GB2570184A - Device and method for controlling a working machine - Google Patents
Device and method for controlling a working machine Download PDFInfo
- Publication number
- GB2570184A GB2570184A GB1818052.1A GB201818052A GB2570184A GB 2570184 A GB2570184 A GB 2570184A GB 201818052 A GB201818052 A GB 201818052A GB 2570184 A GB2570184 A GB 2570184A
- Authority
- GB
- United Kingdom
- Prior art keywords
- display controller
- actuator
- controller unit
- electric input
- input device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G11/00—Manually-actuated control mechanisms provided with two or more controlling members co-operating with one single controlled member
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23067—Control, human or man machine interface, interactive, HMI, MMI
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35438—Joystick
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Mechanical Control Devices (AREA)
Abstract
A device for controlling working machine 4 comprises display controller unit 5 which can be activated to, at least partially, take over the operating functions of at least one electric input device 2 (eg joysticks, pedals, levers, or steering wheels) with respect to at least one actuator 3 of the working machine. The display controller unit may be activated, and the at least one electric input deactivated, upon detection of a malfunction of the at least one electric input or the at least one actuator by sensor system 16. The display controller unit may be able to take over the operating functions of several electric input devices. The display controller unit may further feature a touchscreen.
Description
Device and method for controlling a working machine
Description
The invention relates to a device and a method for controlling a working machine, comprising at least one electric input device which is connected to an actuator of the working machine via an electric control unit.
In practice, mobile working machines such as excavators, cranes, telescopic arms or lifting mechanisms on mobile working machines are operated by means of electric joysticks, for example. The joystick comprises a base and a handle. The base preferably contains at least one electric component such as a microprocessor, a sensor interface, a power supply (if provided), etc., for example. The handle preferably comprises a base part and a handle part. The base part is connected to a mechanism which enables the base part to move in two main degrees of freedom, forwards/backwards and left/right. These degrees of freedom are typically rotational degrees of freedom, about axes X and Y, for example. The user is able to interact with an environment displayed by a computer and/or control unit in order to carry out functions and tasks on the computer, such as controlling the working machine. Known human-machine interface devices used for such interaction comprise a joystick which is connected to the computer system that controls the displayed environment. The computer typically updates the environment in reaction to the manipulation by the user of a physical manipulation device such as the joystick handle .
In mobile working machines, e.g. excavators, the wish of the operator, e.g. a driver, is transmitted to the controller via joysticks. Buttons and switches are typically provided on the joystick to enable the user to input additional signals for the microprocessor and the computer .
A disadvantage of the known device is the fact that in the event of a failure or defect of the electric input device, e.g. the joystick, the driver is no longer in a position to move the mobile working machine or its (hydraulic) components as desired. Particularly problematic is the fact that the working machine may be located in a hazardous area or cannot be moved to a service point.
Against this background, the objective of this invention is to propose a device for controlling a working machine which alleviates or even prevents said disadvantages. In particular, a production stoppage should be avoided and the operating safety of the mobile working machine significantly increased in a constructively simple manner.
These objectives are achieved by means of a device based on the independent claim. Other embodiments of the invention are specified in the dependent claims. It should be pointed out that the description, especially in conjunction with the drawings, outlines other details and features of the invention which may be combined with the features from the claims .
To this end, a device comprising at least one electric input device which is connected via an electric control unit to at least one actuator of the working machine and can influence operation of the at least one actuator contributes to controlling a working machine, and a display controller unit can be activated if necessary and at least partially takes over the operating functions of the at least one electric input device with respect to the at least one actuator.
By working machine is meant a floor-bound mobile device in particular. The working machine may be equipped with a driver's cab and/or a control apparatus which is assigned to the at least one electric input device or even all the electric input devices for controlling an actuator or all the actuators of the working machine.
An electric input device may be understood as being one which is moved, pivoted, rotated or deformed in space and whereby this change in space is forwarded to a control unit in an electric signal. Examples of such electric input devices are a pedal, a joystick and/or lever arrangement, a steering wheel. In particular, the electric input device provided (as standard) for operating the actuator is configured so that the manipulation or movement of the input device by the operator is converted (by the input device) into electric control signals and transmitted via a control unit to the correspondingly addressed actuator.
