DE102016224693B4 - Apparatus and method for coupling a portable handheld with a manipulator - Google Patents

Abstract

A system for coupling a portable handheld terminal (10) to a manipulator (1) for remotely controlling a manipulator (1), the portable handheld terminal (10) having an optical radiation source (11) for generating a collimated light beam (12) and wherein the collimated one Light beam (12) for coupling the portable handheld terminal (10) is arranged with a manipulator (1), and
a sensor (20) which is connected to a manipulator (1), wherein the sensor (20) comprises an optical sensor unit for detecting the collimated light beam (12), wherein
the optical sensor unit (21) further comprises an input lens (22) having a beam entrance angle of at least 90 degrees.

Description

Technical area

The present invention relates to devices and methods for coupling a portable handheld device to a manipulator.

State of the art

A manipulator, in particular a manipulator for industrial applications, is a freely programmable, program-controlled handling device. The handling device and its control together form a unit, which is referred to below as a manipulator. Manipulators are used in many manufacturing processes, e.g. used in vehicle and mechanical engineering. In this case, several stationary or mobile manipulators are often arranged in a certain work area, a so-called cell. The program control of the manipulators is done via recorded in the manipulator control programs. In addition, a remote control can be used to train one or more manipulators.

For manual manipulation of a manipulator by a user, each manipulator may have its own portable hand-held operating device, such as a handheld. a SmartPad, or there is a portable handheld for a plurality of manipulators. In the latter case, the manipulator to be addressed by the portable hand-held unit must be uniquely associated with this portable hand-held unit prior to the start of the control, i. be coupled with this.

Various methods can be used for this coupling. Some coupling methods include selecting a manipulator from a list of manipulators at a network control interface or at the handheld terminal. Other methods are contactless methods by means of RFID or QR scan at a specific location in the cell or on the manipulator.

In all these coupling methods, however, it must be ensured even after a dropping and prolonged non-use of the portable handheld terminal that a wrong manipulator is not mistakenly addressed and moved. Especially in the case of possible multiple assignments and / or radio-based handheld terminals, this assurance is not yet satisfactorily resolved.

WO 2006/096695 A2 shows a system with at least one teaching device for manipulators, wherein the teaching device is connected to a network. Connected to the network is also a plurality of programmable controllers for controlling manipulators. The teaching device is coupled to one of the controllers by registering the teaching device over the network on the controller. A user can make the selection for the coupling by means of a graphical user interface.

WO 2009/097895 A1 shows a system with a teaching device for manipulators, which can be connected simultaneously with two or more controllers. Once a connection has been made between the teaching device and the controllers over a network, a user can select multiple controllers for manual control using the teaching device. The selection is done via a graphical user interface.

The publication US 2008/006400 A1 describes a system for controlling a remote vehicle. The remote vehicle registers a reflection of a laser beam directed from a portable controller to a target for the vehicle. Then the vehicle moves to this destination.

The publication AU 2016101054 A4 describes a remote control for toy vehicles wherein a toy vehicle is controlled to a displayed position by means of laser control. In operation, two or more differently colored laser devices are directed at a target to move the toy vehicle to the target position.

The publication DE 102 15 167 C1 describes an arrangement for commanding a semi-autonomous system in a working field. In operation, an operator uses a hand-held laser pointer to mark object points in the field of view. The laser pointer is designed so that it emits radiation on at least two different radiation frequencies.

The publication US 2016/0274579 A1 describes a control for a cleaning robot. The cleaning robot comprises a main body and a remote control which emits modulated infrared light and generate a light spot. When the main body receives the modulated infrared light, it follows the light spot.

The publication EP 1 820 611 A1 describes an industrial robot system having at least one wireless, portable interface device for communicating with a user. The industrial robot system is set up to detect the position of the portable interface device.

The publication US 2016/0082595 A1 describes a laser-based motion system for a self-propelled robot. One Control method controls the movement so that the autonomously moving robot moves along a linear path, which is guided by a laser beam signal.

The publication EP 1545 027 A1 describes a method and a communication system for establishing a connection between a first object, such as a robot, and a second object, such as a robot control device. The communication system has a laser communication unit and preferably a phased array antenna. To produce a communication connection, a coarse adjustment of the alignment of the laser transmitting and receiving units is carried out in a first method step, and in a second method step a fine adjustment of these units.

