EP0113383B1 - Télécommande pour machines à construction, en particulier pour une pompe à béton coopérante avec un bras de distribution - Google Patents

Télécommande pour machines à construction, en particulier pour une pompe à béton coopérante avec un bras de distribution Download PDF

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Publication number
EP0113383B1
EP0113383B1 EP83100108A EP83100108A EP0113383B1 EP 0113383 B1 EP0113383 B1 EP 0113383B1 EP 83100108 A EP83100108 A EP 83100108A EP 83100108 A EP83100108 A EP 83100108A EP 0113383 B1 EP0113383 B1 EP 0113383B1
Authority
EP
European Patent Office
Prior art keywords
remote control
receiver
transmitter
control
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP83100108A
Other languages
German (de)
English (en)
Other versions
EP0113383A1 (fr
Inventor
Andrej Dipl.-Ing. Simnovec
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Friedrich Wilhelm Schwing GmbH
Original Assignee
Friedrich Wilhelm Schwing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Friedrich Wilhelm Schwing GmbH filed Critical Friedrich Wilhelm Schwing GmbH
Priority to AT83100108T priority Critical patent/ATE35472T1/de
Priority to DE8383100108T priority patent/DE3377243D1/de
Priority to EP83100108A priority patent/EP0113383B1/fr
Priority to GR73195A priority patent/GR79747B/el
Priority to US06/559,938 priority patent/US4621375A/en
Priority to BR8400064A priority patent/BR8400064A/pt
Priority to JP59000916A priority patent/JPS59134237A/ja
Publication of EP0113383A1 publication Critical patent/EP0113383A1/fr
Application granted granted Critical
Publication of EP0113383B1 publication Critical patent/EP0113383B1/fr
Expired legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link

Definitions

  • the invention relates to a remote control for construction machines, in particular for concrete pumps interacting with a placing boom, consisting of a portable console serving as a command device, in which several circuits controlled by switches for individual control functions are installed and in which a transmitter for wireless transmission of radio signals is arranged, and a receiving device which has an electrical distributor for several solenoid valves, it being possible to switch from the "remote control" operating mode to another operating mode from the command device.
  • Concrete pumps of the preferred field of application of the invention are generally speed-controlled in order to adapt the respective delivery rates to the progressive filling of formwork with concrete and can also be reversed in order to fill the delivery line at the beginning of the concreting process and to be able to empty it again after completion.
  • the placing boom is usually built on a column with slewing gear and in turn divided into several sections that can be moved and adjusted independently of one another by hydraulic swivel drives, preferably in the form of thrust piston gears, whereby the concrete discharge in the top of the placing boom is adjusted and adjusted in a horizontal and vertical plane can.
  • hydraulic swivel drives preferably in the form of thrust piston gears
  • the radio remote controls known from construction machines with wireless transmission of the control commands mainly use pulse modulation as the transmission type.
  • the receiver belonging to the construction machine supplies the required control voltage at the output.
  • the various interferences have a disadvantageous effect.
  • interference frequencies of general radio communication, but also strong magnetic fields, which result from the field strengths in the vicinity of high-voltage lines, can lead to uncontrolled boom movements with all the resulting hazards to personnel and materials.
  • Radio remote controls which allow digitally coded HF telegrams as a type of transmission or alternatively a signal transmission in optical fibers are known and can avoid these disadvantages.
  • they are not suitable for remote control of construction machines.
  • remote controls whose transmission device consists of a multi-core cable which is connected to the plug contacts of the command device and the receiving device.
  • These remote controls have been chosen primarily with regard to their security against inadvertent transmission of control functions. As a rule, they have one wire for each control function. However, they also have considerable practical disadvantages under certain operating conditions.
