the telescopic arm 2 from the pivot axis 10 to a free end 16 of the telescopic arm can be changed. Accordingly, the telescopic arm 2 has a variable extension length or telescopic arm extension length 7 . The telescopic arm extension length 7 can be changed between a maximum and a minimum extension length (not shown).

At the free end 16 of the telescopic arm 2 is a tool or a piece of equipment 4 (referred to as equipment for short) rotatably mounted about an axis of rotation 18 . The working equipment 4 is a shovel, for example, although other working equipment is also conceivable, e.g. a fork or a gripper. The working equipment 4 has an angle of rotation 9 relative to the telescopic arm 2 . As shown, the angle of rotation 9 can be specified as an angle between an equipment direction 22 and a connection direction 20, which corresponds to the direction between the pivot axis 10 and the axis of rotation 18 (other definitions are of course also conceivable). The equipment direction 20 is fixed in relation to the work equipment.

Furthermore, in the figure 1 a reference point 30 or equipment reference point (so-called TCP, "tool center point") of the work equipment 4 is drawn in. The reference point 30 is a point located outside the axis of rotation 18 which is fixed in relation to the work equipment. The reference point 30 can serve as a reference point for specific movements and/or functions of the telehandler, in particular the work equipment. In the example shown, the reference point 30 is at a lower front edge of the blade, which is the equipment 4 here. The reference point 30 can be on or inside the work equipment. The reference point can also be outside of the work equipment or at a distance from it lay. The term "reference axis" which is parallel to the axis of rotation (and does not coincide with the axis of rotation) can also be used instead of the term "reference point". The reference axis corresponds to the axis parallel to the axis of rotation 18, which runs through the reference point. Since all movements run in one plane (corresponding to the plane of the drawing), it is simply referred to as a reference point.

The orientation of the work equipment or equipment orientation can be defined by the direction between the axis of rotation 18 and the reference point 30, i.e. by the orientation (e.g. specified by angle) of this direction relative to the horizontal direction. The orientation of the work equipment relative to the telehandler direction is also determined by the rotation angle along with the swing angle.

The pivoting movement of the telescopic arm 2 can take place or be generated by a hydraulic drive, e.g. by means of at least one swiveling hydraulic cylinder 24. The rotary movement of the equipment 4 can also take place or be generated by a hydraulic drive, e.g. by means of at least one rotary hydraulic cylinder 26 The retraction/extension movement of the telescopic arm can also take place or be generated by a particularly hydraulic drive (not shown). In addition to hydraulic drives, other drives are also conceivable, e.g. electrical drives using electric motors, mechanical or electromechanical drives. Corresponding drives are generally referred to as rotary drive (for the swivel movement), extension/extension drive (for the extension/retraction movement) and rotary drive (for the rotating movement of the equipment).

Preferably, not shown in the figure, an extension length measuring device, which measures the extension length 7, a swivel angle measuring device, which measures the swivel angle 8, and a rotation angle measuring device, which measures the rotation angle 9, are provided. The respective measurement results are transmitted to control device 32 .

The various movements (pivoting and in/out movement of the telescopic arm, rotary movement) can be controlled by a control or a control unit 32, which generates control signals with which the respective drives of the movements are controlled. The control can in turn be based on signals from one or more operating components that can be operated by a user. operating components can be arranged, for example, in a driver's cab of the telehandler and/or in a remote control.

figure 2 shows an example of operating components 50, 70 with which an operator functions of a telehandler, such as the telescopic handler 1 of figure 1 , can control.