The publication US 5,673,082 describes a laser-guided ranging system wherein a laser / camera platform is pointed at a target by a user and the images of the camera are processed. The difference between the digital image of the laser spot and a reference point is calculated in a ranging analysis to determine the distance to the target.

It is the object of the present invention to provide apparatuses and methods with which an intuitive, fast and unmistakable coupling of a portable handheld terminal with a manipulator can be made.

Summary of the invention

This object is achieved by a system for coupling a portable handheld terminal according to claim 1 , A sensor according to claim 8, a coupling indicator means according to claim 17 , a system according to claim 19 and a method according to claim 20 ,

In particular, the object is achieved by a system for coupling a portable handheld terminal, for remotely controlling a manipulator, wherein the portable handheld terminal has an optical radiation source for generating a collimated light beam and wherein the collimated light beam is adapted for coupling the portable handheld terminal with a manipulator.

The use of hand-held portable manipulators for remote manipulation of manipulators allows for flexible working with the manipulator regardless of the position of a user. By changing its position, the user can always get the best view of the manipulator or workpieces to be machined by the manipulator.

An optical radiation source for generating a collimated light beam has the advantage that a user sees directly with which sensor and consequently with which manipulator he is currently coupling his portable handheld terminal. The bundled light beam acts like a pointer. The user can simply and intuitively light up the desired sensor and thereby initiate and carry out a coupling between the portable handheld terminal and the corresponding manipulator. The user thus spares himself an often cumbersome and time-consuming selection of a manipulator from menus and / or lists. Unlike invisible radio or infrared coupling method, a user recognizes here directly with which manipulator he receives a coupling. This prevents unwanted false couplings, which can lead to accidents and damage to people and machines.

Furthermore, the collimated light beam has certain properties, such as e.g. a particular wavelength or pulse train, whereby the light beam, which is adapted to couple the portable hand-held device with a manipulator, is unmistakable with another light beam, whereby false coupling can be avoided.

Preferably, the optical radiation source is a laser light source. Laser light is a monochromatic bundled light beam. The laser light beam can be directed to a particular point in space and is thus suitable for an embodiment of the present invention. The compact size of laser light sources, e.g. of laser pointers, allows an arrangement of the laser light source in a small space, e.g. in a portable handheld terminal.

Preferably, the laser light source can generate a pulsed light beam with which, for the purpose of coupling, data can be transmitted from the portable handheld to the manipulator. A pulsed light beam can be generated, for example, by temporal changes in the intensity of a continuous light beam or else by switching the continuous light beam on and off. The pulsed light beam can digitize data transmitted. With the help of this transmitted data, for example, a portable HMI device can additionally identify. In addition, other data relevant to the manipulator control can also be transmitted optically. Due to the optical data transmission, unlike, for example, in the case of wireless data transmission methods, the data transmission takes place only between the portable handheld terminal and the manipulator. The user recognizes immediately and intuitively with which manipulator he is currently exchanging data and unwanted coupling to a "wrong" manipulator is avoided.

Preferably, the collimated light beam is time-modulated in intensity, and / or has one of several possible different wavelengths, and / or is modulated in pulse rate, and / or is modulated in pulse durations. The use of different wavelengths of the collimated light beams on different portable hand-held devices allows simultaneous use of multiple hand-held portable devices in the same spatial environment, i. for example in a cell. In addition to the differences in the wavelength, the bundled light beams of the various portable handheld terminals can also be distinguished on the basis of their pulse frequency and / or pulse duration. Thus, a clear and unmistakable assignment of portable handhelds is possible.

Preferably, the portable hand-held device has a gun-like shape, and the optical radiation source is located on the front of the hand-held portable device remote from the user, and the collimated light beam is emitted in a direction away from the user. The pistol-like shape and use of the portable handheld facilitates intuitive handling of the device and also makes it easier to aim with the focused light beam at a sensor. A user therefore does not necessarily have to be in the immediate vicinity, i. in less than a distance, stand to a manipulator, but can be from a safe distance, recommended are up to 10m, couple the portable handheld with a manipulator. Due to the greater distance the user is also safe from the movements of the manipulator and can e.g. stand outside a cell.