An actuator may comprise an actuator motor for effecting a movement of a component on and/or by means of the working machine. For example, an actuator may be an electrohydraulic positioning shaft which is able to adjust the position of a lifting mechanism, an excavator shovel, a plough or such like in terms of height and/or orientation of the component, for example. In particular, the actuator is set up so as to pick up and/or process corresponding control signals of the electric input device and/or the control unit. The actuator then causes a corresponding movement of the working machine or of the component thereon and/or therein. This may be described as an ordinary control mechanism.
If necessary, in other words at the specific wish of the operator, based on a decision of the control unit relating to the situation and/or in the event of a (partial) failure for example, this ordinary control mechanism is abandoned and is replaced (at least partially and/or for a predefined number of electric input devices) by operation of the actuator using a display controller unit. This being the case, the operating functions of the at least one electric input device, which is deactivated and/or blocked, are partially taken over by at least one display controller unit. The display controller unit may be provided as a permanent (but predominantly inactive) feature on the working machine. It is possible that the display controller unit is not accessible to the operator until the time of activation, for example by a (new) display on a monitor and/or due to the fact that the (otherwise inaccessible) screen is made accessible. The display controller unit may be provided with keys, control devices, slides, etc. (display controller elements) and a movement of the display controller elements is displayed on the screen and thus permits a visual check by the operator. The display controller elements may be part of the screen.
The at least one electric input device is able to activate the display controller unit. For example, a malfunction of the electric input device identified by the control unit and/or by the electric input device itself may prompt activation of the display controller unit.
A sensor system may be provided which is at least able to monitor the at least one electric input device or the at least one actuator and prompt activation of the display controller unit (directly and/or via an operator).
For example, a malfunction of the electric input device and/or the associated actuator identified by the sensor system may prompt activation of the display controller unit. The sensor system may run an electronic evaluation of the control signals and/or a sensory evaluation of movements of the actuator and/or (components of the) working machine.
A sensor system may be provided which is at least able to monitor the at least one electric input device or the at least one actuator, display a malfunction and/or defect and thus prompt or permit activation of the display controller unit by an operator.
The display controller unit is able to take over the operating functions of several electric input devices. This may then be of practical effect if, for example, several electric input devices were used to carry out a more complex movement or operation of an individual (component of the) working machine, one of these has a malfunction and then all the electric input devices necessary for this are deactivated and this movement is then taken over by the display controller unit.
The display controller unit may comprise a touch display or be configured as such.
The device proposed here relates to the control of a working machine (construction machine, excavator, tractor, etc.) via a touch display. In addition to electronic joysticks, it should also be possible for control signals to be transmitted via the touch display of the HMI (Human Machine Interface). The HMI in this instance is a second bus-enabled input device. Based on a simple construction, components of an existing computer can be used for the display controller unit. The redundant input devices are linked to one another in a combinative arrangement in order to prevent a production stoppage and to increase operating safety.
A particularly preferred feature is the fact that in the event of a failure or defect of an electronic input device, in this instance the joystick, the driver is still in a position to move the mobile working machine. The advantage of this is that the machine can be moved out of the hazardous area or to the service point even if one or more HMI devices fail. An emergency mode with only limited speeds of movement can also be operated. Based on the device proposed here, an additional option for inputting the driver's wish is advantageously provided.
The display controller unit is expediently set up to run the adjustment of parameters of the working machine via menus which are displayed on a display. The display controller unit is preferably set up to run the adjustment of parameters of the working machine via a display.
Based on another aspect, a method for operating a working machine is proposed which comprises at least one electric input device, which is connected via an electric control unit to at least one actuator of the working machine and is able to influence operation of the at least one actuator, and at least one display controller unit. The method comprises at least the following steps:
a) predefining an operation of the at least one actuator by means of the at least one electric input device,
b) detecting a malfunction with respect to the at least
- 8 one electric input device,
c) optionally deactivating the at least one electric input device,
d) activating the at least one display controller unit in such a way that it at least partially takes over operation of the at least one actuator.
Although the steps of the method are listed in alphabetical order, it is not necessary for the steps to take place in this order of time and/or sequence.
