CN102123934A - Mobile working machine having a remote control device - Google Patents
Mobile working machine having a remote control device Download PDFInfo
- Publication number
- CN102123934A CN102123934A CN200980131644.1A CN200980131644A CN102123934A CN 102123934 A CN102123934 A CN 102123934A CN 200980131644 A CN200980131644 A CN 200980131644A CN 102123934 A CN102123934 A CN 102123934A
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- China
- Prior art keywords
- boundary
- remote control
- rce
- active distance
- supporting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
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- 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
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane
Abstract
The invention relates to a mobile working machine having at least one working or support member (20, 22) comprising at least one motor drive mechanism (52). The working machine further comprises a controller (50) for actuating the at least one drive mechanism, and a remote control device (54) that wirelessly communicates with the controller (50). In order to increase operational safety, the remote control device (54) and the at least one working or support member (20, 22) have a first distance sensor for determining an inner zone threshold (66') and a second distance sensor for determining an outer zone threshold (66''). The controller (50) responds to the remote control signals, thereby releasing the actuation signal for the drive mechanism, only if the remote control device (54) is located within the range (70) between the inner and the outer zone thresholds (66', 66'').
Description
Technical field
The present invention relates to a kind of mobile operation machinery, be furnished with: at least one workmanship mechanism or supporting mechanism, this mechanism has the driver train of at least one motor type; Control setup is used to control described at least one driver train; And with the control setup remote control equipment (RCE) of UNICOM wirelessly.
Background technology
Mobile operation machinery, for example mobile concrete pump all is furnished with a supporting structure, utilizes this supporting structure, and mobile operation machinery just can be supported on it on the control position on the basis.The supporting mechanism of supporting structure all is individually to roll away from vehicle frame so far, and with its foot supports on the basis.Usually the up-and-down movement with foot of rolling away from and sail into of supporting mechanism all is to trigger through the steering unit that the switch that separate passes through electric hydraulic.When basis when being known, from Work machine, all certainly steering units all can be controlled simultaneously.But, from certain distance, often can not assert that foot touches on that aspect on basis actually.Therefore, on supporting cylinder, additionally settled a switch, so as to making the foot location better.But here can not get rid of: when foot touched ground, the operator can face a danger.The operator may be clamped at this place and be injured.Rolling away from and sail into also of supporting mechanism may cause certain danger, because cantilever may touch the operator, thereby damages.
Also occur similar problem on the Work machine of those self-propelleds, this class Work machine must be operated from the outside through suitable on-off element, for example so that into the control position of sailing from reference position.Can not get rid of the Work machine and the operator that are in the motoring condition at this and bump against, and make it injured.Even adopt the long-distance remote control operation, can not get rid of with the operator and bump against, thereby and damage for Work machine or supporting mechanism.
Summary of the invention
In view of the above, task of the present invention is development is used for operating mechanism and/or supporting mechanism on such a kind of Work machine that beginning is addressed a kind of command and control system, and this system can satisfy the high requirement to safe in operation.
In order to solve above-mentioned task, proposed in the feature described in the claim 1.Favourable development of the present invention and design are seen described in every dependent claims.
The design of the solution that the present invention proposes at first is: remote control equipment (RCE) and/or described at least one Working mechanism or supporting mechanism have first rang sensor of determining an inner region boundary and the second distance sensor of determining an outskirt boundary, and have only when remote control equipment (RCE) is in the scope between inner region boundary and the outskirt boundary, control setup just can respond remote signal, discharges the operation signal that is used for driver train simultaneously.
Under the control situation of the supporting mechanism that the present invention proposes, fundamental principle of the present invention just is: form three zones around the outermost end of each supporting mechanism:
A safety zone is arranged in the narrowest peripheral region of each supporting mechanism, in this safety zone, mustn't stop by operating personal;
An operational zone, operating personal must stop in this operational zone, so that can operate supporting mechanism;
An outskirt can not be realized the remote control of supporting mechanism from this outskirt.
According to the present invention, two regional boundary limits, i.e. an inner region boundary and outskirt boundaries have been determined for this reason.These two regional boundary limits are what to be determined by the suitable parametersization of transmitting element and/or receiving element.With the supporting mechanism is example, and its condition precedent is: transmitting element and/or receiving element both had on supporting mechanism, also had on the long-distance operating device of being controlled by operating personal.
