METHOD AND SYSTEM FOR DETERMINING PROCESS DATA OF A WORK PROCESS CARRIED OUT BY AN IMPLEMENT

Abstract

The invention relates to a method and a system for determining process data of a work process carried out by an implement based on the determination of a moved mass by a weighing system of the implement and the detection of a parameter concerning a state of the implement and/or a work step, wherein with reference to these and further data a prediction value concerning the remaining part of the current work process is determined and on the basis of which information on the assistance is indicated to the operator of the implement, and to an implement comprising such a system.

Claims

1. A method for determining process data of a work process carried out by an implement, comprising the following steps: determining the mass of a payload moved by the implement by means of a weighing system of the implement, detecting at least one parameter concerning a state of the implement and/or a work step of the current work process, determining at least one process parameter concerning the current work process by taking account of the determined payload mass and the detected parameter, determining at least one prediction value concerning a remaining part of the current work process, and outputting a signal based on the prediction value to the operator of the implement in order to assist the same in the execution of the current work process.

2. The method according to claim 1, characterized in that the determined payload mass is based on the detection of a payload mass moved in work step of the current work process.

3. The method according to claim 2, characterized in that for the detection of the payload mass moved in a single work step of the current work process an estimation is carried out on the basis of at least one state parameter concerning a current state of the implement and measured by a detection unit of the implement, in particular on the basis of an angular position, angular velocity and/or angular acceleration of a swivel element, boom element, arm element and/or hoisting gear of the implement, and on the basis of at least one system parameter concerning the configuration of the implement.

4. The method according to any of the preceding claims, characterized in that the detected parameter is a defined or definable period, the duration of a work step, a defined or definable number of work steps, a key figure of the implement, a machine parameter or a performance parameter of the implement.

5. The method according to any of the preceding claims, characterized in that the determination of the prediction value is effected by taking account of data concerning the scope of the current work process, wherein the data preferably are obtained via a manual input and/or a transmission from an external computer system.

6. The method according to any of the preceding claims, characterized that the at prediction value is or relates to a remaining duration, a remaining handling volume or payload mass to be moved, a remaining excavation, a remaining number of work steps until termination of the current work process, an energy consumption of the implement to be expected or a distance still to be traveled by the implement or by one or more components of the implement.

7. The method according to any of the preceding claims, characterized that by taking account of the prediction value, an adaptation is made on the implement, in particular a variation of at least one performance parameter, a change in the sequence of a work step and/or a change in a configuration of the implement, wherein the adaptation is carried out manually by a user input and/or automatically by a control unit of the implement.

8. The method according to claim 7, characterized that the adaptation is made by minimizing or maximizing a prediction value and/or by taking account of at least one defined or adjustable criterion, in particular a maximum duration, a maximum handling volume or moved payload mass, a maximum energy consumption of the implement and/or a maximum distance traveled by the implement and/or by one or more components of the implement.

9. The method according to any of the preceding claims, characterized in that the determination of the prediction value is effected by taking account of a terrain model of the work area to be worked and/or traveled by the implement during the current work process, wherein preferably a target terrain model referring to the planned end result of the current work process is defined or definable, on which the determination of the prediction value is based.

10. The method according to claim 9, characterized that account also is made of the path along which a tool moving the payload and/or a tool moving the hoisting gear of the implement has been traversed with respect to the terrain model and/or target terrain model during one or more past work steps, wherein preferably a terrain volume moved or removed so far is determined.

11. The method according to any of the preceding claims, characterized that the process parameter is or relates to a payload mass moved as a whole in a defined or definable period or for a number of work steps, a moved payload mass per defined definable time unit or per work step, an energy consumption of the implement per work step or per moved payload mass, a duration per work step or a utilization of the implement as a whole or per work step.

12. The method according to any of the preceding claims, characterized that the emitted signal based on the prediction value is or relates to a detected parameter, a determined prediction value, a payload mass moved so far, the difference of a payload mass moved so far to a defined or definable target mass and/or a specification for a payload mass to be picked up or to be moved in a future work step, wherein the signal preferably is optically displayed on a display unit.

13. A system for determining process data of a work process carried out by an implement, comprising: a hoisting gear which is designed to move a payload along a path, in particular by means of a tool mounted on the hoisting gear, a weighing system by means of which the mass of a payload moved in a single work step of the current work process can be determined, a detection unit by means of which at least one parameter concerning a state of the implement and/or a work step of the current work process can be detected, a control unit which is designed to carry out the method according to any of the preceding claims, and an output unit via which the signal based on the determined prediction value can be output to the operator.