  • the invention is based on a remote control, as is known from DE-OS-28 41 533. With the help of this control, it is possible to remotely operate and control the construction machine to be controlled wirelessly. If necessary, you can switch from the "Remote control” mode to the "Direct control” mode. Then, however, the operator is forced to approach the machine to be controlled and to operate a control panel located there, which is different from the control panel of the control panel. A problem-free switchover from one operating mode to the other while keeping the portable control panel is not possible with this arrangement. Is z. B. disrupted the wireless transmission, the operator has too little field of vision from the machine so one is forced to control the machine with the help of a multi-core cable or an optical fiber. For this purpose, however, a separate control unit with the corresponding transmission parts must be provided, which leads to a considerable outlay on accessories.
  • the invention is therefore based on the object of designing a remote control of the type presupposed as known in a simple manner in such a way that its type of transmission can be selected according to the respective operating conditions and optimally adjusted to these.
  • the command device has a plug contact to which either a multi-core cable or the transmitter can be connected, which consists of an RF and there is a lightwave transmission part which can be connected to the receiving device via an optical waveguide, a common telegram processor being connected upstream of the lightwave or HF transmission part and a telegram decoder arranged in the receiving device which is connected to an HF or lightwave reception part connected is.
  • the invention it is possible to replace the multi-core control cable by the remote control if the safety of the machine operator or the handling of the construction machine can be significantly increased as a result of the omission of the transmission cable between the command device and the electrical distributor.
  • the selected type of transmission of the radio remote control is protected against accidents that emanate from transmitters with radio remote control channels in the vicinity of the construction site because the telegram coding precludes this and a total failure occurs if the carrier frequency is disturbed, but the machine can initially continue to be operated by a cable connection.
  • the invention enables these advantages with the conventional systems, in which it merely replaces the electrical cable in whole or in part, but continues to use the other devices, so that i.a. the expensive command device and the electrical distributor which connects to the solenoid valves need not be changed.
  • the security against the control influences to which known radio remote controls are subject is guaranteed according to the invention by the special type of transmission.
  • this is preferably done by providing an LW transmitter or an LW receiver in the transmitter and in the receiver and an optical waveguide for connection.
  • Such a transmission path is easy to lay and insensitive to voltage flashovers.
  • the invention provides for the transmitter to preferably have a separate, portable power source with undervoltage monitoring in the transmitter and for the receiver to have its own voltage supply with undervoltage monitoring.
  • the electrical connection of the transmitter and the receiver leads to the continuous transmission of the telegrams which reflect the switching state of the command device, but only if the voltage monitors signal sufficient operational reliability and readiness.
  • the plug 9a is connected with a short connecting cable 33 to a transmitter 34, which is supplied via a short power cable 35 from a battery 36 which the operator 1 wears on his belt 37.
  • the transmitter 34 has a connection socket 38 for the plug contact 40 of an optical waveguide cable 39, the plug contact 41 of which enables the cable 39 to be connected to a receiver 42, which is provided with a socket 44 for this purpose.
  • a short connecting cable 45 connects the receiver 42 to the distributor 15.
  • the distributor is supplied with power via the vehicle battery 46 of a vehicle (not otherwise shown) on which a concrete pump with its distribution mast is built.
  • control commands originating from the console 2 can be transmitted in three ways: on the one hand, they are carried out in a conventional manner via a cable 11, the transmitter 34 and the receiver 42 being switched off. Or it takes place via the transmitter 34 and the receiver 42 either via the optical waveguide 39 or wirelessly via the transmitter antenna 47 or the receiver antenna 48.
  • FIG. 4 shows the symbols that appear on the cover plate of the portable desk 2.
  • the symbols mean the actuation of the individual boom sections via thrust piston gears, the boom being divided into three sections and having a slewing gear.
  • the speed of the pump can also be reduced or increased.
  • Next to it are the symbols for forward and backward running of the pump, which are intended for loading and emptying the concrete delivery line.
  • a stop switch stops the entire system.
  • FIGS. 2 and 3 show on the transmitter side 34 a telegram processing block with parity formation at 50 and an RF transmission part 51 connected to it, as well as an LW transmission part 52 connected to it to act upon the optical fiber cable 39, an undervoltage monitor 53 and a plug connection 54 to the described external power source 36.