Up in the figure 2 a joystick 50, ie an operating component that can be gripped with one hand, is shown in a front view (top left in the figure) and a side view (top right in the figure). The joystick 50 as a whole is movable laterally to the left and right in a lateral movement 52 and movable fore and aft in a fore and aft movement 54 (the directions of movement here refer to the view of an operator). Movements of elements of the telehandler 1 can be controlled with these movements. For example, the lateral movement 52 can control the angle of rotation θ of the equipment, such as a lateral movement to the right causing a reduction in the angle of rotation θ (as in figure 1 shown) causes, ie a dumping of the shovel in figure 1 , and a lateral movement to the left causes an increase in the angle of rotation θ. Likewise, for example, the pivot angle 8 can be controlled by the forward and backward movement 54, with a forward movement causing a reduction in the pivot angle 8 (as in figure 1 drawn in), i.e. the telescopic arm 2 is lowered, and a backwards movement causes the pivoting angle 8 to increase, i.e. the telescopic arm 2 is raised telescopic arm, rotating equipment). This normal function or interpretation of movements of the joystick can be overridden when certain functionalities are selected, for example with an equipment movement according to the invention.

Further operating elements are arranged on the joystick 50, in particular in the form of switching elements, pushbuttons or function buttons 60, 62,64 and/or rollers 56, 58. For example, a rolling movement 57 of a roller 56 (extension roller) can be used to increase the extension length 7 of the telescopic arm 2 controlled, whereby, for example, a rolling movement 57 in a first direction (clockwise in the side view of the joystick) causes the extension length 7 to be reduced, i.e. retraction of the telescopic arm, and a rolling movement 57 in a second direction opposite the first direction (counterclockwise). in the side view of the joystick) causes an increase in the extension length 7, ie an extension of the telescopic arm. Here, too, a magnitude of the deflection of the roller 56 from a zero position can be coupled to a speed of the retraction/extension movement of the telescopic arm 2 .

Other functions of the telehandler can be controlled with the other control elements shown on the joystick 50 . Of course, the above-mentioned movements and any other functions can also be controlled, at least in part, simultaneously.

Down in the figure 2 a switch panel 70 is shown, ie a panel that includes a number of switches 72 (only some are provided with representative reference symbols) with which certain functions of the telescopic handler can be switched on and off and/or different states or modes of functions of the telescopic handler can be set permit. The switches can be arranged, for example, as mechanical, electromechanical or touch-sensitive switches on a console or can be displayed as symbolized switches on a touchscreen. Inscriptions on the switches can also be provided on the switch panel 70 (not shown), so that the operator can recognize the function of the switches.

Two activation switches 76, 77 are provided on switch panel 70, for example, with which the function for automatically controlled equipment movement can be activated and deactivated, with each of the two activation switches 76, 77 being able to activate and deactivate the equipment movement along a path. For example, when the first activation switch 76 is in the activation position, equipment movement is along a first path, such as the vertical path in FIG figure 3 activated. When the second activation switch 77 is in the activation position, equipment movement is along a second path, eg along the horizontal path in figure 3 activated. When neither the first activation switch 76 nor the second activation switch 77 is in the activate position, the automatically controlled equipment movement is disabled. When both are in the activated position, further controls or functions should be provided to distinguish between the equipment movements along the first and second lanes, e.g. different trigger buttons or trigger signals, or the equipment movement is along a third lane, eg along a oblique (45°) track. Alternatively it can also be provided that the two activation switches 76, 77 cannot be brought into the activation position at the same time, or that an error message is generated.

One or more of the other switches 72 of the control panel 70 can be used to select a defined horizontal direction from a plurality of predetermined directions, in particular from the horizontal telehandler direction and the horizontal surrounding direction.

Equipment movement is initiated as soon as a trigger signal, such as the operator depressing a trigger button, e.g., function button 60 on joystick 50, is detected. Proceeding from this, the equipment movement can take place fully automatically, i.e. in particular with a predetermined speed and direction along the web. The equipment movement is preferably not completely automatic, but is based on a movement signal, the speed being determined based on the magnitude or amplitude of the movement signal, and the direction being determined based on the sign of the movement signal. The movement signal or operating signal can be obtained, for example, by detecting a deflection of the joystick, e.g. a forward or backward movement 54, with the speed or magnitude of the movement signal being determined based on the magnitude of the deflection and the direction or sign of the motion signal is determined based on the direction of displacement (forward/backward). Equipment movement will pause if an abort signal is detected, such as a release of the trigger button and/or overridden movement of the joystick. During equipment movement, the normal function described above, i.e. the interpretation of deflections, of the joystick may be overridden. It can also be provided that the triggering signal can only occur when the joystick is in a zero position.

