RU2777544C2 - Working machine with control device - Google Patents

Abstract

FIELD: mechanical engineering.

SUBSTANCE: invention relates to a control unit for a working machine. The working machine with a control device includes an upper frame and a boom with at least two boom fragments. The control device is made with the possibility of generation of controlling signals for actuation of the working machine, depending on a position of the operator’s joint of the hand, and it contains at least one control unit. The control unit is made with the possibility of determination of a position of the joint of the hand and a position of at least one metacarpophalangeal joint of the hand, and with the possibility of generation, based on these determined positions, of a controlling signal for actuation of at least two actuators of the working machine. The first actuator is made with the possibility of rotation of the first boom fragment relatively to the upper frame of the working machine, depending on a position of the joint of the hand. The second actuator is made with the possibility of rotation of the second boom fragment relatively to the first boom fragment, depending on a position of the mentioned at least one metacarpophalangeal joint.

EFFECT: improvement of a control device for control of a working machine is achieved.

6 cl, 10 dwg

Description

The present invention relates to a control device for a work machine with at least one boom, wherein the control device is configured to generate control signals for actuating the work machine depending on the position of at least one hand joint of the operator, and the control device contains at least one control unit.

In construction machines or working machines, such as, for example, hydraulic excavators, it is known according to the prior art to control them from the driver's cab provided on them. Conventional control of work equipment on a work machine is typically through manual controls that actuate control valves via hydraulic and/or electrical signals to control the oil supply to the hydraulic cylinders. It is also used for rotary movements of the top frame of the working machine. Manual control devices can usually be installed in the support console in the driver's cab to the left and right of the driver's seat. In the context of the present invention, reference is made to work machines, which in the sense of the invention comprise construction machines, as well as additional machines such as material handling machines or any other material handling machines.

In control, the volume of oil is passed into the respective hydraulic cylinders of the working machine according to the paths covered by the manual control devices or according to the deflection of the respective levers of the manual control devices.

Individual partial movements of the work equipment or work machine must be controlled by the machine operator through targeted deflection of the control levers in order to achieve uniform working movement of the work tool. Intuitive control of a working machine is not easily possible.

Also known from the prior art are control units remote from the machine or remote control units, by means of which the function of the conventional control described above can be transmitted to the working machine by radio signal and thus can be applied or performed on an external control unit. It is well known that such radio remote controls are configured as "neck hangers" that the machine operator can wear around his neck and/or that the machine operator holds in front of his body to control the machine.

In the prior art control, the disadvantage is that the complex duty cycle of the working machine requires considerable experience of the machine operator in controlling the functions of the working machine or the functions of the excavator via two manual controls. This in turn results in relatively long training times for the machine operator.

Against this background, the aim of the invention is to provide an improved control device for controlling a working machine. By means of the control device according to the invention it will also be possible to enable untrained machine operators, after short learning phases, to operate the working machine safely. Accordingly, according to the invention, a significant reduction in the training time of the machine operator can be achieved.

According to the invention, this problem is solved by means of a control device with features according to paragraph 1 of the claims. Preferential aspects are the subject of dependent clauses.

Accordingly, a control device is provided for a work machine with at least one boom, wherein the control device is configured to generate control signals for actuating the work machine depending on the position of at least one joint of at least one hand of the operator, wherein the working device contains at least one control unit.

What may be meant by the position of at least one hand joint, for example, may be at least one angular position of an arbitrary human hand joint, such as, for example, a finger joint or wrist.

According to the invention, it is envisaged that the control unit is equipped to detect the position of the wrist of at least one metacarpophalangeal joint of at least one proximal interphalangeal joint of at least one distal interphalangeal joint, the saddle joint of the thumb, the joint of the base of the thumb and/or the extreme joint thumb of at least one hand. The position of the respective joint may in particular mean the angular position of the respective joint or a parameter dependent on it.

The control unit can be fastened to the operator's hand, in particular fasteners can be provided by means of which the control unit can be fastened to the operator's hand and/or forearm.

The control unit, for example, can be connected to the working machine via a wireless interface for transmitting control signals. Therefore, with regard to operations in hazardous environments, it is also possible to operate the work machine from a safe location and, in particular, at a distance from the work machine.

