WO2020229281A1 - Procédé d'analyse de l'utilisation d'une machine de travail - Google Patents

Procédé d'analyse de l'utilisation d'une machine de travail Download PDF

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Publication number
WO2020229281A1
WO2020229281A1 PCT/EP2020/062654 EP2020062654W WO2020229281A1 WO 2020229281 A1 WO2020229281 A1 WO 2020229281A1 EP 2020062654 W EP2020062654 W EP 2020062654W WO 2020229281 A1 WO2020229281 A1 WO 2020229281A1
Authority
WO
WIPO (PCT)
Prior art keywords
work machine
sensor data
machine
account
operator
Prior art date
Application number
PCT/EP2020/062654
Other languages
German (de)
English (en)
Inventor
Udo Schulz
Heiko KLEINEDER
Joshua-Niclas OERGELE
Andreas Fladee
Filip Rosenstein
Andrew Allen
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2020229281A1 publication Critical patent/WO2020229281A1/fr

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Classifications

    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • 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

Definitions

  • the present invention relates to a method for analyzing the use of a work machine on the basis of sensor data and / or operating patterns.
  • the invention also relates to a computer program that executes each step of the method when it runs on a computing device, as well as a machine-readable storage medium that stores the computer program.
  • the invention relates to an electronic control device which is set up to carry out the method according to the invention.
  • improper use include e.g. B. Working at the limit of the workload or beyond, damage to the work machine, etc., unplanned use includes exceeding the activity time but also use for a completely different purpose, i.e. misuse. A lender normally has no way of doing such an improper one
  • each operator When operating the respective working machine, each operator proceeds according to his own operating pattern in order to operate the operating elements.
  • this person-related operating pattern is primarily shaped by his personal characteristics and preferences.
  • an excavator bucket of an excavator can be controlled differently when lifting bulk material by moving the excavator bucket first in one direction and then in the other, in another case moving the excavator bucket in the reverse order and in still another case moving the excavator bucket is moved simultaneously in both directions.
  • a method is proposed for analyzing the use of a work machine on the basis of sensor data and / or operating patterns. Construction machines that have at least one
  • Work machine viewed by an operator.
  • the analysis of the use accordingly shows one or more of the parameters time, location, manner, load, kinematic data, physical data, conditions, external influences, etc. with which the operator used the machine.
  • the actual sensor data is compared with reference sensor data that is typical for the use.
  • the reference sensor data are determined depending on the work situation and the planned use of the work machine and represent the desired sensor values at which the work machine and / or the at least one tool is to be controlled.
  • the reference sensor data are selected in such a way that they represent the work machine and / or tools of the work machine when it is working properly and according to plan.
  • the choice of reference sensor data can be made on the basis of empirical data, measurements, etc. and prepared by the manufacturer.
  • Examples of this are a maximum workload for the at least one tool, a maximum angle of inclination of the work machine and / or suitable movement sequences or trajectories. If at least one value of the actual sensor data deviates from the corresponding value of the reference sensor data by at least one limit, this indicates improper use and / or
  • the barrier can be viewed as a limit value for a range of values around the reference sensor data for which the use of the working machine is still acceptable.
  • the barriers can e.g. B. by a manufacturer, by a rental company or by laws, regulations and the like.
  • an actual operating pattern according to which the operator operates operating elements of the working machine, can be used during the
  • the reference operating patterns are taught in depending on the work situation and the planned use of the machine.
  • the reference operating patterns are selected in such a way that they represent the work machine and / or tools of the work machine when it is working properly and according to plan. Does the actual operating pattern deviate from a reference operating pattern, which is the typical pattern for optimal use of the
  • Working machine represents to at least one barrier, so it indicates improper use and / or unplanned use of the
  • the barriers can e.g. B. by a manufacturer, by a rental company or by laws, regulations and the like.
  • Improper use is considered to be use that does not occur within the specifications and limits of the work machine. Improper use includes e.g. B. working at the limit of the workload or beyond, damage to the work machine, etc.
  • Unscheduled use is considered to be a use that differs from a pre-made plan.
  • An abuse, d. H. use for a completely different purpose can also be regarded as unplanned use. This is particularly the case when the work machine is loaned out to the operator by a rental company and the operator uses it in a manner that is compatible with the
  • the sensor data are inertial
  • IMU inertial measurement unit
  • the inertial measuring unit is usually already present in the machine and usually already provides sensor data for other assistance functions that are suitable for the method described here.
  • the inertial measurement unit comprises
  • the sensor data from other sensors can be detected.
  • sensors such as. B. cameras, radar, lidar, etc.