Preferably, the optical radiation source is activated via a button which is arranged on a handle of the portable handheld terminal. The arrangement and function of the key resembles the trigger of a pistol and can therefore be easily and intuitively operated by a user. The key may also have the additional function of confirming a readiness for coupling which has been transmitted from the manipulator to the portable hand-held operating device.

Preferably, the portable hand-held device has a jogwheel, and wherein the jogwheel is for changing the selection of a manipulator that can be coupled to the portable hand-held device. The jogwheel facilitates and accelerates the change in the selection of a manipulator by simply turning a wheel of the jog lever on the portable handheld. Activation of the corresponding sensor of the manipulator to be selected, for example by means of a bundled light beam from a light source on a portable handheld terminal, can be dispensed with. The communication between the portable handheld terminal and the manipulator control, for selecting a manipulator, is preferably radio-based.

The invention also relates to a sensor for detecting a collimated light beam of a portable handheld terminal, in particular a laser light beam of a portable handheld terminal, comprising: an optical sensor unit for detecting the collimated light beam; an interface unit for connecting the sensor to a manipulator; wherein, upon receipt of a collimated beam of light from a portable handheld device by the optical sensor unit, the interface unit transmits a signal for coupling the portable handheld with the manipulator to the manipulator. The sensor is arranged to detect a collimated light beam, i. Light, such as a ceiling lighting, which strikes the sensor with a wide spread, is not interpreted as a coupling attempt by the sensor. The collimated light beam has a much higher intensity per area than the broadly scattered light just mentioned, and can thereby be distinguished and detected. The interface unit may be a cable connection between the sensor and the corresponding manipulator, which is a preferably visible connection. Through this visible connection, it is also visible to the user from a distance, which sensor is connected to which manipulator.

The sensor further has an input lens of the optical sensor unit, which has a beam entrance angle of at least 90 degrees. Preferably, the sensor has an input lens of the optical sensor unit which has a beam entrance angle of at least 120 degrees, more preferably at least 160 degrees, more preferably substantially 180 degrees solid angle. The input lens can capture collimated light beams in a wide solid angle range around the sensor and focus and transmit them to the optical sensor unit in the sensor. This simplifies the alignment of the focused light beam on the sensor and allows for easier operation. A sensor can capture and detect light rays in a wide range using the input lens.

The sensor preferably has at least one optical filter which, depending on the characteristic of the captured bundled light beam, in particular with respect to the wavelength of the collimated light beam and / or pulse frequency of the collimated light beam, has different transmission values. The different transmission values of light of a filter, depending on the particular Properties of the light make it possible that only light with certain properties is detected by the optical sensor unit. For example, only certain handheld portable devices can be approved for control.

Preferably, the sensor has additional fixed or rotating mirrors. An additional mirror optics can expand the solid angle range in which bundled light beams are detected. As a result, a sensor can be addressed from a larger solid angle range, which increases the working range of a user and facilitates operation.

Preferably, the sensor is rotatably mounted. Due to the fact that a sensor is mounted in a rotating manner, it can capture and detect bundled light beams from a 360-degree solid angle range. This enlarges the workspace of a user. An entrance lens with a very narrow solid angle range, which is arranged on a rotating sensor, also allows the determination of the position of a user. The direction of the opening angle of the entrance lens at which a collimated light beam was detected then gives the user's direction to the sensor or to the manipulator.

Preferably, the sensor detects the direction from which the collimated light beam is incident. The recognition of the direction from which the collimated light beam came, can be done as just described by means of a rotating sensor. If this direction is known, the position of the user relative to the sensor or to the corresponding manipulator can be determined.

The sensor is preferably set up to be arranged spatially away from the manipulator assigned to it. Placing the sensor slightly away from the manipulator allows the sensor to be placed at possibly varying, highly visible locations so that a user has a large area in which to direct a collimated light beam at the sensor. This enlarges the working area of a user and makes the area flexibly adaptable to the arrangement of the manipulators, e.g. in a cell.