The joystick and control panel may be located in an operator's cab of the telescopic handler. The joystick or a smaller joystick and the control panel can also be arranged on a portable remote control. In this case it can be provided that the operating elements in figure 2 are arranged on the joystick, are at least partially arranged next to the joystick on the remote control.

Figures 3A and 3B 12 illustrate equipment movements along a vertical trajectory and along a horizontal trajectory in accordance with preferred embodiments of the invention. The structure of the telehandler 2 has already been in relation to figure 1 explained and will not be repeated here.

Two positions of the working equipment 4 and of the free end 16 of the telescopic arm 2 are shown in each of the two figures, corresponding to two states of the telehandler. An equipment movement is shown in each case, starting from a first position of the equipment, which is characterized by a first swivel angle 8_1, a first extension length 7_1 and a first angle of rotation 9_1, into a second position of the equipment, which is characterized by a second swivel angle 8_2, a second extension length 7_2 and a second angle of rotation 9_2 is characterized.

In Figure 3A there is shown vertical equipment movement 86 down a vertical path 88 and in FIG Figure 3B Forward horizontal equipment movement 87 along a horizontal track 89 is shown in FIG. The equipment movements 86, 87 take place orthogonally or parallel to a horizontal direction, namely orthogonally or parallel to the telehandler direction 12, which here as already in figure 1 for example runs parallel to the environmental direction 34 . In general, the equipment movement can be related to a defined horizontal direction, with the telehandler direction and the surrounding direction being preferred examples of a horizontal direction.

In both cases ( Figure 3A and Figure 3B ) are automatically controlled and simultaneously changed during the respective equipment movement 86, 87, based on a movement signal, the swivel angle 8, the extension length 7 and preferably the angle of rotation 9, so that the axis of rotation 18 moves along the vertical path 88 or along the horizontal path 89 and so that when the rotation angle θ is changed, preferably the orientation of the equipment relative to the horizontal direction (eg, telescopic handler direction 12 or ambient direction 34) is not changed. The swivel angle is changed from the first swivel angle 8_1 to the second swivel angle 8_2, the extension length 7 is changed from the first extension length 7_1 to the second extension length 7_2 and, if necessary, the rotation angle 9 is changed from the first rotation angle 9_1 to the second rotation angle 9_2. The orientation of the equipment relative to the horizontal direction can be defined as an angle between the horizontal direction and a straight line or direction passing through the axis of rotation 18 and the equipment reference point 30 .

The controller 32 controls the swivel drive, the pull-in/out drive and, if necessary, the rotary drive, i.e. based on the movement signal, control signals for the swivel drive, the pull-in/out drive and, if necessary, the rotary drive are generated by the controller 32, so that the axis of rotation 18 along of the vertical or horizontal track 88, 89, preferably with the orientation of the equipment relative to the horizontal direction remaining unchanged. The first pivoting angle 8_1 and the first extension length 7_1 characterize the initial position of the axis of rotation 18. The first pivoting angle 9_1, the first pivoting angle 8_1 and an angle between the telehandler direction and the horizontal direction also characterize the initial orientation of the equipment.

figure 4 Figure 12 shows a flow chart according to a preferred embodiment of the invention. In the preferred step 110, a function activation state is detected, corresponding to the positions of activation switches 76, 77 of the switch panel 70. By detecting the function activation state, one of several predetermined paths (e.g. the vertical path 88 or the horizontal path 89 of the Figures 3A , 3B ) can be selected, ie the function activation state can include a selection signal. This selection can be made based on the positions of the activation switches, for example. The selection may also include a selection of a horizontal direction (such as the telescopic handler horizontal direction or the environmental horizontal direction).