  • an inertial navigation system (INS, inertial navigation system) of the work machine can be used to analyze the use.
  • This uses the inertial measuring unit. From the sensor data of the
  • the movement of the machine is calculated by integration and the position is determined.
  • An activity time of the work machine can be taken into account. To determine the activity time, the time can be checked by an internal clock of the work machine
  • Work machine for example an electronic clock in an electronic control unit, can be determined and then on the basis of the sensor data and / or the operating pattern it can be determined whether the work machine was active or inactive during this time.
  • the activity time indicates how long the
  • Control information and / or signals for the control of actuators an operating mode in which the machine is during the activity time can be recorded.
  • Is z. B. only moves the undercarriage of the work machine, the work machine is in a driving mode. Takes place while the Motor does not move the work machine or the tools, so the work machine is in an idle state. If at least one tool is moved and / or the load point of a drive of the work machine is higher than when idling, then work processes are carried out and the work machine is in a work mode. Now the activity time in
  • the working mode can be compared with the previously planned working time and an excess can be determined.
  • a position of the work machine can be considered.
  • the inertial navigation system already described or another localization, positioning or another localization, positioning or
  • Navigation system especially for global localization, e.g. B. GNSS can be used.
  • B. GNSS can be used.
  • an unplanned use in particular an abuse, can be concluded.
  • the area around the position can be determined by means of map information and it can be determined whether the work machine z. B. works in built-up or undeveloped areas or on bodies of water, to name just a few examples. From this it can be concluded that it has been used improperly.
  • a trajectory of the work machine and / or of the at least one tool can be taken into account.
  • the type of movement can be taken into account. In other words, the movement becomes the
  • Trajectory of the excavator shovel more precisely the lowest point of the trajectory for a cutting edge of the excavator shovel during the removal and loading of material in combination with the width of the excavator shovel, on which the three-dimensional shape of an excavation, for example, can be inferred.
  • 3D Surface models can be extrapolated into 3D surfaces, which in turn allow semantic recognition of the pit using trained classifiers.
  • the quality of the work processes can be assessed with the aid of the 3D surface model. For example, it can be assessed how flat a surface and / or how sharp or straight an edge is formed.
  • correction processes can also be recognized on the basis of the trajectory.
  • the excavation of the pit too deep and subsequent refilling can be detected. This allows further
  • the excavated or moved volume can be determined.
  • the result of the work process in particular the 3D surfaces and / or the volume, can be compared with comparison data, e.g. B. from a BIM (Building Information Jodelling) can be compared to determine any deviations.
  • BIM Building Information Jodelling
  • the most distant points of the trajectory of the work machine and / or of the at least one tool can be determined in order to infer the range of motion of the work machine and / or of the at least one tool from them.
  • 3D surfaces can be extrapolated from the most distant points on the trajectory during the removal and charging of material. In the case of an excavator shovel, a cut off and
  • Absorption of material for example, derived from the movement of the shovel and the applied power of the drives and actuators.
  • Kinematic data of the motion sequence as well as other measured and calculated physical quantities can be taken into account. From this data, it is possible to deduce the forces and moments, the work performed and the power and the energy used by the machine and / or the at least one tool. From the
  • the related consideration between the trajectory, the type of motion sequence and acceleration data and the associated kinematic and physical data listed above can be based on the Completed work and service in the sense of a work or service order to be carried out. It can e.g. B. on the type and nature of a material to be processed. In the case of the
  • a lender of the work machine can derive from the criteria mentioned whether a work machine was loaned that was not designed for the work carried out, for example because it is dimensioned too small or is not designed or suitable for the work carried out.
  • a collision of the work machine and / or of the at least one tool with an object in the vicinity can be taken into account.
  • a collision is determined by the impact of the working machine and / or the at least one tool by means of corresponding sensors, above all by the inertial measuring unit already described.
  • Different types of collisions are taken into account: On the one hand, the machine and / or the at least one tool is actively moved and hits the object in the process. Second, the work machine and / or the at least one tool is not moved and the movement of the object strikes the work machine and / or the at least one tool.
  • the location of the can be determined by means of three-dimensional acceleration vectors, which are preferably recorded by means of the inertial measuring unit
  • the plastic deformation can in particular by the inertial measuring unit can be detected, especially if an inertial sensor is arranged on each movable module of the work machine and the tool.
  • a kinematic model can also be included.