  • the valve block is shown schematically at 61, which carries the solenoid valves 21 to 25 for the control of the respective thrust piston gears or rotary drives.
  • the receiver 42 has a telegram decoding 56 which is connected upstream of the relay output block 55 via amplifier 57. It receives the telegrams either via the HF receiver 58 or via the LW receiver 59 from the optical fiber 39.
  • the connection socket of the connecting cable 45 is shown at 43, which can be exchanged for the plug 13 of the electrical connecting cable 11.
  • the hydraulic system is shown schematically at 60 and works with a 4/3-way valve 61 for double action on a thrust piston transmission 62, the cylinder 63 of which surrounds a piston 64.
  • the hydraulic system is known per se and therefore does not require any detailed description.
  • control panel 2 has potentiometers instead of the switches, some of which are shown at 68 and 69 in FIG. 3.
  • control function is transmitted using digitally coded HF telegrams. Each movement is assigned a bit that has the statement stop or movement. In addition, a permanently adjustable address of four bits and a fixed bit are transmitted. The information is saved with a parity bit.
  • two partial telegrams are formed, which are shown schematically in the illustration in FIG. 5. They are constructed in such a way that mutually exclusive dangerous states are coded in the corresponding bit, which are checked for antivalence in the receiver.
  • there is a characteristic bit for the telegram request which must also be equivalent in the successive telegrams; This means that this bit must change continuously over the entire operating time (transmission time). This is also checked by the receiver part.
  • the transmission mode is started, which is indicated by the switch 55 or the switch 75 in the illustration of FIGS. 2 and 3.
  • the transmission of telegrams is continuously maintained until the transmitter is disconnected from the desk 2 by disconnecting the connecting cable 33.
  • a telegram is transmitted every 200 ms.
  • a transmission interruption greater than 0.8 sec., I.e. the failure of more than four telegrams leads to the shutdown of all functions on the receiver.
  • the content of the telegrams continuously represents the state of the controls on the control panel, e.g. B. represents the control lever 3.4.
  • the undervoltage monitor 53 described in connection with FIG. 2 in the transmitter 34 ensures that the transmitter is switched off immediately when the operating voltage in the current source 36 falls below the safety threshold.
  • the transmitter can then only be restarted by connecting a fully charged battery. Pressing the emergency switch (see the illustration in Fig. 4 on the right) leads to an immediate permanent interruption of the transmission process.
  • the transmitter is disconnected from the operating voltage, so that another Sending is definitely prevented.
  • a central processor control which is shown at 56 in FIG. 2, is located in the receiver in addition to the HF receiver.
  • the relay part 55 there is a relay for each function which is shown in FIG. 4.
  • the relays correspond to the bits assigned to the respective function in the telegram.
  • the coding of the telegrams is selected so that mutually exclusive states must be equivalent.
  • the processor controller decodes the incoming partial telegrams and combines them into information telegrams.
  • the information comes in bit-serial. Every single bit is checked for proper length.
  • the preamble bits (cf. FIG. 5) are separated from the data bits and the pause times between the preamble and data and between the sub-telegrams and subsequent telegrams are checked.
  • the address coded in the data bits is compared with the address set on the receiver, the control data bits of the partial telegrams are checked for antivalence, the partial telegrams are checked and the bit change of the identifier bit is examined.
  • the telegram is rejected and the dead man time begins to run. If no telegram pairs that meet the specified conditions are received within 0.8 seconds, all relays are rejected, i.e. all functions are stopped. At the same time, the 30-second time-out begins. If no telegrams are received in these sec. That satisfactorily all tests and contain the information "all operating elements in the rest position", the receiver is finally stopped, i.e. no more telegrams are accepted. The receiver can then only be reactivated by pressing a button on the receiver itself. Before doing so, the transmitter must be switched off. This means that if the transmission / reception path is seriously disturbed, the system must be restarted.