In the preferred step 120, a trigger signal is detected, such as pressing the trigger button or function button 60 on the joystick 50. If the function activation state indicates that the automatic equipment movement functionality is activated and if the trigger signal is detected, the equipment movement according to the following steps carried out. Steps 110 and 120 can be performed in the order shown, in reverse order, or independently of one another.

If steps 110 and 120 are performed consecutively, it can be provided that step 120 occurs only if the function activation state detected in step 110 indicates that the equipment movement functionality is activated, or that step 110 occurs only if the trigger signal was detected in step 120. Preferably the controller queries the positions of the switches on the switch panel or reacts to their changes and thus detects the position of the activation switch and the function activation state, which preferably also selects one of a number of predetermined straight paths. When indicating that the equipment movement functionality is activated, it is detected if and when the trigger button is pressed, which is interpreted as a trigger signal.

Instead of steps 110 and 120, other configurations are also conceivable. For example, the mere presence of a trigger signal (pressing a trigger button or actuating a trigger switch) may be sufficient to trigger equipment movement. Automatic triggering or automatic generation of a trigger signal is also conceivable, for example triggered by a signal from a proximity sensor or by data communication with another device.

If or as soon as the trigger signal is present, in step 130 the initial position of the axis of rotation is detected. The starting position can be determined from the swivel angle and the extension length.

Upon the presence of the trigger signal, the preferred step 140 (which may also be performed simultaneously and/or prior to step 130) detects the initial orientation of the equipment relative to the horizontal direction.

In optional step 150, a motion signal is detected indicative of a speed and/or a direction along the straight path of equipment movement. The movement signal can be the size and/or direction of the deflection of a joystick. An automatically generated movement signal or a movement signal received from another device are also conceivable. Deviating from step 150, the equipment movement can also take place automatically with a predetermined direction and/or speed along the straight path; or, formulated differently, the movement signal can be a predetermined movement signal.

In step 160, ie during the equipment movement, the swivel angle and extension length are automatically changed according to the movement signal, ie the swivel angle and extension length are changed simultaneously by the controller in such a way that that the axis of rotation is moved along the straight path starting from the initial position. Preferably also the angle of rotation is changed automatically so that the orientation of the equipment relative to the horizontal direction remains unchanged, ie remains the same as the initial orientation.

In step 170, an abort signal is detected. The abort signal can be a release of the release button on the joystick and/or at least one other abort action, e.g. a movement of the joystick in a direction other than that intended for equipment movement (superimposed movement). If the abort signal is present or detected, equipment movement is terminated in step 180 . If a termination signal is not present or not detected, the process continues with step 150 or, in the case of a predetermined movement signal, with step 160 (arrow 175). The loop formed by steps 150, 160 and 170 continues until the abort signal is detected in step 170.

An (automatic) abort (i.e. end of equipment rotation) can also occur or an automatically generated abort signal can be used. Preferably, a termination occurs or an automatic termination signal is generated when a minimum and/or a maximum pivoting angle (of the telescopic arm) is reached and/or when a maximum extension length is reached. Also preferably, no termination occurs or no termination signal is generated when a minimum extension length is reached. In this case, it is further preferred to deviate from the straight path along which the axis of rotation is to be moved (preferably with the shortest possible distance) until movement along the straight path is possible again. This deviation and, if necessary, the subsequent resumption of the movement along the straight path are controlled automatically.

Claims (15)

