METHOD FOR EXECUTING HANDLING INSTRUCTIONS WITH A WORKING MACHINE

Abstract

A method for carrying out action instructions with a working machine includes determining whether the orientation of the action instruction matches the driving direction of the working machine; determining an absolute distance between the working machine and the action instruction concerned on the basis of the position of the working machine and the respective position of the action instruction; determining, for action instructions with an absolute distance smaller than a first pre-definable value, a relative distance between the working machine and the action instruction concerned in the driving direction of the working machine and transversely to the driving direction; and actuating, for action instructions with a relative distance which is smaller than a second pre-defined value, an external control unit for carrying out the action instruction concerned. A control unit and a working machine are also disclosed.

Description

RELATED APPLICATIONS

This application claims the benefit under 35 U.S.C. § 371 as a U.S. National Phase Application of application no. PCT/EP2022/079088, filed on 19 Oct. 2022, which claims the benefit of German Patent Application no. 10 2021 213 083.6 filed on 22 Nov. 2021, the contents of which are hereby incorporated herein by reference in their entireties.

TECHNICAL FIELD

The technical field relates to a method for carrying out action instruction with a working machine, and a control unit which is designed to carry out the method for carrying out action instructions, as well as a working machine having a control unit of that type.

BACKGROUND

From the prior art methods for carrying out repeated action instructions are known.

SUMMARY

The invention relates to a method for carrying out action instructions with a working machine. The working machine can be a truck or a building machine, such as a wheel loader, a bagger, or a bulldozer. An action instruction or event can be an instruction to carry out an action. The instruction can consist of a command to carry out the action. The action can be an action that is to be carried out with the working machine. For example, the action the raising of a scoop of the working machine can be required. The method can be carried out iteratively. The method can be carried out at periodic intervals. The method can be used to carry out repeated action instructions. In particular, the method can be used to carry out location-dependent and repeated action instructions. For example, at a first location a first action instruction can always be carried out by the method when the working machine is at the first location. By virtue of the method, the first action instruction can be carried out at the first location automatically.

The method comprises a step of reading-in information about action instructions. The information about action instructions can be read in by a service tool, for example a central service tool. In the case when the method is carried out iteratively, the reading-in step can take place only as the first step of the method. Alternatively, or in addition, the reading-in step can always take place when information about action instructions has been updated, for example by the central service tool. For each action instruction, information about a respective position and about up to a respective orientation is read in. The position of the action instruction can describe the location where the action instruction should be carried out. In other words, a specific position can be associated with each action instruction, where the latter should be carried out. In addition, information about an orientation of the action instruction can be read in. Information about the orientation of the action instruction can be used for carrying out the action instruction, in that the action instruction is carried out when the working machine moves to the correct orientation of the action instruction for carrying it out. Alternatively, for an action instruction information about a position can be read in but no information about an orientation. In other words, such an action instruction can be approached regardless of direction. The information about position can exist as two-dimensional co-ordinate information and the information about orientation as a degree datum in a global and non-moving, stationary reference system.

In addition, the method comprises a step of detecting the position of the working machine. The detection step can take place in each iterative step of carrying out the method. For example, a first position of the working machine can be detected at a first time-point and a second position of the working machine, different from the first position, can be detected at a later time-point. The method also comprises a step of determining a change of the position of the working machine. The step of determining the change of position of the working machine can be based on the detected position of the working machine. In particular, the step of determining the change of position of the working machine can be carried out on the basis of at least two positions of the working machine detected at different time-points.

Furthermore, the method comprises a step of determining a driving direction of the working machine based on its change of position. Thus, the step of determining the driving direction can take place as a function of positions of the working machine that change as time passes.

The method also comprises a step of determining whether in each case the orientation of the action instruction matches the driving direction of the working machine to within a first tolerance. In this case, for each individual action instruction for which an orientation has been read in, the orientation is compared with the driving direction of the working machine. For example, the first tolerance can be expressed in degrees, and it can be specified that a deviation of up to 10° is permissible as a match of the orientation of a particular action instruction and the driving direction. If the speed of the working machine is too low so that its driving direction cannot be determined accurately enough, the step of determining whether the orientation matches the driving direction can be omitted or it can be evaluated as positive for every action instruction. The determination step can be carried out only for action instructions for which an orientation has been read in. For action instructions with no orientation this step can be skipped.