14. The system according to claim 13, characterized that the system comprises one or more sensors by means of which at least one parameter concerning a state of the implement and/or a work step of the current work process and/or a force acting on the hoisting gear can be detected.

15. An implement comprising a system according to any of claims 13 to 14.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0049] Further features, details and advantages of the invention can be taken from the exemplary embodiments explained with reference to the Figures. In the drawing:

[0050] FIG. 1: shows a schematic representation of the components of the system of the invention according to an exemplary embodiment; and

[0051] FIG. 2: shows a schematic representation of the steps of the method of the invention and the information or data used therein according to an exemplary embodiment.

DETAILED DESCRIPTION

[0052] FIG. 1 shows a schematic representation of an exemplary embodiment of the inventive system for determining process data of a work process carried out by an implement. A central element is formed by a control unit which performs calculations and evaluations required for determining process data and prediction values, which can include a communication of the control unit with an external computer system that carries out a part or all of the calculations outside the implement and transmits the results to the implement or to the control unit. In other words, the calculations and evaluations can be carried out either completely by the control unit of the implement, completely by the external computer system or in part by the control unit and in part by the external computer system.

[0053] As an input, the control unit receives data from a plurality of sensors, which data characterize a state of the implement or a machine state. These data can be sensor data concerning the position, velocity and/or acceleration of a lifting element or a tool attached thereto, by means of which the payload is moved. Furthermore, data concerning forces or torques acting on the hoisting gear/tool can be detected and transmitted to the control unit.

[0054] From the sensor data and data stored in a memory, such as system parameters, the control unit determines a moved payload mass. The weighing system of the implement thus implemented is described in detail in DE 10 2018 126 809 A1. Beside the determined payload mass further data are employed, which relate to a machine state and/or a work step of the current work process. Beside the sensors of the implement, an external computer system (for example a cloud, a construction site management system, an administration system or the like), which is able to wirelessly transmit the data to the implement (in this case, the implement includes a corresponding transmitting and receiving device), a manual input by the operator via the input unit and/or data stored on a memory are the source of these additional data. Furthermore, ambient data are available to the control unit, for example in the form of a three-dimensional terrain model.

[0055] While FIG. 1 shows the system of the invention with regard to its components, FIG. 2 illustrates an exemplary embodiment of the method of the invention in the light of the individual steps and sources of information included in the calculations and analyses of the control unit. The control unit combines the information on the moved payload mass with the additional information on the machine state, performance, environment and/or work process and generates one or more process parameters or process data from such information. Concrete examples of this will be described below. From the calculated process parameters, the information included therein as well as specified criteria or targets (which themselves can again comprise ambient data such as a target terrain model), the control unit determines at least one prediction value which relates to a part or the remaining part of the current work process, for example to a remaining time or payload mass to be moved.

[0056] Proceeding from the determined process data and prediction values, output data are finally generated, which are indicated to the operator on an output unit, in particular on a display in a driver's cabin of the implement. This supports the operator in the remaining execution of the work process. Moreover, an optimization of the work steps left up to the end of the work process is effected proceeding from the prediction values and defined criteria/targets. This can be effected automatically by a corresponding control/regulation of the actuators of the implement, for example of the hoisting gear, or manually by a control of the operator for whom corresponding instructions concerning the modification of the work steps are indicated on the display unit.

[0057] The exemplary embodiments illustrated here each represent only one of many possibilities to combine the described information and use the same to determine process data and prediction values. In the following, a number of examples for possible determinable process data, prediction values and assistance possibilities will be given.

[0058] According to the invention, the weighing system of the implement is used to determine process data along with further information. This is done by using further information of the implement beside the weighing data. This information for example relates to the key performance indicators of the implement and to current performance and state data. The generated process data for example include the following information and KPIs (Key Performance Indicators):

[0059] Example P1: Total handling performance or total payload mass moved, accumulated over a defined period of time.

[0060] The period of time can be set in the system either by the machine operator or by the operating company or by an order management system which communicates with the implement via interfaces, in particular wirelessly. The accumulated mass or load m.sub.load,total,n can be determined by the following calculation rule:

m.sub.load,total,n=Σ.sub.k=1.sup.nm.sub.load(t.sub.cycle,end,k),

[0061] wherein t.sub.cycle,end,k represents the end time of each loading cycle. Example: For the order “xy” 130t were handled in a time of 3 hours.

[0062] Example P2: Handling performance or moved payload mass per time.