Advantageously, the control unit enables intuitive control of the working machine by the operator of the machine, whereby, in particular, uniform working movements of the equipment and the upper frame of the working machine can be easily carried out.

The complex work movements of the work machine or the work equipment and the implement tool of the work machine can be controlled by clearly visible movements of the machine operator by means of the control device according to the invention. Thus, with the help of new controls, the invention provides intuitive control of work functions, for example, a hydraulic excavator or other working machine.

The control unit can be ergonomically designed so that it can be fixed on the hand of the machine operator.

Thus, the invention also provides for the use or control of autonomous work machines, in which driver's positions are not provided on the work machines, and which are thus suitable for work in particularly dangerous work areas. In addition, the cost of purchasing and operating the working machine can be reduced by means of the control device according to the invention.

The control device may be an external work machine remote control unit or an excavator remote control unit in which the operating movement of the work equipment and attachment tool, as well as the rotational movement of the upper frame and possibly the movements of the track drive or other driving movements of the work machine, can be controlled by the control device. . This applies in particular to the digging movements of the working machine, which according to the invention can be intuitively controlled through the digging movements of the human hand.

In a particularly preferred embodiment, it is possible that the control device comprises exactly two control units, wherein by means of the first control unit the position of at least one joint of the operator's left hand and/or by the second control unit the position of at least one joint of the operator's right hand can be be defined. The control unit or units may, of course, also be configured for use with an arbitrary hand of the machine operator.

It is possible that with the help of one hand of the operator or operator of the machine, the working movements of the equipment of the excavator or other equipment of the working machine are performed. The working movement may include turning the boom and/or the boom dipper. Alternatively, or in addition, a control unit associated with the other hand may be used to control the operating motion of the operating tool.

Of course, reverse or different placement of the control units is also possible. The control units can each be configured for reversible control or for reversible use by the left or right hand of the machine operator.

In another preferred embodiment, it is possible that the control device is configured to generate at least one control signal for actuating at least one actuator of the working machine based on at least one of the determined positions.

In a particularly preferred embodiment, it can be provided that at least one actuator is the first actuator, which is equipped to rotate the first section of the boom of the working machine relative to the upper frame of the working machine, while, in particular, the first actuator can be driven in action depending on the position of the wrist. The first actuator, for example, may rotate the swivel arm or the entire arm of the working machine relative to its upper frame.

In the present case, the expression "first actuator" is not to be understood in a limiting sense. One or a single actuator or a plurality of actuators may also be referred to as the first actuator of the work machine.

In another preferred embodiment, it is possible that at least one actuator is a second actuator, which is configured to rotate the second boom fragment of the working machine relative to another boom fragment, while, in particular, the second actuator can be actuated depending on from the position of at least one metacarpophalangeal joint.

In addition, an embodiment is possible, in which at least one actuator is a third actuator, which is configured to rotate the third fragment of the boom of the working machine relative to another fragment of the boom, while, in particular, the third actuator can be actuated in depending on the position of at least one proximal interphalangeal joint and/or distal interphalangeal joint. Arrow fragments can be arrow handles or other arrow components.

In another preferred embodiment, it is possible that at least one actuator is a fourth actuator, which is configured to regulate the working tool and/or digging tool of the working machine, wherein, in particular, the fourth actuator can be actuated depending on from the position of exactly two proximal interphalangeal joints and/or distal interphalangeal joints.

In another preferred embodiment, it can be provided that at least one actuator is a fifth actuator, which is configured to rotate the working tool and/or digging tool of the working machine relative to the boom fragment, while, in particular, the fifth actuator can be actuated depending on the position of the wrist and/or at least one metacarpophalangeal joint.

Alternatively or in addition, individual actuators may be actuated depending on the positions of multiple joints. The working tool, for example, can be a digging tool or a backhoe bucket.

In one embodiment of the invention with just two control units, it can be provided that at least one of the three actuators associated with the boom according to paragraphs 4-6 is associated with one of the control units, while the other control unit is associated with at least one of the actuators associated with the work tool according to any one of paragraphs 7-8. It is also possible, however, any other arrangement of actuators of the control units, which the person skilled in the art considers appropriate.