The method also comprises a step of determining in each case an absolute distance between the working machine and the action instruction. This step of determining the absolute distance takes place for action instructions with an orientation that differs by no more than the first tolerance from the driving direction. In other words, the step of determining the absolute distance can be avoided for all action instructions with an orientation that differs from the driving direction of the working machine by more than the first tolerance. If the driving direction of the working machine could not be determined because the vehicle speed is too slow; the step of determining the absolute distance can be carried out for all the action instructions. The step of determining the absolute distance can be carried out for an action instruction for which no orientation has been read in and which is independent of direction. The absolute distance can be the distance defined in absolute and stationary co-ordinates between the 2D co-ordinates of the position of a particular action instruction and the detected position of the working machine. The absolute distance is determined on the basis of the position of the working machine and the respective position of the action instruction.

The method also comprises a step of determining in each case a relative distance between the working machine and the action instruction concerned in the driving direction of the working machine and transversely to the driving direction of the working machine. The step of determining the relative distance is carried out for action instructions with an absolute distance which is smaller than a first pre-definable value. The first pre-definable value can represent a passive search window which can be constant or variable. The determination of the relative distance can be omitted for all action instructions with an absolute distance which is at least equal to, or greater than the first pre-definable value. In other words, the determination of the relative distance can be carried out for all action instructions which are in the passive search window. The determination of the relative distance is carried out on the basis of the positions of the action instruction concerned, the position of the working machine and the driving direction of the working machine.

In addition, the method comprises a step of activating an external control unit for carrying out the action instruction concerned. The activation step is carried out for action instructions with a relative distance which is smaller than a second pre-definable value. The second pre-definable value can be an active search window. There can be a pre-definable value for a distance in the driving direction and a pre-definable value different from that for a distance transversely to the driving direction. In other words, the active search window can be circular or rectangular. The position of the action instruction concerned can be singular, in other words it can consist of just one point in space. Alternatively, the position of the action instruction can consist of a region, for example a circular region around a single central point of the action instruction. The activation can take place when the position, and if necessary, the region around the position of the action instruction overlap with the active search window of the working machine. In other words, activation can take place for all action instructions whose position is within the active search window or whose region overlaps with the active search window.

Advantageously, a method is thus described with which action instructions can be carried out in a position-dependent manner. To check which action instructions should be carried out, the method can be used advantageously in order to carry them out as efficiently as possible. Thus, by virtue of the sequence of steps it can be ensured that the necessary steps of determining the absolute distance and the relative distance are only carried out for those action instructions which, having regard to the orientation and position of the action instruction and the driving direction of the working machine, are relevant, i.e., that can be initiated. This can reduce the computational effort of the steps since superfluous steps can be omitted. By using a directional component for the action instruction, the initiation can be made direction-dependent and in addition the computational effort can be reduced by bringing in these directional components at an early stage.

In a further embodiment, the action instruction can be initiated by actuating a transmission, actuating a working device, actuating a drive motor, actuating a steering system, or actuating the brakes. The actuation of the transmission can be an actuation of a differential lock and alternatively or in addition the engagement of a gear. The actuation of the working device can be, for example, the raising of a scoop if the working machine is a bagger. The actuation of the drive motor can include, for example, the actuation of the drive motor with a minimum or a maximum torque, and alternatively or in addition, with a minimum or maximum power. The actuation of the drive motor, steering system, and brakes can describe an action instruction of an autonomous driving function, a speed limit, or a driving strategy such as driving uphill or driving downhill. The action instruction can alternatively or additionally be the setting of a parameter in a memory. For example, a parameter can be set which is called into play for the purpose of comparison with sensor data. For example, a distance sensor can be influenced by a comparison parameter made parameterisable by the action instruction in such manner that by virtue of the action instruction the sensor can be adjusted to be more sensitive or less sensitive. Thus, when travelling through particular sectors represented as the position of an action instruction, a distance sensor can be adjusted to be more sensitive.

Advantageously, in that way a method for carrying out various action instructions can be used, which should be carried out at defined positions. For example, when due to drive uphill the transmission can always be actuated at the same position, namely, at the foot of the uphill stretch, in such manner that a lower gear is engaged. In that way, a user of the working machine can be relieved of stress since the repeated action of engaging a low gear at the foot of every uphill stretch can be taken over automatically by the method.

According to a further embodiment, the method can also comprise a step of determining whether the action instruction concerned is along the driving direction or in the direction opposite to the driving direction of the working machine. This determination step can take place on the basis of the driving direction of the working machine and the respective position of the action instruction. In other words, for every action instruction it can be determined individually whether the action is in the driving direction of the working machine or in the direction opposite to that. This can be done by dividing a working machine coordinate system into two areas. A forward area can extend from the working machine in the direction of its driving direction, whereas a rearward area can extend from the working machine oppositely to its driving direction. Thus, every action instruction located in the forward area can be in the driving direction while every other action instruction can be in the direction opposite to the driving direction. This determination step can take place qualitatively and in that way a transformation of the coordinates of the positions of the action instructions in the working machine coordinate system can be avoided. The step of determining the absolute distance can be carried out for a particular action instruction in the driving direction of the working machine. For all action instructions in the forward area, the step of determining the absolute distance can take place. The step of determining the absolute distance can be omitted for all action instructions in the direction opposite to the driving direction. In combination with the step of determining whether in each case the orientation of the action instruction matches the driving direction within a first tolerance, the step of determining the absolute distance can take place only for those action instructions which are both in the driving direction and also whose respective orientation matches the driving direction within the first tolerance.

Advantageously, the method can thus ensure that the further steps of determining the absolute and relative distances are only carried out for action instructions which are in the driving direction and can accordingly be approached and therefore executed. This can save computational effort when carrying out the method.

In a further embodiment, the method can also comprise a step of determining in each case a direction vector in relation to the working machine for a particular action instruction. The step of determining in each case a direction vector can be carried out for all action instructions whose orientation matches the driving direction within the first tolerance. Alternatively, or in addition, the step of determining in each case a direction vector can be carried out for all action instructions which are in the driving direction of the working machine. The step of determining a direction vector can be carried out on the basis of the position of the working machine and the position of the action instruction concerned. The step of determining the absolute distance for a particular action instruction can be carried out when the direction vector of the action instruction concerned matches the driving direction of the working machine within a second tolerance. The step of determining the absolute distance can be carried out for all action instructions whose respective direction vectors match the driving direction within the second tolerance. A direction vector of an action instruction can be the direction of the position of the working machine relative to the position of the action instruction concerned. In other words, a direction vector for an action instruction can be found by subtracting the position of the working machine from the position of the action instruction concerned in, stationary co-ordinates.

Advantageously therefore, the step of determining the absolute distance can be carried out only for those action instructions whose direction vectors match the driving direction within the second tolerance. In other words, the step of determining the absolute distance can be carried out only for those action instructions in a direction that the working machine is moving. Thus, the computation-intensive determination of the absolute distance and in particular the relative distance for all action instructions whose respective direction vectors do not match the driving direction within the second tolerance can be avoided. The working machine is not moving toward these action instructions, and consequently unnecessary computational effort for further determination steps can be avoided. Carrying out those action instructions can just not be expected.

According to a further embodiment, the method can also comprise a step of storing information about some action instructions. The information about some action instructions can be stored in a storage medium. The information can be one of the following: the respective direction vector of the action instruction, the absolute distance between the working machine and the action instruction, the relative distance between the working machine and the action instruction, whether the action instruction is in the driving direction of the working machine, and whether the orientation of the action instruction does not differ from the driving direction of the working machine by more than the first tolerance. In other words, the step of storing can store the values determined in the steps of determining direction vectors, determining the absolute and relative distances, and determining whether the action instruction is in the driving direction and whether the orientation of the action instruction matches the driving direction. In that way, for all action instructions, all the existing and determined information can be stored. Thus, for a first action instruction for which it has only been determined that its orientation differs from the driving direction of the working machine by more than the first tolerance, only that information is stored. For a second action instruction for which in addition the direction vector and the absolute distance have been determined, the direction vector and the absolute distance can also be stored. For a third action instruction for which in addition the relative distance has been determined, this determined relative distance can also be stored.

Thus, advantageously as part of the method to be carried out iteratively, at each iterative step all of the information determined about all the action instructions can be stored. Thus, in a later iterative step that information can be referred to. In that way, the method can be used iteratively for carrying out the action instructions, whereby the individual computation steps can fall back on values already previously determined so that the computational effort in each iterative step can be minimized and the precision of the method can be increased.

According to a further embodiment, information about action instructions can be available in the form of a list. For example, a first entry of the list can describe a first action instruction and a second entry of the list can describe a second action instruction. The list can be stored in the step of storing information about the action instructions. The method can also comprise a step of sorting the list of information about action instructions. In other words, the step of sorting can take place in an iterative step following the method as a function of the step of storing the information about action instructions from a previous step of the method. Entries in the list about action instructions can be sorted as a function of information from the step of determining the direction vector, the absolute distance, the relative distance, whether the orientation matches the driving direction, and whether the action instruction is in the driving direction. In the sorting step a sequence of action instruction entries can be changed, and this as a function of the information about the action instructions. Thus, at the chronological beginning of the list a first action instruction can be sorted, for which all the determination steps have been carried out for which a relative distance has also been determined. Chronologically thereafter, a second action instruction can be sorted, for which an absolute distance but no relative distance has been determined. The step of determining whether the orientation concerned differs from the driving direction by not more that the first tolerance can take place on the basis of the sorted list from the sorting step. Alternatively, or in addition, the step of determining whether the action instruction concerned is in the driving direction can take place on the basis of the sorted list from the sorting step. In other words, by sorting the list of action instructions it is possible to react to values determined in a first iterative run-through of the method, such as the relative and absolute distances. In a subsequent, second iterative run-through of the method this sorted list can be used. Thus, the determination steps can take place in a sorted sequence in accordance with the sorted action instructions.

Advantageously, while carrying out the method iteratively, reference can be made to already determined and stored information about action instructions. Thanks to the sorting, the further determination in the iteratively next step of the method can thus take place first in the chronological sequence of the list and hence for the more relevant action instructions. Accordingly, the method can be used preferentially for the chronologically earlier sorted instructions in the list in order to carry out those action instructions.

In a further embodiment, the method can also comprise a step of reading-in information about a new action instruction. A new action instruction can be a new event, for example a new action at a new position. The step of reading-in can be confirmed in a confirmation step by a user. The user can confirm the action instruction via a user interface of the working machine, for example a touch-screen display. For example, it can be proposed to the user, on starting an uphill drive, to store the new action instruction of engaging a lower gear. The user can confirm this in the confirmation step via the user interface. Alternatively, or in addition, the user himself can input a new action instruction via the user interface and confirm it at the same time. The step of determining whether the orientation concerned does not differ from the driving direction of the working machine by more than the first tolerance can take place on the basis of the new action instruction confirmed in the confirmation step. Alternatively, or in addition, the step of determining whether the action instruction is in the driving direction can take place on the basis of the new action instruction confirmed in the confirmation step. Alternatively, or in addition, the steps of determining the direction vector of the new action instruction, determining the absolute distance and determining the relative distance can take place on the basis of the new action instruction confirmed.

Thus, the method can also be used for newly occurring action instructions.

In a further embodiment, the method can also comprise a step of activating the user interface with information about action instructions. Thus, information about action instructions can be indicated to the user via the touch-screen display. The step of activating the user interface can take place on the basis of the information about action instructions stored in the storage step. In other words, the direction vectors, absolute distances, relative distances, whether the action instruction is in the driving direction and whether its orientation does not differ from the driving direction, can be indicated. Furthermore, information about the actual handling of the action instruction can be indicated, for example the action of raising a scoop or the action of engaging a gear.

Thus, the method can be used to indicate all the existing information about action instructions to the user of the working machine.

According to a further embodiment, the method can also comprise a step of detecting a user's input via the user interface. The user's input can be a confirmation via the touch-screen display. The activation step can take place on the basis of the user's input detected in the detection step. In other words, only those action instructions can be carried out which have been confirmed and authorized by the user. Alternatively, or in addition, to carry out the action instruction as a function of the detection step, stored information about at least one action instruction can be deleted by a user's input or, alternatively or in addition, manipulated. Thus, if a user is of the opinion that an obsolete action instruction has been stored, the user can delete it.

Advantageously, the method can therefore also be used for safety-critical action instructions since all safety-critical action instructions can only be carried out when they have been authorized by the user. Moreover, the user can manipulate the list in such manner that he only finds the action instructions that are relevant to him in the list.

According to a further embodiment, the step of determining the relative distance in the driving direction and transversely to the driving direction is only carried out for the action instructions for which, in the step of determining the absolute distance between the working machine and the action instruction concerned, the absolute distance has not increased over the course of time. In other words, when the method is carried out iteratively it can be established that the absolute distance between the working machine and the first action instruction has increased between two execution steps of the method that are consecutive in time. For such a first action instruction, the step of determining the relative distance can be avoided, since the working machine is effectively remote from the action instruction and the determination of the relative distance can therefore be obsolete.

Advantageously, therefore, a computation-intensive step of determining the relative distance can be omitted for all the action instructions for which the absolute distance during the iterative carrying-out of the method increases, and the action instructions are consequently not relevant.

In a further embodiment, the second pre-definable value can depend on a driving status of the working machine. The driving status can describe, for example, a speed and, alternatively or in addition, an acceleration of the working machine. Thus, the second pre-definable value or the active search window when the working machine is moving at a high travelling speed can be higher than when its travelling speed is slower. In the case of a transverse acceleration of the working machine, for example when it is moving round a curve, the second pre-definable value, particularly in the transverse direction, can be higher than when the transverse acceleration is lower, for example when it is driving straight ahead.

Advantageously, it is possible to react to various driving statuses by adapting the second pre-definable value, i.e., the active search window. The method can therefore be used for various driving statuses of the working machine to carry out action instructions. Thus, when the working machine is driving more quickly, an action instruction can already be carried out at a relative distance which could not be carried out at a lower speed.

In a further aspect, the invention relates to a control unit which is designed to carry out the method in accordance with an embodiment of the previous aspect of the invention.

A further aspect relates to the working machine having a control unit according to the above aspect. The working machine can comprise a GPS receiver for determining its position. Furthermore, the working machine can comprise an interface for reading-in information about action instructions and new action instructions. In addition, the working machine can comprise the user interface, such as the touch-screen display, for indicating information about the action instructions by activating it. The user interface can also be used for detecting the user's input and for confirming the new action instruction. Moreover. the working machine can comprise the transmission for carrying out the action instructions by being activated. For example, the transmission can comprise a differential lock.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1: shows schematically a method for carrying out action instructions, according to a first embodiment.

FIG. 2: shows schematically components of a working machine and action instructions relating to the working machine.

DETAILED DESCRIPTION OF EMBODIMENTS

FIG. 1 shows schematically the steps of a method for carrying out action instructions 4, 6, 8, 9 according to an embodiment. The action instructions 4, 6, 8, 9 are shown in FIG. 2, which shows schematically components of a working machine 2 and action instructions 4, 6, 8, 9 relating to the working machine 2.