Preferably, the sensor further comprises a display means for displaying a detection of a collimated light beam at the optical sensor unit, wherein the collimated light beam is adapted for coupling the portable handheld terminal to the manipulator. The optical feedback on the detection of a collimated light beam makes it easier for a user to detect whether the light beam has been correctly aligned and the coupling is initiated. Since the user's gaze for directing the light beam is directed to the sensor, it is very advantageous also to give this feedback directly to the sensor. Once a detection has been notified by the display means and recognized by the user, the optical light source on the portable hand-held device can be deactivated. This eliminates unnecessary unnecessary lighting of the sensor. This protects the optical sensor unit and the optical light source.

Preferably, the display means is a light ring surrounding the sensor, in particular an LED light ring. An LED light ring is particularly energy-saving and yet produces a very bright, clearly visible light.

A ring surrounding the sensor is clearly visible from all sides. This eliminates the need to align the sensor. This simplifies the placement and work with the sensor.

The invention also relates to a coupling display means for visualizing the coupling state of a system comprising a portable handheld terminal and a manipulator with a manipulator, wherein the coupling display means is a light source, and is arranged on the manipulator, and the manipulator comprises a sensor with an optical sensor unit, the one Input lens has a beam angle of at least 90 degrees. The visualization gives the user immediate information about the status of the manipulator, which simplifies the work. A lighting means also allows the detection of the condition with little or weak illumination of the environment. The fact that the coupling display means is arranged directly on the corresponding manipulator, the user recognizes easily, quickly and intuitively the manipulator whose state is visualized there.

Preferably, the light source is a LED light ring encircling the manipulator in the foot area or in the hand area; and the bulb can glow in different colors; and / or the illuminant may illuminate at different intervals and with different intervals; wherein a slow periodic flashing or flipping of the light pulse along the luminous ring can signal that this manipulator is selected by means of the collimated light beam of a portable handheld terminal; and flashing the illuminant may signal that a coupling process between that manipulator and a portable hand-held device has been started; and a continuous lighting of the bulb can signal that this manipulator is coupled to a portable handheld device; the color of the illuminant being the color of a display on the portable handheld ( 10 ) can match.

As already stated above, a circulating light source has the advantage that it can be seen from all sides. Aligning the bulb or even the manipulator is eliminated. The foot or arm area of a manipulator is also a distinctive area that is easily recognizable, which makes light bulbs easy to pick up on, increasing user comfort and safety. The different colors allow a further coding of the states of the manipulator or the coupling to a particular portable handheld terminal. The indication that a manipulator is being selected by a portable handheld allows the user to instantly see if the correct manipulator is being selected. If coupling with the manipulator currently being targeted is not desired, the coupling process can be aborted immediately. This saves time and avoids false couplings. The signaling that a pairing process has been started gives the user feedback about the processes running in the controller. The user knows by the signal that his connection request is being processed. This increases the ease of use. The information about the lighting means that a manipulator is coupled enables safe working, in that the user knows that the corresponding manipulator is ready to be controlled and the user also knows exactly which manipulator can be controlled. In addition, the color on the illuminant of the manipulator may still match the color of an indicator on the portable handset, which increases the labeling of the interaction between the devices. An accidental swap of the coupled devices in a plurality of devices can be excluded.

The invention further relates to a system for coupling a portable hand-held device with a manipulator, comprising a system for coupling a portable hand-held device with a manipulator according to one of claims 1-7, a sensor according to one of claims 8-16 and a coupling indicator according to one of the claims -18- 18. The system allows easy, intuitive, clear and secure coupling of a portable handheld with a manipulator. The coupling can be monitored in particular by the various display means. By directly addressing a manipulator with the aid of a collimated beam of light directed at a sensor on the manipulator, a coupling can be set up quickly and also quickly changed to another device.

If a new connection to another manipulator is established, the existing connection automatically goes out. A portable handheld terminal is thus always clearly associated with a manipulator. This increases the operational safety.