The method may be implemented with the device proposed here and vice versa.
Explanations pertaining to details of the device may be applied to the explanation of the method and vice versa.
With respect to step b), it should be noted that the malfunction may be detected and/or ascertained by an operator or a person and/or the electric control unit.
A malfunction may also include a defect so that in the case of a defect in particular, it is not absolutely necessary for the affected electric input device to be deactivated. However, it may also be expedient to proceed with a deactivation in this situation in order to prevent errors of the CAN system. Step c) in particular may therefore be optionally run depending on the nature of the malfunction and/or the specific electric input device.
Based on another aspect, a data processing system is proposed, comprising a control unit having a processor which is at least adapted or configured to run steps a), b) c) and/or d) of the proposed method.
The invention and the technical aspects will be explained in more detail below with reference to drawings. In these, the same components are denoted by the same reference numbers. The diagrams are schematic and are not intended to illustrate size ratios. The explanations given with respect to individual details of a drawing can be extracted and freely combined with subject matter from other drawings or the description above unless the result would necessarily mean something different for a skilled person and/or such a combination would be explicitly out of the question in this context. Schematically illustrated are :
Fig. 1: a block diagram of a control unit, an input device, a display controller unit, an actuator and a device comprising a working machine for controlling the working machine, and
Fig. 2: a block diagram of an embodiment having a control unit and several input devices, a display controller unit and two actuators.
Fig. 1 is a block diagram illustrating a control unit 1, an electric input device 2, a display controller unit 5, an actuator 3 and a device comprising a working machine 4 for controlling the working machine 4 (as a whole or also for a partial system such as a cylinder and/or motor for example). Connected to the control unit 1, e.g. an electric control device having a processor 17, are the electric input device 2, e.g. joystick, and the display controller unit 5, e.g. a touch display. Also connected to the control unit 1 is the actuator 3, e.g. a control valve, for the working machine 4, e.g. excavator. Data transmitting connections, e.g. electric connecting lines and/or hydraulic signal lines, are denoted by reference 6. The data transmitting connections 6 may be based on a hard-wired or wireless design. Reference 7 denotes a user.
One human-machine interface device comprises the input device 2 and another human-machine interface device comprises the display controller unit 5. The input device 2 and the display controller unit 5 are respectively in contact with the user 7.
Fig. 2 is a block diagram illustrating an embodiment having an electric control unit 1 and several input devices, a display controller unit and two actuators.
Connected to the control unit 1 as input devices 2 are a first joystick 8 and a second joystick 9, a first pedal 10 and a second pedal 11 and other human-machine interface devices 12. Also connected to the control unit 1 as a display controller unit 5 is a display 13, e.g. a touch display. Additionally connected to the control unit 1 as actuators are a control valve 14, e.g. a hydraulic control valve, and a pump 15, e.g. a hydraulic pump.
Using the device proposed here, the driver is provided with an additional option for inputting his desired movement to the control unit 1 using the display controller unit 5, e.g. the display 13, if a failure or a defect is identified by means of a sensor system 16 of an electric input device 2, e.g. the joysticks 8, 9.
Looking at the display controller unit 5, the consumer speed of cylinders or motors, for example, can be predefined by the operator with the aid of a display having (virtual) knobs. This includes activating valves, e.g. control valve 14, and pumps 15, e.g. hydraulic pumps.
It is also possible to supply two or more consumers and actuators 3 simultaneously, e.g. both chains for straight travel.
List of reference numbers
Control unit
Input device
3 Actuator
Working machine
Display controller unit
Data transmitting connection
User
8 First joystick
Second joystick
First pedal
Second pedal
Human-machine interface device
Display
Control valve
Pump
Sensor system
Processor
Claims (7)
1. Device for controlling a working machine (4), comprising at least one electric input device (2) which is connected via an electric control unit (1) to at least one actuator (3) of the working machine (4) and can influence operation of the at least one actuator (3), wherein a display controller unit (5) can be activated if necessary and at least partially takes over the operating functions of the at least one electric input device (2) with respect to the at least one actuator (3).