The working machine 2 comprises a control unit 10 which is designed to carry out the method. The working machine 2 comprises an interface 3 which is designed, in a reading-in step S0, to read in information about the action instructions 4, 6, 8, 9. The working machine 2 comprises a GPS receiver 14 for detecting S3 a position of the working machine 2. The control unit 10 is designed, by virtue of the detection step S3, to detect at least at two different time-points, the position of the working machine 2 in a determination step S3.1 in order to determine the change of position of the working machine 2. The control unit 10 is designed, in a determination step S4, to determine a driving direction 2a of the working machine 2 on the basis of the change of position of the working machine 2 determined in step S3.1. The driving direction 2 shown in FIG. 2 points toward the right.

The control unit 10 is designed to carry out a step S5.1 to determine whether the respective orientations 4a, 6a of the action instructions 4, 6 match the driving direction 2a within a first tolerance. The orientations 4a, 6a are read in during the reading-in step S0. As shown in FIG. 2, several action instructions 4, 6 each have an orientation 4a, 6a. The orientations 4a, 6a shown point toward the right. Several action instructions 8, 9 are independent of direction and show no orientation. In the reading-in step S0 no orientation has been read in for the action instruction 8. The orientations 4a, 6a match the driving direction 2a of the working machine within the first tolerance.

The control unit 10 is further designed to carry out a determination step S5.2 to determine whether the respective action instructions 4. 6, 8 are in the driving direction 2a. In the embodiment illustrated in FIG. 2 the action instructions 4 and 6 are in the driving direction 2a and the action instruction 8 is not in the driving direction 2a.

The control unit 10 is also designed to carry out a determination step S6 to determine a respective direction vector for each of the action instructions 4 and 6. The respective direction vector is determined relative to the position of the working machine 2 on the basis of the position of the working machine 2 and the respective positions of the action instructions 4, 6. In this case the determination step S6 takes place for all the action instructions 4a, 6a which match the driving direction 2a within the first tolerance and which are in the driving direction 2a.

The control unit 10 is designed to carry out a determination step S7 of an absolute distance between the working machine 2 and, respectively, an action instruction 4, 6. The determination step S7 takes place for all action instructions 4, 6 with a direction vector which matches the driving direction of the working machine 2 within a second tolerance. Thus, the action instruction 4 lies within the second tolerance of the driving direction 2a of the working machine 2, whereas the action instruction 6 is outside this second tolerance of the driving direction 2a of the working machine 2. In other words, the action instruction 6 is located transversely too far away from the driving direction 2a of the working machine 2. The determination step S7 is therefore not carried out for the action instruction 6, and moreover also not for the action instruction 8. This saves computation capacity.

The control unit 10 is designed to carry out a determination step S8 of a relative distance between the working machine 2 and the respective action instruction 4. The determination step S8 is carried out for the action instruction 4 because the absolute distance between the position of the action instruction 4 and the position of the working machine 2 is smaller than a first pre-definable value. The first pre-definable value is described by a passive search window 16, shown in FIG. 2. In other words, the action instruction 4 is within the passive search window 16. This saves computational effort since the relative distance does not have to be determined for the action instructions 6 and 8.

The control unit 10 is further designed to carry out an actuation step S9 of an external control unit (not shown) fro executing the action instruction 4. The actuation takes place for the action instruction 4, since the relative distance is smaller than a second pre-definable value. The second pre-definable value is described by an active search window 18. In other words, the action instruction 4 is in the active search window 18. The action instruction 4 consists in engaging a gear of a transmission of the working machine 2.

The control unit 10 is designed to carry out a step S10 of storage. The storage S10 takes place as a function of the steps of determining S5.1, S5.2, S6, S7 and S8. Thus, all the determined direction vectors, absolute distances, and relative distances, and whether the orientations 4a, 6a are in the driving direction 2a and whether the action instructions 4, 6, 8 are in the driving direction 2a, are stored in a storage medium (not shown in any detail).

The control unit 10 is designed, in an actuation step S11, to actuate a user interface 12, such as a touch-screen as in the example embodiment shown. The actuation takes place with information about the action instructions 4, 6, 8. In that way all of the values determined, such as direction vectors, absolute and relative distances are displayed. Thus, the driver can access all the information about all the action instructions via the user interface.