The invention further relates to a method for coupling a portable handheld terminal with a manipulator, comprising the following steps: activating an optical radiation source on the portable handheld terminal to generate a collimated light beam; Directing the collimated light beam to a sensor having an input lens of an optical sensor unit, the input lens having a beam input of at least 90 degrees, and the sensor for detecting the collimated light beam is adapted to couple the portable handheld with the manipulator to which the sensor is connected to set up; Detecting the collimated light beam in the sensor and; Transmitting a coupling readiness of the manipulator with the portable handheld terminal from the manipulator to the portable handheld terminal. By activating the optical radiation source by a user, the radiation source is only put into operation when the portable handheld terminal is to be coupled to a manipulator. Accidental coupling is thereby prevented. The collimated beam of light must then be actively aligned by the user in the direction of the sensor. Since the sensor is usually located near the corresponding manipulator, the collimated light beam must also be aligned in the direction of the corresponding manipulator in order to initiate a coupling of the devices. The user becomes aware of which manipulator he responds to and unwanted confusion of manipulators is thereby prevented. The transmission of a readiness for coupling from the manipulator to the portable hand-held device allows the user to check again whether the manipulator has been selected correctly before a coupling is generated and then a control of the manipulator can be performed. This review by the user also increases the reliability again.

Preferably, the method further includes confirming the coupling of the portable hand-held device to the manipulator by operating a button on the portable hand-held device. The confirmation completes the coupling of the portable handheld with the manipulator. The active confirmation by the user also ensures that the user intentionally couples the two corresponding devices. Accidental coupling is thus prevented.

Preferably, the method further comprises indicating a detection of the collimated light beam in the sensor by a display means on the sensor and / or displaying a coupling state of the manipulator by means of a Coupling display means on the manipulator. The steps of displaying the detection and / or the coupling state increase the user-friendliness of the devices since the user immediately recognizes whether the devices have received the desired input / activation and are in the desired state. In the case of an unwanted display, the user can react promptly accordingly. This can work effectively and prevent damage to the manipulator or human.

Preferably, the method further comprises detecting a beam direction of the collimated light beam by the sensor and determining from this beam direction a position of a user with respect to the manipulator. By determining the position of the user relative to the manipulator, the manipulator can for example detect whether the user is in the danger zone of the manipulator and, if so, limit his movements accordingly. This increases operating safety.

Preferably, the method further includes determining a correctly rotated coordinate system on a 6-dimensional mouse of the portable hand-held device relative to the position of the user relative to the manipulator. Determining and transmitting a correctly rotated coordinate system to the portable hand-held device prevents user misregistration due to incorrect assumptions about the direction of movement of the manipulator. This prevents accidents and makes manipulator operation easier, more intuitive and faster. In addition, cumbersome settings omitted.

list of figures

• 1 schematic representation of the coupling of a portable handheld device with a manipulator;
• 2 schematic representation of a cell with a plurality of stationary and mobile manipulators;
• 3 schematic representation of a portable handheld device according to an embodiment of the invention;
• 4 schematic representation of two manipulators each having a sensor and a coupling indicator means according to an embodiment of the invention;
• 5 schematic representation of the coupling of a portable handheld device with a manipulator according to an embodiment of the invention;
• 6 schematic representation of the remote control of a manipulator using a 6-dimensional mouse of the portable handheld device in the coupled state according to an embodiment of the invention;
• 7 schematic representation of the coupling method of a portable handheld device with a manipulator according to an embodiment of the invention;
• 8th schematic representation of the change in the selection of a manipulator that can be coupled to the portable control panel, using a mounted on the portable handheld jog wheel.

Detailed description of preferred embodiments

1 shows a user 2 , which is a portable handheld terminal 10 with a manipulator 1 want to pair. The user uses a portable handheld 10 , a sensor 20 and a coupling indicator 30 according to an embodiment of the invention. The distance of the user 2 to the manipulator 1 is preferably in a range of im to 10m. Since the coupling of the devices is made by means of an optical beam of light, an unrestricted view between the portable handheld 10 and the sensor 20 to be guaranteed. As the handheld terminal 10 but is portable, is the user 2 capable of his position relative to the sensor 20 or the manipulator 1 to vary to make the visual contact.

2 shows a cell 3 in which several stationary and mobile manipulators 1 as well as their control 4 are arranged. All manipulators 1 according to one embodiment of the invention are provided with a sensor 20 and a coupling display means 30 fitted. It is possible a portable handheld 10 to control all manipulators 1 but only one manipulator at a time 1 with the portable handheld terminal 10 coupled at the same time. The user 2 can for the coupling and the control outside the cell 3 to ensure his safety. The user 2 can vary its position to a possibly hidden, for example, by a manipulator in front of it 1 , Sensor 20 also with the bundled light beam 12 to reach. The user 2 can also vary its position to the display means on a sensor 20 or the coupling display means 30 on a manipulator 1 to recognize that possibly by a manipulator in front of it 1 or another component or device is covered.