2. Device as claimed in claim 1, wherein the at least one electric input device (2) is able to activate the display controller unit (5).
3. Device as claimed in one of the preceding claims, wherein a sensor system (16) is at least able to monitor the at least one electric input device (2) or the at least one actuator (3) and is able to prompt activation of the display controller unit (5).
4. Device as claimed in one of the preceding claims, wherein the display controller unit (5) is able to take over the operating functions of several electric input devices (2).
5. Device as claimed in one of the preceding claims, wherein the display controller unit (5) comprises a touch display.
6. Method for operating a working machine (4), which comprises at least one electric input device (2), which is connected via an electric control unit (1) to at least one actuator (3) of the working machine (4) and is able to influence operation of the at least one actuator (3), and at least one display controller unit (5), the method comprising at least the following steps:
a) predefining an operation of the at least one actuator (3) by means of the at least one electric input device (2) ,
b) detecting a malfunction with respect to the at least one electric input device (2),
c) optionally deactivating the at least one electric input device (2),
d) activating the at least one display controller unit (5) in such a way that it at least partially takes over operation of the at least one actuator (3).
7. System for processing data, comprising a control unit (1) having a processor (17) which is at least adapted or configured to run the method as claimed in claim 6.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017219649.1A DE102017219649A1 (en) | 2017-11-06 | 2017-11-06 | Device and method for controlling a work machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB201818052D0 GB201818052D0 (en) | 2018-12-19 |
| GB2570184A true GB2570184A (en) | 2019-07-17 |
Family
ID=64655328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1818052.1A Withdrawn GB2570184A (en) | 2017-11-06 | 2018-11-05 | Device and method for controlling a working machine |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109750715A (en) |
| DE (1) | DE102017219649A1 (en) |
| GB (1) | GB2570184A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11866909B2 (en) | 2020-11-04 | 2024-01-09 | Caterpillar Inc. | Machine control component with input device to control machine display |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6253136B1 (en) * | 1999-03-31 | 2001-06-26 | Caterpillar Inc. | Method and apparatus for a limp home mode |
| KR20150104958A (en) * | 2014-03-07 | 2015-09-16 | 두산인프라코어 주식회사 | Emergency driving method according to failure of joystick and pedal for construction machine |
| KR20150133489A (en) * | 2014-05-20 | 2015-11-30 | 현대중공업 주식회사 | Emergency operating system of construction machinery |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101413279B (en) * | 2008-11-29 | 2011-06-08 | 湖南山河智能机械股份有限公司 | Electromechanical integrated digging loader and control method thereof |
| CA2792686A1 (en) * | 2011-10-17 | 2013-04-17 | Ztr Control Systems, Inc. | Method for utilization calculation on equipment including independent component |
| CN204753686U (en) * | 2015-02-12 | 2015-11-11 | 徐州徐工挖掘机械有限公司 | Automatically controlled guide control system redundancy apparatus of excavator |
| US9611625B2 (en) * | 2015-05-22 | 2017-04-04 | Harnischfeger Technologies, Inc. | Industrial machine component detection and performance control |
-
2017
- 2017-11-06 DE DE102017219649.1A patent/DE102017219649A1/en active Pending
-
2018
- 2018-11-05 CN CN201811307695.2A patent/CN109750715A/en active Pending
- 2018-11-05 GB GB1818052.1A patent/GB2570184A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6253136B1 (en) * | 1999-03-31 | 2001-06-26 | Caterpillar Inc. | Method and apparatus for a limp home mode |
| KR20150104958A (en) * | 2014-03-07 | 2015-09-16 | 두산인프라코어 주식회사 | Emergency driving method according to failure of joystick and pedal for construction machine |
| KR20150133489A (en) * | 2014-05-20 | 2015-11-30 | 현대중공업 주식회사 | Emergency operating system of construction machinery |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11866909B2 (en) | 2020-11-04 | 2024-01-09 | Caterpillar Inc. | Machine control component with input device to control machine display |
Also Published As
| Publication number | Publication date |
|---|---|
| GB201818052D0 (en) | 2018-12-19 |
| DE102017219649A1 (en) | 2019-05-09 |
| CN109750715A (en) | 2019-05-14 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |