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.

1 . A method for carrying out action instructions ( 4 ,  6 ,  8 ) with a working machine ( 2 ), wherein the method comprises:
 reading-in (S 0 ) 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 ( 4   a ;  6   a ) in each case is read in;   detecting (S 3 ) a position of the working machine ( 2 );   determining (S 3 . 1 ) a change in position of the working machine ( 2 );   determining (S 4 ) a driving direction ( 2   a ) of the working machine on the basis of the change in position of the working machine ( 2 );   determining (S 5 . 1 ) whether an orientation ( 4   a ;  6   a ) of the action instruction ( 4 ;  6 ) matches the driving direction ( 2   a ) of the working machine ( 2 ) within a first tolerance;   determining (S 7 ), for action instructions ( 4 ;  6 ;  8 ) having an orientation ( 4   a ;  6   a ) that differs from the driving direction ( 2   a ) 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 (S 8 ), 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 ( 2   a ) of the working machine ( 2 ) and transversely to the driving direction ( 2   a ) 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 ( 2   a ) of the working machine ( 2 ); and   actuating (S 9 ), 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 ( 2   a ) or opposite to the driving direction ( 2   a ) of the working machine ( 2 ) on the basis of the driving direction ( 2   a ) 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 ( 2   a ) 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 ( 2   a ) 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 ( 2   a ) of the working machine ( 2 ), and whether the orientation ( 4   a ;  6   a ) of the action instruction ( 4 ;  6 ) differs from the driving direction ( 2   a ) 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 (S 10 ) 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 ( 4   a ;  6   a ) concerned differs from the driving direction ( 2   a ) 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 (S 2 ). 
     
     
         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 ( 4   a ;  6   a ) does not differ from the driving direction ( 2   a ) 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 (S 1 . 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 (S 10 ). 
     
     
         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 (S 7 ) 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 (S 3 . 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 (S 11 ), for detecting (S 12 ) a user's input and for confirming (S 1 . 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 (S 9 ).