Method for controlling an equipment movement of a working equipment (4) of a working machine (1), which is rotatably mounted about a rotation axis (18) at a free end (16) of a telescopic arm (2) pivotably mounted on a carrier of the working machine, with a rotation angle ( 9) of the work equipment can be changed about the axis of rotation (18) by a rotary drive (26), a pivoting angle (8) of the telescopic arm relative to the carrier can be changed by a rotary drive (24) and an extension length (7) of the telescopic arm by a one -/extract drive can be changed; wherein an initial position of the axis of rotation (18) is detected (130); wherein during the equipment movement (160) based on a movement signal, the pivoting drive (24) and the extension/retraction drive are controlled automatically in order to change the pivoting angle (8; 8_1, 8_2) and the extension length (7; 7_1, 7_2) at the same time that the axis of rotation (18), starting from the initial position, is moved along a straight path (88; 89) at a certain angle relative to a defined horizontal direction (12, 34). A method according to claim 1, wherein the work equipment (4) has an orientation relative to the horizontal direction (12, 34); wherein an initial orientation of the work equipment is detected (140); and wherein during the equipment movement (160) the rotary drive (22) is controlled automatically in order to change the rotation angle (7; 7_1, 7_2) simultaneously with the swivel angle and the extension length, so that the orientation of the working equipment (4) remains the same as the initial orientation. A method according to any one of the preceding claims, wherein the straight path is a vertical path (88) orthogonal to the horizontal direction (12, 34) or a horizontal path (89) parallel to the horizontal direction. Method according to one of the preceding claims, wherein the horizontal direction is a horizontal working machine direction (12) which is defined by the working machine, in particular by the carrier or a chassis of the working machine, or a horizontal environmental direction (34), which is determined in particular by an inclination sensor. Method according to one of the preceding claims, wherein a trigger signal is detected (120) and in response to the trigger signal being present, the initial position of the axis of rotation is determined and equipment movement (160) is initiated; and or detecting (170) an abort signal and terminating (180) equipment movement in response to the abort signal being present; the trigger signal and/or the termination signal preferably being detected by an operating element (60), in particular a function button. Method according to one of the preceding claims, wherein the equipment movement is terminated (180) when a minimum and/or a maximum pivoting angle (of the telescopic arm) is reached, and/or when a maximum extension length is reached; and or wherein equipment movement is not terminated when a minimum draw length is reached, deviating from the straight path until equipment movement along the straight path is again possible. Method according to one of the preceding claims,
wherein the movement signal is detected (150) by a first operating component, in particular a joystick (50). Method according to one of the preceding claims, wherein a speed of the movement of the axis of rotation along the straight path corresponds to an amplitude of the movement signal and/or a direction of the movement of the axis of rotation along the straight path corresponds to a sign of the movement signal. Method according to one of the preceding claims, wherein the straight trajectory is selected (110) from a plurality of predetermined trajectories, wherein, if dependent on claim 3, the predetermined trajectories include the vertical trajectory (88) and/or the horizontal trajectory (89); wherein the selection (110) is preferably based on a selection signal that is detected by a second control component, in particular a switch panel (70). Method according to one of the preceding claims, wherein the angle of rotation (9), the pivoting angle (8) and the extension length (7) are recorded or measured; wherein the initial position and/or the initial orientation are determined based on the detected rotation angle, the detected pivot angle and the detected extension length; and whereby preferably the control of the swivel drive, the extension/retraction drive and the rotary drive is based on the recorded swivel angle, the recorded extension length and the recorded angle of rotation. Arithmetic unit (32) which is set up to carry out a method according to one of the preceding claims. Work machine (1), in particular a telescopic loader, which comprises working equipment (4) which is rotatably mounted about an axis of rotation (18) at a free end (16) of a telescopic arm (2) which is pivotably mounted on a carrier of the work machine, with a rotation angle ( 9) the working equipment can be changed about the axis of rotation by a rotary drive (26), a swivel angle (8) of the telescopic arm relative to the carrier can be changed by a swivel drive (24) and an extension length (7) of the telescopic arm by an in/out drive can be changed and wherein a horizontal direction (12, 34) is defined with respect to the work machine or a part of the work machine; having a computing unit (32) according to claim 11. Work machine according to claim 12, comprising a rotation angle measuring device, which measures the rotation angle, a swivel angle measuring device, which measures the swivel angle, and an extension length measuring device, which measures the extension length, the rotation angle measuring device, the swivel angle measuring device and the extension lengths - Measuring device are set up to transmit the measured angle of rotation, the measured swivel angle or the measured extension length to the computing unit (32). Computer program which causes a computing unit (32) to carry out a method according to one of Claims 1 to 10 when it is executed on the computing unit. A machine-readable storage medium having a computer program stored thereon according to claim 14.

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