The method further comprises a step S12 of detecting a user's input via the user interface. The detection step S12 takes pace as a function of the actuation step S11. In other words, information is shown to the user in step S11, which in step S12 is confirmed by the user. Thus, a safety-critical action instruction 4 can be authorized by the user in step S12.

The method also comprises a sorting step S2 of a list of information about action instructions 4, 6, 8. The sorting step S2 takes place as a function of the step S10 of storing information about the action in an iteratively previous execution step of the method. Furthermore, the sorting step S2 takes place as a function of the step S12 of detecting the user's input. In that way the user can for example delete an action instruction and the sorting step S2 than takes place without this deleted action instruction 4, 6, 8. As a function of the information determined and stored, entries about the action instructions 4, 6, 8 are sorted in accordance with their relevance, as a function of their direction vectors and distances. The determination steps 5.1 and 5.2 in the iteratively next step of the method depend on the sorting step S2. Moreover, the steps S6-A9 are functions of the sorted list.

The method further comprises a step S1 of reading-in a new action instruction. This reading-in takes place by way of the interface 3. Via the user interface 12, in a confirmation step S1.1 the new action instruction 9 is confirmed by the user via the touch-screen display. In that way the new action instruction 9 is added to the existing list of action instructions 4, 6, 8 by the user when he confirms it in step S1.1. An iteratively next determination step S5.1 and a determination step S5.2 then take place for all the action instructions 4, 6, 8, 9. Moreover, the steps S6-S9 depend on the sorted list.

Indexes

• • 2 Working machine
  • 2a Driving direction of the working machine
  • 3 Interface
  • 4, 6, 8, 9 Action instructions
  • 4a, 6a Orientation of the action instruction
  • 10 Control unit
  • 12 User interface
  • 14 GPS receiver
  • 16 Passive search window
  • 18 Active search window
  • S0 Reading-in of information about action instructions
  • S1 Reading-in of a new action instruction
  • S1.1 Confirmation of the new action instruction
  • S2 Sorting of a list of information about action instructions
  • S3 Detection of a position of the working machine
  • S3.1 Determining a change of position of the working machine
  • S4 Determining a driving direction of the working machine
  • S5.1 Determining whether an orientation of the action instruction concerned matches the driving direction of the working machine
  • S5.2 Determining whether the action instruction concerned is in the driving direction
  • S6 Determining a direction vector of an action instruction concerned
  • S7 Determining an absolute distance between the working machine and an action instruction concerned
  • S8 Determining a relative distance between the working machine and an action instruction concerned
  • S9 Actuation of an external control unit for carrying out the action instruction
  • S10 Storing of information about the action instructions
  • S11 Actuation of the user interface with information about the action instructions
  • S12 Detection of a user's input by way of the user interface

Claims

1. A method for carrying out action instructions (4, 6, 8) with a working machine (2), wherein the method comprises:

reading-in (S0) information about action instructions (4, 6, 8), wherein for each action instruction (4, 6, 8) information on a respective position and information on up to an orientation (4a; 6a) in each case is read in;

detecting (S3) a position of the working machine (2);

determining (S3.1) a change in position of the working machine (2);

determining (S4) a driving direction (2a) of the working machine on the basis of the change in position of the working machine (2);

determining (S5.1) whether an orientation (4a; 6a) of the action instruction (4; 6) matches the driving direction (2a) of the working machine (2) within a first tolerance;

determining (S7), for action instructions (4; 6; 8) having an orientation (4a; 6a) that differs from the driving direction (2a) by no more than the first tolerance, an absolute distance between the working machine (2) and the action instruction (4; 6; 8) concerned based on the position of the working machine (2) and the respective position of the action instruction (4; 6; 8);

determining (S8), for action instructions (4; 6; 8) having an absolute distance smaller than a first pre-definable value, a relative distance between the working machine (2) and the action instruction (4; 6; 8) concerned in the driving direction (2a) of the working machine (2) and transversely to the driving direction (2a) of the working machine (2) on the basis of the position of the action instruction (4; 6; 8) concerned, the position of the working machine (2) and the driving direction (2a) of the working machine (2); and

actuating (S9), for action instructions (4; 6; 8) having a relative distance which is smaller than a second pre-definable value, an external control unit for carrying out the action instruction (4; 6; 8) concerned.