  • it can be provided to determine the time and / or the position of the collision (see above) and to store it for evaluation.
  • the operating pattern can be determined before, during and / or after the collision (see above) and saved for evaluation.
  • An unusual movement of the working machine can be taken into account. Movements that are not carried out by the working machine in its intended use or that cannot be carried out by the working machine alone are to be regarded as unusual movements. Examples of such unusual movements are the tilting, falling and rolling over of the machine. Furthermore can also
  • Catapult-like movements and consequential vibrations are recognized, which occur especially when parts of the work machine, in particular tools, jam with materials, work objects or obstacles in the area and then suddenly loosen. This also enables accidents to be recognized and, if necessary, analyzed.
  • Sensor data particularly preferably the inertial measuring unit, taking into account the type of work machine and its tools, as well as the kinematics, are preferably used in order to determine the unusual movement. From the sensor data it can be seen whether the work machine has overturned, slipped or rolled over, but also whether the work machine was operated at a tilting angle that is critical for overturning. If such an accident occurs, so can
  • an emergency communication system can be provided with which an automatic emergency call can be made if an accident as described above has occurred.
  • help can be planned and effectively managed using the data described above. This can save lives, especially in the event of personal injury.
  • the location of the accident and, if necessary, information about the terrain and the surroundings can be passed on via the position of the machine.
  • the type of work machine and the three-dimensional position of the work machine and if necessary the tools can be transmitted so that accordingly
  • dimensioned recovery equipment is provided in good time. Information can also be transmitted to the operator. Will the unusual
  • Airbags can be deployed, seat belt tensioners tightened and roll bars / protective bars activated. Apart from this, it is possible to use the trajectory (see above) of the machine and, if applicable, the tools and the range of motion (determined by the furthest
  • the operator's experience can be recognized from the operating pattern by using known pattern recognition.
  • An inexperienced operator moves a tool, in particular an excavator shovel on an arm, usually successively in different directions, whereas an experienced operator moves the tool in several directions at the same time.
  • the distinction can also be made on the basis of the precision, the working speed and other criteria.
  • the trajectory of the machine and / or of the at least one is preferred
  • Tool derived from the experience of the operator can be recognized by the way in which he does the work.
  • an inexperienced operator can be recognized by the fact that he is overdriving the machine and / or the at least one tool, for example by guiding the tool into the mechanical stops. This makes it possible to see whether an operator without the required experience or even without qualifications is controlling the machine. This is of particular interest to the lender, especially in the event that the work machine has been loaned out. This can determine whether, instead of a planned experienced operator, an inexperienced operator is not permitted
  • an inexperienced operator can be trained by pointing out the improper use and possibly the unplanned use Usage is made aware. If the inexperienced operator overrides the machine and / or the at least one tool, a warning is output. In addition, it can be provided that the inexperienced operator has to complete a training program before he can use the
  • the slow and gentle operation of the at least one tool can be part of such a training program.
  • a gentle movement process of a lifting platform with slow raising and lowering can be practiced. It can be checked whether the operator operates the corresponding operating element, for example a lever, gently enough.
  • Training program can be restricted. If the training program has been completed successfully, all functions or only functions are enabled according to the experience of the operator.
  • the training program can e.g. B. be described in a manual or shown on a display and configured so that it can be readjusted step by step.
  • the computer program is set up to carry out each step of the method, in particular if it is carried out on a computing device or control device. It enables the implementation of the method in a conventional electronic control unit without having to make structural changes to it. For this it is on the machine-readable
  • the electronic control device is obtained, which is set up to carry out the method for analyzing the use of the work machine.
  • a service person or, in particular, the rental company can use the actual sensor data and / or the actual operating pattern and possibly also the
  • Read out reference sensor data and / or the reference operating pattern can be done directly from the electronic control unit or from a cloud to which the control unit sends the data. Improper use and / or unplanned use can directly affect the electronic control device are recognized or by evaluation on an external computer unit.
  • FIG. 1 shows a machine, the use of which by means of the
  • Figure 2 shows a flow chart of an embodiment of the
  • Figure 1 shows a work machine in the form of an excavator 1 with a
  • the excavator 1 has an electronic control unit 4 with which the excavator 1, the excavator shovel 2 and the arm 3 are controlled.
  • An adjusting element 21 is provided for deflecting the excavator shovel 2 and two adjusting elements 31, 32 are provided for deflecting the arm 3.