In another preferred embodiment, it is possible that at least one control unit contains a display, in particular a touch screen.

Via a display or touch screen, information about operating conditions of the working machine and/or command data can be indicated to the operator of the machine. In addition, additional control functions can be performed via the touch screen.

According to the invention, the operator of the machine can be assisted by computerized reverse control. Since the working machines can be used in the networked environment of the construction site, signals and information can be transmitted in a two-way or multi-sided manner between the working machine, the control device, the environment of the working machine and possibly additional devices via the control unit and, in particular, via the touch screen.

The invention is furthermore directed to a working machine, in particular a hydraulic excavator with at least one control device according to any one of claims 1 to 9, the control device being connected to the control side of the working machine, in particular via a wireless interface. . The control unit may be an on-board computer of the work machine or any other adjustment/control unit of the work machine.

Additional details and advantages of the invention will be explained in detail with reference to the embodiment shown in the drawings as an example. On the drawings:

Fig. 1 shows a partial view of an operator of a machine with two control units of a control device according to the invention;

Fig. 2 shows a detailed view of two control units;

Fig. 3 shows a comparison of the construction machine and the machine operator's hand with respect to pivot points corresponding to each other;

Fig. 4 shows a view of the control unit;

Fig. 5, 6 show examples of devices for determining the position of the joints of the hand;

Fig. 7 shows an exemplary configuration of a control unit with a display;

Fig. 8 shows an exemplary image of the display;

Fig. 9 shows an exemplary control unit configuration; and

Fig. 10 shows examples of generating control signals by the control device.

Fig. 1 shows a front view of a machine operator with a control device containing two control units. By means of the control device, it is possible to generate control signals for actuating a work machine or a construction machine. The control signals may depend on the position of at least one hand or finger joint of the operator of the machine. A control unit associated with the machine operator's right hand, for example, can detect the position of the wrist and the position of the metacarpophalangeal joints of the machine operator's right hand, and use these positions to generate control signals to drive the construction machine. For example, an arrow, such as an excavator boom, may be actuated according to the position of the right hand and/or its fingers. To determine the position of the hand, the mechanical movements of the control unit can be digitized by means of sensors, such as, for example, by means of a potentiometer, and used as output values for generating control signals.

Fig. 2 shows a detailed view in which a display can be seen on one of the control units. The display can be configured as a touch screen. It can be used to display information that may be related to a construction vehicle. In addition, it can be used to control the functions of a construction machine. The display can be placed in a fragment of the control unit, which is pressed against the back of the hand, in particular in the area between the thumb and forefinger of the hand.

Fig. 3 shows that, for example, by means of the right hand of the machine operator, the digging operation of the working equipment of the excavator can be reproduced. It is possible that this function, as well as all the other functions described here, are each performed with the corresponding other hand. The wrist corresponds to the pivot point 1 of the boom on the upper frame of the construction machine. The palm joint or metacarpophalangeal joint corresponds to point 2 of the arrow handle or other arrow fragment.

When the hand moves up or down, this movement is converted into control signals to drive the construction machine. The movements of the boom of the excavator or other parts of the construction machine provided by the control signals may be chosen such that there is the greatest possible correspondence or similarity between the movements of the hand and the construction machine. When the fingers move relative to the palm, the movement of the finger, for example, may correspond to the movement of the boom arm of a construction machine.

As can be perceived from FIG. 4, the control unit can be mounted on the hand and/or on the forearm. The hand can be inserted between the fragment with the display unit and the upper part. The movement of the hand in the wrist or the position of the wrist can be transmitted through the movable bar 3.

Fig. 5 shows a sliding potentiometer 4 that can capture or detect the movement path of the hand.

Fig. 6 shows a control box on top of which is mounted a rocker 5 which is actuated by fingers. Rotary potentiometer 6 captures the path of movement of the fingers and from it can form signals to actuate the actuators of the construction machine.

Fig. 7 shows a control box on top of which a touch screen multifunction display 7 is mounted. This display may, for example, show critical device operating conditions, warnings, current location, and/or incoming commands.