[0063] Here, e.g. the average handling performance of the implement can be calculated per unit time. Preferably, various time bases can be configured according to the requirements of secondary evaluation systems. Example: Handling mass (t) per hour/shift/day. The determination of the average handling performance per cycle m.sub.load,ø,n can be determined by the following calculation rule:

[00001]$m_{\mathrm{load},\varnothing ,n}=\frac{1}{n}{m}_{\mathrm{load},\mathrm{total},n}.$

[0064] Example P3: Fuel consumption or energy demand of the implement per handled mass, hence e.g. l/t or kWh/t.

[0065] Example P4: Statistical key figures for the classification of loading cycles.

[0066] For example a minimum, maximum or average time per loading cycle can be determined, as well as a handled mass per loading cycle (a loading cycle in particular is a work step comprising a pick-up of a payload, a deposition of the payload and a movement of the implement to again pick up another payload). The average cycle time t.sub.cycle,ø,n can be calculated with reference to the determined points in time t.sub.deposit,k and t.sub.deposit,k-1 and the number n of the cycles by means of the formula:

[00002]$t_{\mathrm{cycle},\varnothing ,n}=\frac{1}{n}\underset{k=1}{\overset{n}{.Math.}}{t}_{\mathrm{deposit},k}-t_{\mathrm{deposit},k-1}$

[0067] The time points of the material pick-up t.sub.pick-up,k and t.sub.pick-up,k-1 can be determined by manual operation or by combining various information such as control lever interventions of the machine operator or other sensors and systems.

[0068] Example P5: Equipment utilization of the machine per loading cycle and statistical evaluation over several loading cycles. The implement utilization can be determined by means of key figures of the drive system and performance parameters. With these values and a classification, load spectra can be determined.

[0069] Furthermore, predictions and estimations concerning the current work process can be carried out. The scope of the current work order is known to the system of the invention either via manual inputs or from other systems and planning tools. Thus, for example the remaining working time until completion of the order can be determined.

[0070] It is also possible to perform adaptations on the implement in order to be able to carry out the work order e.g. within the requested time. For this purpose, performance configurations of the implement as well as further adjustable criteria such as an energy-efficient or the fastest possible processing of the order are taken into account. The system adapts the settings of the implement to the execution of the current work order, and the use of the implement is optimized.

[0071] When a terrain model also is present and the traversed path of the implement or of a tool attached thereto and picking up the payload is known in terms of world coordinates, a prediction of the load mass accruing yet can be realized in view of a planned excavation. With reference to the traversed path of the tool, the volume removed can be assessed using the terrain model. For example, the tool position and the height profile of the terrain can be used to calculate a volume difference. The height profile of the terrain is adapted corresponding to the penetration depth of the tool. Thus, the removed volume V.sub.load,n(t.sub.cycle,end,n) can be determined for each cycle. Analogous to the calculations for the load mass, the accumulated volume V.sub.load,total,n can be inferred equivalently over all previous cycles. With this information, an estimate can be obtained for the density ρ.sub.load,total,n with the quotient:

[00003]${\rho }_{\mathrm{load},\mathrm{total},n}=\frac{m_{\mathrm{load},\mathrm{total},n}}{V_{\mathrm{load},\mathrm{total},n}}$

[0072] When a target terrain profile is defined, a volume difference can be formed again by means of the current terrain profile. The volume difference describes the remaining and probably accruing volume V.sub.rest,n. The still accruing load hence can be assessed by using the relation

m.sub.rest,n=ρ.sub.load,total,n.Math.V.sub.rest,n

[0073] By evaluating these data it is likewise possible to obtain information on the handled material. Furthermore, in a cross-linked construction site or port network, the transport of material can be organized by secondary systems on the basis of the information determined.

[0074] The system according to the invention can assist the operator for example by displaying the following information during the execution of the work order:

[0075] Example A1: The handled masses are added up over several work cycles and displayed to the operator. The counter preferably can be reset manually.

[0076] Example A2: To perform work orders, a target weight can be configured in the system by the operator. The handled mass now is added up and the difference to the target weight configured is displayed. Furthermore, the target weight can be specified via interfaces from external order management systems.

[0077] Example A3: A plurality of target sites and mass counters can be set. For example, the loaded masses on a truck and on a trailer attached to the truck can be weighed separately.

[0078] Example A4: The system according to the invention can make suggestions to the operator on how to fill the tool, taking into account the tool content and knowledge of the material to be loaded. In doing so, the difference to the target weight of the order is taken into account. This is to be illustrated by the following concrete example: The work order comprises the movement of a total mass of 9t, the maximum admissible or fillable/receivable mass in the tool per handling cycle amounts to 4t. The system according to the invention suggests three loading cycles each with a moved mass of 3t. After the first loading cycle 3.6t were handled, the system updates the target weight for the remaining two loading cycles to 2.7t each. After the second loading cycle, the remaining mass to be moved is updated again.