  • the adjusting elements 21, 31, 32 can be extended or contracted, whereby the arm 3 and the excavator shovel 2 is brought into the desired position and a
  • the adjusting elements 21, 31, 32 have
  • the excavator 1 has an inertial measuring unit 5 with several inertial sensors 51, whose
  • Acceleration sensors and rotation rate sensors can be designed.
  • the inertial measuring unit 5 forwards the currently detected sensor signals (actual sensor signals) to the electronic control unit 4.
  • an inertial navigation system 55 is provided which can access the inertial measuring unit 5 and with which the position of the excavator 1 can be determined
  • An operator 6 controls the excavator 1, the uppercarriage 11, the undercarriage 12, the excavator shovel 2 and the arm 3 via operating elements 65 (here only one operating element is shown as an example in the form of a lever) according to an operating pattern in order to carry out the planned work process. More precisely, the operating elements 65 emit signals to the electronic control device 4 when the operator 6 activates them.
  • the electronic control device 4 controls, among other things, the actuating elements 21, 31, 32 such that the excavator 1, the
  • a pit 7 is to be excavated.
  • the operator 6 controls the excavator shovel 2 in such a way that its cutting edge moves along the trajectory 8 shown.
  • the movement trajectory 7 can be recorded by means of the inertial measuring unit 5.
  • an object 9 is shown which represents an obstacle and with which there is a risk of a collision.
  • Figure 2 shows a flow chart of an embodiment of the
  • a plan 100 for the use of the working machine 1 is already worked out in advance, the work steps to be carried out, the expected time required, the place of use, the qualifications of the operator 6 and other points relevant to the use being defined here.
  • a BIM Building Information Modeling
  • a BIM Building Information Modeling
  • Work machine 1 is loaned to the operator 6, the terms for the use of the work machine 1 are set out in a contract between a
  • Reference sensor data S ref and a reference operating pattern BM ref are then defined from the plan 100 with the above-mentioned points, which represent an appropriate and planned use of the work machine 1, as well as associated
  • the reference sensor data S ref are provided for the sensors available in the respective work machine 1, in particular for the inertial measuring unit 5.
  • the reference operating pattern BM ref is by means of known pattern recognition for the optimal use of the
  • the reference sensor data S ref , the reference operating pattern BM ref and the associated barriers can be provided by the manufacturer of the working machine 1 or by the rental company be established, with laws, ordinances and the like in
  • the reference sensor data S ref , the reference operating pattern BM ref and the associated barriers are stored directly on the electronic control device 4
  • the actual sensor data S tat and the actual operating pattern BM tat of the operator 6 are recorded 101.
  • the actual operating pattern BM tat is recorded by means of a known pattern recognition.
  • At least one value of the actual sensor data S tat deviates from the corresponding value of the reference sensor data S ref by at least one corresponding limit (see above), which is used here as a limit value for a
  • the range of values around the respective reference sensor data S ref is to be considered, If the actual operating pattern BM tat differs by at least one limit from the reference operating pattern BM ref, an incorrect use and / or unplanned use of the Working machine 1 closed 103.
  • An inexperienced operator can be trained on the basis of improper use and / or unplanned use.
  • a training program can be provided that the inexperienced operator must complete before he is allowed to control the work machine 1 and / or the at least one tool 2 during work.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un procédé d'analyse d'une utilisation d'une machine de travail (1) au moyen de données de capteur et/ou de modèles de fonctionnement. Pour l'analyse de l'utilisation de la machine de travail (1), des données de capteur réelles (Stat) et/ou des modèles de fonctionnement réels (BMtat) détectés durant l'utilisation de la machine de travail (1) sont comparés à des données de capteur de référence (Sref) et/ou des modèles de fonctionnement de référence (BMref) typiques pour l'utilisation. En cas d'écart d'au moins une limite entre les données de capteur réelles (Stat) et/ou les modèles de fonctionnement réels (BMtat) et les données de capteur de référence (Sref) et/ou des modèles de fonctionnement de référence (BMref), une utilisation non conforme et/ou une utilisation non prévue sont déduites (103).
PCT/EP2020/062654 2019-05-16 2020-05-07 Procédé d'analyse de l'utilisation d'une machine de travail WO2020229281A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019207141.4A DE102019207141A1 (de) 2019-05-16 2019-05-16 Verfahren zur Analyse der Verwendung einer Arbeitsmaschine
DE102019207141.4 2019-05-16

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WO2020229281A1 true WO2020229281A1 (fr) 2020-11-19

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PCT/EP2020/062654 WO2020229281A1 (fr) 2019-05-16 2020-05-07 Procédé d'analyse de l'utilisation d'une machine de travail

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WO (1) WO2020229281A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102022204001A1 (de) 2022-04-26 2023-10-26 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Bewertung und Verbesserung der Fahrweise eines Bedieners einer mobilen Arbeitsmaschine

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US20170314234A1 (en) * 2015-05-22 2017-11-02 Philip Paull Valve systems and method for enhanced grading control

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