2. The method according to claim 1, wherein the action instruction comprises one of activating a transmission, actuating a working device, actuating a drive motor, actuating a steering system, and actuating brakes.

3. The method according to claim 1, further comprising: determining whether the action instruction (4; 6; 8) concerned is in the driving direction (2a) or opposite to the driving direction (2a) of the working machine (2) on the basis of the driving direction (2a) of the working machine (2) and the respective position of the action instruction (4; 6; 8), and wherein determining the absolute distance is carried out for a respective action instruction (4; 6; 8) in the driving direction (2a) of the working machine (2).

4. The method according to claim 1, further comprising determining a respective direction vector for a particular action instruction (4; 6; 8) on the basis of the position of the working machine (2) and the position of the action instruction (4; 6; 8) concerned, wherein determining the absolute distance for a particular action instruction (4; 6; 8) is carried out when the direction vector of the action instruction (4; 6; 8) concerned matches the driving direction (2a) of the working machine (2) within a second tolerance.

5. The method according to claim 1, further comprising storing information about an action instruction (4; 6; 8), wherein the information about the action instruction is selected from the respective direction vector of the action instruction (4; 6; 8), the absolute distance between the working machine (2) and the action instruction (4; 6; 8), the relative distance between the working machine (2) and the action instruction (4; 6; 8), whether the action instruction (4; 6; 8) is in the driving direction (2a) of the working machine (2), and whether the orientation (4a; 6a) of the action instruction (4; 6) differs from the driving direction (2a) of the working machine (2) by no more than the first tolerance.

6. The method according to claim 5, wherein the information about action instructions (4, 6, 8) is presented in the form of a list, wherein the list has been stored in the step (S10) of storing information about the action instruction (4; 6; 8), wherein the method also comprises sorting the list of information about action instructions (4, 6, 8), and wherein the step (5.1) of determining whether the orientation (4a; 6a) concerned differs from the driving direction (2a) of the working machine (2) by no more than the first tolerance, is carried out on the basis of the list sorted in the sorting step (S2).

7. The method according to claim 1, further comprising reading-in information about a new action instruction (9), wherein reading-in the new action instruction (9) includes receiving a user confirmation, and wherein determining whether the respective orientation (4a; 6a) does not differ from the driving direction (2a) of the working machine (2) by more than the first tolerance is carried out on the basis of the new action instruction (9) confirmed in the confirmation step (S1.1).

8. The method according to claim 1, further comprising actuating a user interface (12) with information about action instructions (4, 6, 8), on the basis of the information about action instructions (4, 6, 8) stored in the storage step (S10).

9. The method according to claim 8, further comprising receiving a user input by way of the user interface (12), wherein actuating the external control unit is carried out on the basis of the user input received by way of the user interface.

10. The method according to claim 1, wherein determining the relative distance is carried out only for those action instructions (4, 6, 8) for which, in the step (S7) of determining the absolute distance between the working machine (2) and the action instruction (4; 6; 8) concerned, the absolute distance has not increased over time.

11. The method according to claim 1, wherein the second pre-definable value is a function of the driving status of the working machine (2).

12. A control unit (10) configured to carry out the method according to claim 1.

13. A working machine (2) comprising:

the control unit (10) according to claim 12;

a GPS receiver (14) configured for determining (S3.1) a position of the working machine (2); and

an interface configured for reading-in information about action instructions (4, 6, 8);

a user interface (12) configured for displaying information about the action instructions (4, 6, 8) when it is actuated (S11), for detecting (S12) a user's input and for confirming (S1.1) a new action instruction (9), and in addition with a transmission for carrying out the action instructions (4, 6, 8) when the transmission is actuated (S9).