In view of the above, a preferred development of the present invention proposes: on described at least one Working mechanism or supporting mechanism, disposed two wirelessly with a transmitting element that receiving element links of remote control equipment (RCE), the transmission active distance of these two transmitting elements is different, one of them transmitting element is determined one and the corresponding inner active distance boundary of inner region boundary, and another transmitting element is then determined one and the corresponding outside active distance boundary of outskirt boundary; Have only when remote control equipment (RCE) is in the scope between inner active distance boundary and the outside active distance boundary with respect to affiliated Working mechanism or supporting mechanism, control setup just can be made response, discharges the operation signal that is used for driver train simultaneously.
Alternatively, the suggestion according to the present invention: on remote control equipment (RCE), settled two wirelessly with transmitting element that receiving element links of Working mechanism or supporting mechanism, it sends active distance is different, one of them transmitting element is determined an inside active distance boundary corresponding to the inner region boundary, and another transmitting element is then determined the outside active distance boundary corresponding to the outskirt boundary; Have only when remote control equipment (RCE) is in the scope between inner active distance boundary and the outside active distance boundary with respect to affiliated Working mechanism or supporting mechanism, control setup just can be made response, to driver train at the releasing operation signal.For example can be adjusted each other in the transmitting element of configuration over the ground and the active distance boundary of receiving element through transmitted power and/or antenna geometrical configuration.
Favourable part is, transmitting element and receiving element are all as radio unit, and the RFID unit as a rfid system is designed especially.The RFID unit of rfid system (frequency of radio recognition system) comprises a RFID responser and one and is used to read the RFID readout device of replying identification.At this, this readout device comprises the software with micro-program form, and this little extent control the intrinsic process that reads.The electromagnetic high-frequency field that the predetermined action radius is arranged on usually, readout device produces one.Therefore Data transmission not only, and can be RFID responser energize.If reach bigger active distance, also can adopt the active balise of being furnished with self power supply.According to the present invention, the identification signal of RFID cell response unanimity coordinated with each other.
Say that in principle transmitting element and receiving element also can be used as infrared unit or ultrasound unit is designed.Also can exchange control signal through transmitting element and/or receiving element, these control signals need the operation of driver train.
A preferred development of the present invention is set: disposed four as supporting cantilever design-calculated supporting mechanism on a vehicle frame, these supporting mechanisms can roll away from the Support Position from transporting position under the effect of affiliated driver train, and can be supported on the basis when the rising vehicle frame; On each cantilever, settle two transmitting element and/or receiving elements radio signal, that determine an inner active distance boundary and an outside active distance boundary that respond remote-control apparatus in couples.
The measure that utilizes the present invention to propose also can be accomplished: when remote control equipment (RCE) is between the inside active distance boundary of controlled supporting cantilever and the outside active distance boundary, can control two supporting cantilever simultaneously at least.
Another favourable development of the present invention is set: a traveling gear that is placed on the vehicle frame is provided with as Working mechanism, and this traveling gear can sail job position into from initial position under the effect of affiliated driver train; Settled on the vehicle frame or on Working mechanism at least one by two radio signals that respond remote control equipment (RCE) in couples, determine the transmitting element of an inner active distance boundary and an outside active distance boundary and/or the group that receiving element constitutes.So-called traveling gear for example refers to a kind of dynamic formula traveling gear or crawler type walking mechanism of taking turns.The measure that utilizes the present invention to propose can reach following purpose: mobile operation machinery can be triggered or be controlled through remote manipulation, must not worry the thing that device and operating personal collide.
Description of drawings
With reference to an embodiment who schematically illustrates in the accompanying drawings the present invention is elaborated below.Accompanying drawing is represented:
Fig. 1 a is furnished with the lateral plan of agitating lorry on transporting position of supporting cantilever;
Fig. 1 b is furnished with the birds-eye view of agitating lorry on diverse location of supporting cantilever;
Fig. 2 is furnished with the scheme drawing of the agitating lorry of supporting cantilever, and supporting cantilever can be operated through remote control equipment (RCE);
Fig. 3 is furnished with the lateral plan and the end elevation of the mud pump that travels of crawler type walking mechanism, and this crawler type walking mechanism can be operated through remote control equipment (RCE).