3 shows an embodiment of a portable handheld device 10 according to the invention. The preferably pistol-like shape allows intuitively correct holding and using the portable handheld 10 , The bundled light beam 12 is when the handheld terminal is held as intended 10 forward, away from the user 2 , and can by simple Armbewegungen or Zeigegesten on the appropriate sensor 20 be aligned. Preferably, a laser light source is used, which may be, for example, a laser pointer, which can be provided very cheaply and easily nowadays. A laser light source can also be used as an optional accessory on a portable handheld terminal 10 be set up. In addition to a laser light source but would also z. B. an LED light source for generating a collimated light beam 12 conceivable.

The confirmation of the coupling can be done via the same button, which already allows the activation of the optical radiation source on the portable handheld. But it can also be another button on the portable handheld device that performs this confirmation function. The arrangement of the at least one button 13 , to activate the optical light source 11 and / or for confirming the readiness for coupling, on the handle 15 of the portable handheld terminal 10 allows simultaneous pressing of at least one key 13 and aligning the portable handheld 10 , This increases the ease of use and facilitates the coupling, so that it is faster to perform. This confirmation function can, as just described, but also with an at least second separate button, which also on the handle 15 can be fixed, carried out. The 6-dimensional mouse 16 at the top of the portable handheld 10 then allows in the coupled state, the control of the manipulator 1 ,

In another embodiment, a jog wheel 17 on the portable handheld terminal 10 appropriate. The jogwheel 17 allows a simple, sequential switching or changing of the selection of a manipulator with the portable handheld 10 can be coupled by pressing, ie turning, the jog wheel 17 ,

4 shows two manipulators 1 which is a sensor 20 and a coupling indicator 30 according to the invention. The equipment with a sensor 20 and a coupling display means 30 at the manipulators 1 is identical, making it cost-effective and easy on a variety of manipulators 1 can be arranged. The dimension of the manipulators 1 does not matter. The coupling display means 30 should be good and easily recognizable on any manipulator 1 be appropriate for a user 2 quickly and also from a greater distance the state of the manipulator 1 can recognize. The sensors 20 should be arranged so that it is for a user 2 clearly identifiable to which manipulator 1 every single sensor 20 belongs. The sensor should be visibly connected to the corresponding manipulator, so that a user recognizes which manipulator this sensor is assigned. The sensors 20 can be spatially removed from their respective manipulator 1 be arranged to increase their visibility and accessibility with a focused beam of light 12 to increase. The entrance lens 22 on a sensor is preferably at the top of the sensor 20 attached to lightly with a collimated beam of light 12 to be illuminated. The beam input angle of the input lens 22 can be up to 180 degrees solid angle. The solid angle range of the input lens 22 can also be narrower, what the optics of the entrance lens 22 simplified and a direction determination of the incident bundled light beam 12 allows. The interface unit 23 , preferably a cable connection, should be as visible as possible to a user 2 to facilitate the assignment of the sensor 20 to a manipulator 1 to recognize. The optical sensor unit 21 is in a sensor 20 arranged to accidentally illuminate with a collimated beam of light 12 to prevent.

5 shows the beginning of a coupling process of a portable handheld terminal 10 with a manipulator 1 according to an embodiment of the invention. The user 2 actively and willingly directs the bundled beam of light 12 a handheld terminal 10 on a particular sensor 20 , a particular manipulator 1 assigned. Other manipulators 1 remain unaffected by the coupling process. Only an existing coupling with another manipulator 1 would be resolved by this new coupling.

6 shows the control of a manipulator 1 with the help of the 6-dimensional mouse 16 on the portable handheld terminal 10 , which with the manipulator 1 is coupled. If the position of the user 2 relative to the manipulator 1 was determined, and a rotated coordinate system to the portable handheld 10 from the manipulator 1 a user can transfer 2 simple and intuitive the manipulator1 with the help of the 6-dimensional mouse 16 Taxes. The user 2 Just be careful not to change your position too much, otherwise the coordinate system needs to be at the new position of the user 2 be adjusted. The control of the manipulator 1 with the help of the portable hand control 10 may be from a few meters away, preferably outside a cell, to ensure safe working.