Part of the control of the construction machine can be provided through the touch screen. The interface may have a fixed menu structure through which various information may be retrieved and functions may be activated. Fig. 8 shows an exemplary touch screen configuration.

The control unit can be connected to the operating machine's control device via a wireless interface. The data can be transferred to the working machine via the wireless interface.

In one embodiment, the sliding joint on the hand may alternatively be configured as a rocker. In this embodiment, the additional actuator can be controlled via an additional joint. It is possible to assign a wrist to a boom or swing arm, a finger or a palm joint to an adjusting boom or an arrow dipper, and/or a finger knuckle to a construction machine boom dipper.

Fig. 9 shows that the rotation of the top frame of the construction machine can be controlled by a movement of the thumb, which, for example, can be determined by means of a switch 8 on the top side of the control unit of the right hand.

Fig. 10 shows by way of example the functions that can be performed with one hand. Although the left hand is shown, the illustrated functions could just as well be performed with the right hand.

In the left region of Fig. 10 shows that by bending, for example, the wrist movements or turns of the work tool/digging tool of the construction machine can be controlled.

According to the middle part of Fig. 10, movement of the tool, such as tilting or tipping of the bucket, can be controlled by the rockers in a manner similar to the movement of the boom arm, and two rockers can be provided. One rocker can be used with the index finger and middle finger, and the other rocker with the ring and little fingers. According to the right side of FIG. 10 the thumb can be used, for example, to activate a siren.

Wrist position can be used to activate attachment tool rotation, palm knuckle position can be used to tilt/tip tool, finger knuckle position can be used to open/close attachment tool, and/or thumb position can be used to rotate tool attachment and/or to emit a warning signal or to activate a siren. Of course, more than one of the mentioned joints or body parts may also be taken into account to control the respective functions.

The invention provides an improvement in the economy of the respective construction machines already at their purchase and during their operation. The invention also provides for the control of subsequently added work movements or functions of the work machine and the work tools used. By means of suitable software, opposite control of the affected actuators of the construction machine can be made possible. The software may be implemented, for example, in a control or adjustment unit of a construction machine. In addition, parameters for scaling work movements can be transmitted via an appropriate interface. The scaling of the control device can be adapted to different types of construction machine implements through software.

The control device can be configured to adapt to the individual parameters of the operator's body. For this purpose, for example, adjustable fasteners can be provided on the control unit. The individual components, in particular the control unit or control units of the control unit, can be configured in a mirror-symmetrical manner so that they can be operated both with the left and with the right hand.

Claims (7)

1. A working machine with a control device, which is connected via an interface with the control device of the working machine, and the working machine includes an upper frame and an arrow with at least two fragments of the boom, and the control device is configured to generate control signals to actuate the working machine depending on the position of the operator's hand joint and contains at least one control unit, characterized in that the control unit is configured to determine the position of the hand joint and the position of at least one metacarpophalangeal joint of the hand and with the possibility of generating, on the basis of these determined positions, a control signal for actuating at least two actuators of the working machine, the first the actuator is configured to rotate the first boom fragment relative to the upper frame of the working machine depending on the position of the hand joint, and the second actuator is configured to rotate the second boom fragment relative to the first boom fragment depending on the position of the at least one metacarpophalangeal joint. 2. The working machine according to claim 1, characterized in that the control unit is additionally configured to determine the position of at least one proximal interphalangeal joint or distal interphalangeal joint of the hand, and moreover, the boom includes a third fragment and an additional actuator, and this the additional actuator is configured to rotate the third arrow fragment relative to the second arrow fragment depending on the position of said at least one proximal interphalangeal joint or distal interphalangeal joint. 3. The working machine according to claim 1 or 2, characterized in that the control unit is additionally configured to determine the position of two interphalangeal joints or distal interphalangeal joints of the hand, and the boom additionally includes at least one working tool and one additional actuator, and moreover, this additional actuator is configured to adjust the working tool depending on the position of said proximal interphalangeal joints or distal interphalangeal joints. 4. Working machine according to claim 3, characterized in that said working tool is a digging tool. 5. Work machine according to any one of claims 1 to 4, characterized in that said interface is a wireless interface. 6. Working machine according to any one of claims 1 to 5, characterized in that it is a hydraulic excavator.

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