The specific embodiment
The agitating lorry that schematically shows in Fig. 1 a, 1b and Fig. 2 mainly comprises: the vehicle frame 10 of being furnished with at least one front axle 11 and at least one rear axle 12; An operator's compartment 13; A concrete placing boom 15, this concrete placing boom can be bearing in one near on the swing type mechanism 14 of front axle rotatably around a vertical axis; One is installed in pumping plant 16 on the vehicle frame 10 with a certain distance from swing type mechanism 14 with having; And supporting mechanism 18 that is used for vehicle frame 10.Supporting construction 18 has a bearer frame 19 that is fixed on the vehicle frame, and comprise the supporting cantilever 20 of two front portions and the supporting cantilever 22 at two rear portions, (Fig. 1 is taken in a) time these supporting cantilever on transporting position, and be arranged essentially parallel to vehicle longitudinal axis 24 orientations, and then be tilted to preceding when (Fig. 1 b) goes up in the Support Position or cross vehicle frame 10 backward and stretch out, and utilize its foot 26,28 to be supported on the ground 30.
Anterior supporting cantilever 20 can be turned round between transporting position and Support Position under the effect of a configuration cylinder 38 around its vertical rotation axis 32, and back supporting cantilever 22 can be turned round between transporting position and Support Position around its vertical rotation axis 34 under the effect of a configuration cylinder 38.Press the embodiment shown in Fig. 1 a and the 1b, anterior supporting cantilever 20 is as telescopic cantilever design-calculated in addition.They each self-contained one can be around a vertical rotation axis 32 with respect to vehicle frame and rotating discharge case 38, also comprise one by three telescopic sections 40 ', the pars contractiliss 40 of 40 ", 40 " ' form.The supporting cantilever 22 at rear portion all is as single revoliving arm design-calculated.Shown in Fig. 1 b, separately according to the difference at the layout angle of supporting cantilever 20,22, except normal support (descending), also can select narrow support (on).So just can realize cooperation to existing site condition on the building site.
In general, the up-and-down movement of the revolution of supporting cantilever 20,22 and flexible and foot 26,28, can trigger voluntarily through the independent switch on the supporting cantilever, perhaps triggered through electrohydraulic operating mechanism from a center switch position on Work machine.But, do not exclude the accident of now stating here: the operator is owing to the collision of supporting cantilever of rolling away from 20,22 and foot 26,28 is in danger, and injured thus.Therefore, the present invention proposes: be remote control equipment (RCE) 54 of operative configuration of supporting cantilever 20,22 and support foot 26,28.In the case, the operator can be sufficiently near the supporting cantilever of rolling away from or sailing into, so as to observing the case of motion in the support process.But simultaneously also must be with respect to avoiding causing danger to the operator because of the supporting cantilever of rolling away from and sailing into.
For above-mentioned purpose, the agitating lorry that schematically illustrates in Fig. 2 is furnished with a control setup 50, being used to control those electrohydraulic driver trains that are placed on the supporting cantilever 20,22, these driver trains can individually be operated by the operator through remote controller 54.For this reason, remote controller 54 has a radio transmitter 56, and this radio transmitter is crossed radiocommunication at interval 58 and be fixed on the vehicle frame with and radio receiver 60 that link to each other with control setup 50 links.The driver train that is used for one of supporting cantilever is represented with a supporting cantilever valve 52 at Fig. 2.Certainly, each supporting cantilever 20,22 all be through one self driver train 52 and link to each other with control setup 50.
Because the operator in principle can be freely movable around agitating lorry, so taked additional safeguard procedures, these safeguard procedures can prevent from operating the collision that supporting cantilever met accident with it at 20,22 o'clock.For this reason, embodiment shown in complying with, on the end of foot's one side of supporting cantilever 20,22, settle (for example bonding) respectively two RFID responsers 62 ', 62 ", on remote-control apparatus, then settled a RFID reading device 64, on this reading device, can read and reply identification.Reading device 64 comprises the software with micro-program form, and this micro-programming the intrinsic process that reads.In addition, reading device 64 also produces an electromagnetic high-frequency field.At this, but Data transmission not only, and can also give RFID responser energize.Characteristics of the present invention are: two responsers 62 of each supporting cantilever ', 62 " the transmission active distance be inequality.Therefore, but for example green phase should select the antenna geometrical configuration set up the different active distance boundaries 60 of responser ', 60 ", its a little active distance boundary can be used for following purpose: on the outer end of each supporting cantilever 20,22, form three by active distance boundary 66 ', 66 " zone of being delimited:
A safety zone 68 in the narrowest scope all around of each supporting cantilever, mustn't stop by operating personal in this safety zone;
An operational zone 70, operating personal must stop in this district, so that can operate supporting cantilever;
An outskirt 72 can not be realized the remote manipulation of supporting cantilever from this outskirt.