7 clarifies the active and voluntary selection of the user, with which manipulator 1 the portable handheld terminal 10 should be coupled. By the focused light beam 12 on a particular sensor 20 is directed, becomes the corresponding manipulator 1 selected for coupling and started the coupling process.

8th represents the function of the jog wheel 17 for the sequential selection of a manipulator 1 from a plurality of manipulators 1 graphically. The jogwheel 17 can be rotated clockwise or counterclockwise. When you turn, the selection of the currently selected manipulator changes 1 to the next manipulator 1 in the selection order the currently selected manipulator 1 is adjacent. The real position of the manipulators 1 In this case, it is not absolutely necessary for the sequence of the sequential selection to correspond to one another. However, it is advantageous for a comfortable operation, if real adjacent manipulators 1 are also adjacent to the selection list. The direction of rotation can be determined by the order of the selection of the manipulators 1 decide. In particular, the position of the manipulators 1 in relation to the position of the portable handheld terminal 10 in the direction of rotation, and therefore in the order of selection of the manipulators 1 , be taken into account.

The currently selected manipulator 1 is illuminated by a corresponding illumination on the coupling display means 30 and optionally with the help of display means on the portable hand-held unit 10 characterized. Having a manipulator 1 has been selected, a coupling between the portable handheld 10 and the manipulator 1 be initiated. In a further embodiment, the portable handheld terminal 10 already in the selection of the manipulator 1 pair with this.

LIST OF REFERENCE NUMBERS

1

manipulator

2

user

3

cell

4

control

10

portable handheld terminal

11

optical radiation source

12

bundled light beam

13

button

14

front

15

Handle

16

6-dimensional mouse

17

jogwheel

20

sensor

21

optical sensor unit

22

input lens

23

Interface unit

30

Coupling indication means

Claims (24)