RFIDs also has a subsidiary function.They can the identifying operation person reading device 64.Have only when remote-control apparatus 54 comprises relevant reading device 64, the operation of supporting cantilever 20,22 just can be triggered.Specifically, when on a large-scale building site many concrete pumps being arranged, they must not interfere with each other.In addition, this technology also can be used for following purpose: prevent supporting cantilever and any one vehicle frame part for example with the collision of operator's compartment.If also can use RFID technology there to dispose a reading device of being furnished with rang sensor for this reason.
Say that in principle RFID reading device and RFID responser can exchange, also can similarly determine effective distance bound limit even in this case, thereby determine region allocation around supporting cantilever with described situation.
In addition, the measure of the present invention's proposition also may be used to following purpose: operate two supporting cantilever simultaneously.Can draw the operational zone 70 of overlap joint each other in the case, the operator must rest in this operational zone with crash-avoidance danger when the operation supporting cantilever.
Above explanation relates to the remote-control apparatus of the supporting cantilever that is used for agitating lorry.Say that in principle the measure that the present invention proposes also can be used for other purposes, for example is used for the remote operation of self-propelled working machine, this Work machine can sail a control position into from an initial position through remote control.The form of this Work machine is to be furnished with the removable concrete pump 80 of remote-controlled crawler type traveling mechanism 82, sees shown in the lateral plan and end elevation among Fig. 3 a and the 3b.
In the case, the operator must finish two tasks simultaneously, that is: along certain highway section driving operation machinery; Operate some Working mechanism to carry out the casting concrete process.Can the operator's of free activity safety also can be guaranteed by following measure in the case in the space in principle: one when following phenomenon occurring, any operation promptly stops: in the time of also might being subjected to endangering in the operator is in the safety zone, perhaps be in outside the predetermined operational zone and to leave control position too far movable as the operator, and might jeopardize other staff or Work machine the time.For example can use the front in conjunction with the described rfid system of support function for this purpose, wherein on a unshowned in the accompanying drawings remote control equipment (RCE), settled the RFID reading device, and on some position of packaged type concrete pump 80, settle the RFID responser to 62 ', 62 ".RFID responser 62 ', 62 " antenna be configuration like this, make and to determine a regional boundary limit respectively that this regional boundary limit is divided into a safety zone, an operational zone and an outskirt with the space around the concrete pump via its active distance.This remote control equipment (RCE) only can be used in the operational zone for operating purpose as previously mentioned.
Be summarized as follows now: the present invention relates to a kind of mobile operation machinery, it is furnished with: at least one Working mechanism or supporting mechanism 20,22, this mechanism has the driver train 52 of at least one motor type.This Work machine also comprises: a control setup 50 is used to control described at least one driver train 52; And one with control setup 50 remote control equipment (RCE) 54 of UNICOM wirelessly.In order to improve operational security, remote control equipment (RCE) 54 and described at least one Working mechanism or supporting mechanism 20,22 have: one first rang sensor, be used for determining an inner region boundary 66 '; A second distance sensor is used for determining an outskirt boundary 66 ".Control setup 50 has only under the following conditions and just can respond remote signal, discharges the operation signal that is used for driver train 52 simultaneously: when remote control equipment (RCE) 54 be in inner region boundary 66 ' and outskirt boundary 66 " between scope 70 time.
Claims (13)
1. mobile operation machinery comprises: at least one Working mechanism or supporting mechanism (20,22; 82), this Working mechanism or supporting mechanism have the driver train of at least one motor type; Control setup is used to control described at least one driver train; And with control setup (50) remote control equipment (RCE) of UNICOM (54) wirelessly, it is characterized in that:
Remote control equipment (RCE) and/or described at least one Working mechanism or supporting mechanism (20,22; 82) have first rang sensor of determining an inner region boundary (66 ') and determine an outskirt boundary (the second distance sensor of 66 "); and have only when remote control equipment (RCE) (54) be in inner region boundary and outskirt boundary (66 ', in the scope between 66 ") time, control setup (50) just can respond remote signal, discharges the operation signal that is used for driver train simultaneously.
2. by the described mobile operation machinery of claim 1, it is characterized in that: at described at least one Working mechanism or supporting mechanism (20,22; 82) go up to settle two transmitting elements that wirelessly link with the receiving element (64) of remote control equipment (RCE) (54) (62 ', 62 "); the transmission active distance of these two transmitting elements is different; one of them transmitting element (64) determines that one is then determined an outside active distance boundary corresponding to outskirt boundary (66 ") corresponding to the inside active distance boundary of inner region boundary (66 ') and another transmitting element (62 "); and have only when remote control equipment (RCE) (54) with respect to affiliated Working mechanism or supporting mechanism (20; 22; 82) be in inner region boundary and outskirt boundary (66 ', 66 " in the time of in the scope) (70); control setup (50) just can respond, discharge the operation signal that is used for driver train simultaneously.
3. by the described mobile operation machinery of claim 1, it is characterized in that: remote control equipment (RCE) (54) go up to settle two wirelessly with a transmitting element that receiving element links of described at least one Working mechanism or supporting mechanism, the transmission active distance of these two transmitting elements is different, one of them transmitting element determine one corresponding to the inside active distance boundary of inner region boundary (66 ') and another transmitting element then determine one corresponding to the outskirt boundary (the outside active distance boundary of 66 "); and have only when remote control equipment (RCE) (54) with respect to affiliated Work machine or supporting mechanism be in inner region boundary and outskirt boundary (66 '; in the time of in the scope between 66 "), control setup (50) just can respond, and discharges the operation signal that is used for driver train simultaneously.
4. by claim 2 or 3 described mobile operation machineries, it is characterized in that: transmitting element and/or receiving element are designed to wireless installation.
5. by each described mobile operation machinery in the claim 2 to 4, it is characterized in that: transmitting element and/or receiving element be designed to rfid system the RFID unit (64,66 ', 66 ").
6. by the described mobile operation machinery of claim 5, it is characterized in that: the RFID unit comprise the RFID responser (66 ', 66 ") and RFID reader (64).
7. by claim 5 or 6 described mobile operation machineries, it is characterized in that: RFID unit coordinated with each other (64,66 ', 66 ") are to the identification signal response of unanimity.
8. by claim 2 or 3 described mobile operation machineries, it is characterized in that: transmitting element and/or receiving element are designed to infrared unit or ultrasound unit.
9. by each described mobile operation machinery in the claim 2 to 8, it is characterized in that:, can exchange the control signal that is used to operate driver train through transmitting element and/or receiving element.
10. by each described Work machine in the claim 1 to 9, it is characterized in that: be provided with four and be placed on the vehicle frame, constitute supporting cantilever (20,22) supporting mechanism, these supporting mechanisms in the situation lower support that can be moved out to the Support Position under the effect of affiliated driver train (52) from transporting position and can promote at vehicle frame on a basis (30), and in each supporting cantilever (20,22) be arranged to respond over the ground the radio signal of remote control equipment (RCE) (54) on, determine an inner active distance boundary and outside active distance boundary (66 ', transmitting element 66 ") and/or receiving element (64; 66 ', 66 ").
11. by the described mobile operation machinery of claim 10, it is characterized in that: treat controlled supporting cantilever (20 when remote control equipment (RCE) (54) is in, 22) inside active distance boundary and outside active distance boundary (66 ', between 66 ") time; at least two supporting cantilever (20,22) are can be simultaneously controlled.
12. by each described mobile operation machinery in the claim 1 to 9, it is characterized in that: the traveling mechanism (82) that is placed on the vehicle frame (10) is arranged to Working mechanism, this Working mechanism can sail into the control position from initial position under the effect of affiliated driver train, and vehicle frame (10) go up or Working mechanism on be provided with at least one by two transmitting elements radio signal, that determine an inner active distance boundary and an outside active distance boundary that respond remote control equipment (RCE) (54) in couples and/or receiving element (62 ', the group that constitutes of 62 ").