A system for coupling a portable handheld terminal (10) to a manipulator (1) for remotely controlling a manipulator (1), said portable handheld terminal (10) having an optical radiation source (11) for generating a collimated light beam (12) and wherein said collimated one Light beam (12) for coupling the portable handheld terminal (10) is arranged with a manipulator (1), and a sensor (20) which is connected to a manipulator (1), wherein the sensor (20) comprises an optical sensor unit for detecting the collimated light beam (12), wherein the optical sensor unit (21) further comprises an input lens (22) having a beam entrance angle of at least 90 degrees. System according to Claim 1 wherein the optical radiation source (11) is a laser light source. System according to Claim 2 in that the laser light source can generate a pulsed light beam with which, for the purpose of coupling, data can be transmitted from the portable handheld terminal (10) to the manipulator (1). System according to Claim 2 or 3 , wherein the collimated light beam (12) a. is modulated in intensity over time, and / or b. has one of several possible different wavelengths, and / or c. is modulated in the pulse rate, and / or d. is modulated in pulse durations. System according to one of Claims 1 - 4 wherein the portable handheld terminal (10) has a gun-like shape, and the optical radiation source (11) is located on the front side (14) of the portable handheld terminal (10) facing away from the user (2) and the collimated light beam (12) in one direction away from the user (2). System according to one of Claims 1 - 5 in that the optical radiation source (11) is activated via a key (13) which is arranged on a handle (15) of the portable handheld terminal (10). System according to one of Claims 1 - 6 wherein the portable handheld terminal (10) comprises a jogwheel (17), and wherein the jogwheel (17) is for changing the selection of a manipulator (1) that can be coupled to the portable handheld terminal (10). A sensor (20) for detecting a collimated light beam (12) of a portable handheld terminal (10), comprising: a. an optical sensor unit (21) for detecting the collimated light beam (12); and b. an input lens (22) of the optical sensor unit (21) having a beam entrance angle of at least 90 degrees; c. an interface unit (23) for connecting the sensor (20) to a manipulator (1); where d. the interface unit (23) after receiving a bundled light beam (12) from a portable handheld terminal (10) by the optical sensor unit (21), a signal for coupling the portable handheld terminal (10) with the manipulator (1) to the manipulator (1) transfers. Sensor (20) according to Claim 8 , further comprising an input lens (22) of the optical sensor unit (21) having a beam entrance angle of at least 120 degrees. Sensor (20) according to one of Claims 8 - 9 in that the sensor (20) has at least one optical filter which has different transmission values depending on the characteristic of the captured bundled light beam (12). Sensor (20) according to one of Claims 8 - 10 wherein the sensor (20) comprises additional fixed or rotating mirrors. Sensor (20) according to one of Claims 8 - 11 , wherein the sensor (20) is rotatably mounted. Sensor (20) according to one of Claims 8 - 12 wherein the sensor (20) detects the direction from which the collimated light beam (12) is incident. Sensor (20) according to one of Claims 8 - 13 wherein the sensor (20) is arranged to be arranged spatially remote from the manipulator (1) associated therewith. Sensor (20) according to one of Claims 8 - 14 , further comprising a display means for displaying a detection of a collimated light beam (12) on the optical sensor unit (21), the collimated light beam (12) being adapted for coupling the portable handheld terminal (10) to the manipulator (1). Sensor (20) according to one of Claims 8 - 15 wherein the display means is a light ring encircling the sensor (20). Coupling display means (30) for visualizing the coupling state of a system comprising a portable handheld terminal (10) and a manipulator (1) with a manipulator (1), wherein a. the coupling indicating means (30) is a lighting means, and b. is arranged on the manipulator (1); and c. the manipulator has a sensor with an optical sensor unit (21) having an input lens (22) with a beam entrance angle of at least 90 degrees. Coupling display means (30) according to Claim 17 , wherein the illuminant a. a LED light ring encircling the manipulator (1) in the foot area or in the hand area; and b. the bulb can glow in different colors; and / or c. the illuminant can illuminate at different intervals and with different intervals; where d. a slow periodic illumination or rotation of the light pulse along the luminous ring can signal that this manipulator (1) is selected with the aid of the collimated light beam (12) of a portable handheld terminal (10); and e. a flashing of the luminous means can signal that a coupling process between this manipulator (1) and a portable handheld terminal (10) has been started; and f. a continuous lighting of the lighting means can signal that this manipulator (1) is coupled to a portable handheld terminal (10); where g. the color of the illuminant may match the color of a display on the portable handheld terminal (10). A system for coupling a portable handheld terminal (10) to a manipulator (1), comprising a system for coupling a portable handheld terminal (10) to a manipulator (1) according to any one of Claims 1 - 7 , a sensor (20) according to one of Claims 8 - 16 and a coupling indicator means (30) according to any one of claims 17-18. A method of coupling a portable handheld terminal (10) to a manipulator (1), comprising the following steps: a. Activating an optical radiation source (11) on the portable handheld terminal (10) to produce a collimated light beam (12); b. Directing the collimated light beam (12) onto a sensor (20) having an input lens (22) of an optical sensor unit (21), the input lens (22) having a beam entrance angle of at least 90 degrees, and the sensor (20) detecting the collimated one Light beam (12) is arranged to establish a coupling of the portable handheld terminal (10) with the manipulator (1) to which the sensor (20) is connected; c. Detecting the collimated light beam (12) in the sensor (20) and; d. Transmitting a readiness for coupling of the manipulator (1) with the portable handheld terminal (10) from the manipulator (1) to the portable handheld terminal (10). Method according to Claim 20 further comprising confirming the coupling of the portable handheld terminal (10) to the manipulator (1) by operating a button (13) on the portable handheld terminal (10). Method according to one of Claims 20 - 21 , further comprising displaying a detection of the collimated light beam (12) in the sensor (20) by a display means on the sensor (20) and / or displaying a coupling state of the manipulator (1) by means of a coupling display means (30) on the manipulator ( 1). Method according to one of Claims 20 - 22 , further comprising detecting a beam direction of the collimated light beam (12) by the sensor (20) and determining from this beam direction a position of a user (2) with respect to the manipulator (1). Method according to Claim 23 further comprising determining a correctly rotated coordinate system on a 6-dimensional mouse (16) of the portable handheld terminal (10) relative to the position of the user (2) to the manipulator (1).

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