13. by each the described mobile operation machinery in the claim 4,5,7 to 10, it is characterized in that: the active distance boundary can by affiliated transmitting element and/or receiving element (62 ', the geometrical configuration of the antenna of 62 ") and the change of emissive power realize adjusting.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102008047425.8 | 2008-09-15 | ||
| DE200810047425 DE102008047425A1 (en) | 2008-09-15 | 2008-09-15 | Mobile work machine with remote control device |
| PCT/EP2009/060726 WO2010028938A1 (en) | 2008-09-15 | 2009-08-19 | Mobile working machine having a remote control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102123934A true CN102123934A (en) | 2011-07-13 |
Family
ID=41258929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980131644.1A Pending CN102123934A (en) | 2008-09-15 | 2009-08-19 | Mobile working machine having a remote control device |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2323943B1 (en) |
| CN (1) | CN102123934A (en) |
| DE (1) | DE102008047425A1 (en) |
| WO (1) | WO2010028938A1 (en) |
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| DE19746700C2 (en) * | 1997-10-22 | 2000-01-13 | Wacker Werke Kg | Method and safety device for remote control of self-propelled work equipment |
| DE10116407A1 (en) * | 2001-04-02 | 2002-10-17 | Putzmeister Ag | Device for actuating an articulated mast, in particular for concrete pumps |
| US6963278B2 (en) * | 2002-02-13 | 2005-11-08 | Frame Gary M | Method and apparatus for enhancing safety within a work zone |
| EP1479964A2 (en) * | 2003-05-22 | 2004-11-24 | Safecom Engineering Ag | Secure remote control |
| DE102004012966A1 (en) * | 2004-03-17 | 2005-10-06 | Putzmeister Ag | Mobile implement with support arms and method for installing such a device |
| NL1029888C1 (en) * | 2005-09-06 | 2007-03-07 | Marinus Viets | Signalling system for preventing work vehicles colliding with children and animals, uses RFID technology to provide reader on vehicle and transponders worn by children and animals |
| DE602006003058D1 (en) * | 2006-02-17 | 2008-11-20 | Abb Research Ltd | Robotic System |
| EP2020625B1 (en) * | 2007-08-02 | 2012-06-06 | Siemens Aktiengesellschaft | Method for linking an operator device in a security-related environment |
-
2008
- 2008-09-15 DE DE200810047425 patent/DE102008047425A1/en not_active Withdrawn
-
2009
- 2009-08-19 WO PCT/EP2009/060726 patent/WO2010028938A1/en active Application Filing
- 2009-08-19 CN CN200980131644.1A patent/CN102123934A/en active Pending
- 2009-08-19 EP EP09781996.5A patent/EP2323943B1/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105658568A (en) * | 2013-09-06 | 2016-06-08 | 普茨迈斯特工程有限公司 | Working machine and method for operating said working machine |
| CN105922968A (en) * | 2015-02-27 | 2016-09-07 | 井关农机株式会社 | Travel control device for work vehicle |
| CN105922968B (en) * | 2015-02-27 | 2019-02-22 | 井关农机株式会社 | The travel controlling system of working truck |
| CN108137293A (en) * | 2015-10-08 | 2018-06-08 | 株式会社多田野 | Work machine |
| CN108137293B (en) * | 2015-10-08 | 2019-09-24 | 株式会社多田野 | Work machine |
| US10532916B2 (en) | 2015-10-08 | 2020-01-14 | Tadano Ltd. | Working machine |
| CN105384071A (en) * | 2015-12-29 | 2016-03-09 | 中联重科股份有限公司 | Assembly and disassembly equipment of engineering vehicle as well as control method and device of assembly and disassembly equipment |
| CN108602653A (en) * | 2016-02-03 | 2018-09-28 | 株式会社多田野 | The remote operating system of remote operation terminal and mobilecrane |
| CN108698805A (en) * | 2016-03-03 | 2018-10-23 | 株式会社多田野 | The operating system of Work machine and Work machine |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102008047425A1 (en) | 2010-04-15 |
| EP2323943B1 (en) | 2015-08-05 |
| WO2010028938A1 (en) | 2010-03-18 |
| EP2323943A1 (en) | 2011-05-25 |
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Application publication date: 20110713 |