  • Active undervoltage monitoring ensures that the processor is switched on and off in a defined manner. All relays are dropped.
  • the processor checks whether the control of this relay works properly. At the start, the processor expects the control to be in the off state (relay dropped out). If no off state is detected, the other functions are not armed and the system remains at rest.
  • the processor begins to output the control pulses for the dead man's relay and now expects an on state. If this does not occur, this system is also not activated.
  • a further security is the active commissioning of the telegram reception by pressing a button. Switching on the operating voltage only has the effect that the test procedures described for the dead man's relay take place, but telegram evaluation does not yet take place. Only pressing a start button on the receiver starts the evaluation of the telegrams. It is also monitored that a key is actually pressed. The off signal on the button line is not evaluated as a start.
  • a detection is built in to prevent interference from neighboring truck-mounted concrete pumps with the same HF carrier frequency.
  • the transmitter is still switched off when the receiver is switched on. If the receiver receives telegrams that are only formally correct, ie the sequence of preamble and data bits, activation of the receiver by pressing the start button is not permitted. This prevents control commands from being taken over by a transmitter that is already in operation (e.g. another concrete pump). Only when the receiver logic has recognized the RF channel as "free" (ie no telegram-like bit changes) is it activated using the start button enables. The transmitter must now be switched on within 30 seconds to maintain activation.
  • control function is only started when a telegram (i.e. two partial telegrams) with the information "everything in idle position" has been recognized within 30 seconds. If this does not happen and a telegram with active information is recognized, the receiver returns to the hold state and can then only be started when the transmitter is switched off by pressing a button on the receiver.
  • a telegram i.e. two partial telegrams
  • telegrams of defined content are expected continuously.
  • a malfunction in the transmit / receive path over a period of 0.8 sec. Switches off all relays and thus shuts down all functions. Faults greater than 30 seconds are considered to be the end of work and lead to a hold state (likewise all relays switched off), which can only be activated by pressing a button on the receiver if the commissioning instructions are followed, i.e. the transmitter is switched, can be picked up again.
  • the invention has the main advantage that the radio signal transmission primarily provides the greatest possible, optimal security for the operation, function and protection of the operating personnel.
  • the insensitivity to interference from transmitters with radio remote control channels corresponding to the carrier frequencies is a special feature of the invention. It is excluded by the telegram coding. If the carrier frequency is disturbed, this leads to a total failure of the signal transmission due to the telegram coding, but not to uncontrolled triggering of functions.
  • the optical fiber cable 39 can be used to establish the connection between the transmitter and the receiver.
  • the telegram processing 50 FIG. 7
  • the telegram decoding part 56 FIG. 6
  • the receiving side By connecting the telegram processing 50 (FIG. 7) on the operator side and the telegram decoding part 56 (FIG. 6) on the receiving side by means of a single-core, electrically non-conductive optical cable 39 through the interposed LW transmitter 52 and LW receiver 59 (FIG. 2), telegram transmission is possible as an alternative to the radio link while maintaining the same security.
  • the invention therefore has the advantage that it enables three types of transmission, which can be used optionally according to the respective conditions of use.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Selective Calling Equipment (AREA)
  • Operation Control Of Excavators (AREA)
  • Optical Communication System (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Magnetically Actuated Valves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Claims (4)

1. Télécommande pour machines de construction, en particulier pour des pompes à béton coopérant avec un bras de distribution, constituée par une console portative (2) servant d'appareil de commande, dans laquelle sont installés plusieurs circuits commandés par des commutateurs et destinés à des fonctions de commande individuelles et dans laquelle est disposé un émetteur (34) en vue d'une transmission sans fil de signaux radio et un dispositif récepteur qui comprend un distributeur électrique (15) pour plusieurs électrovannes (21 à 25), le mode de fonctionnement "télécommande" pouvant être commuté sur un autre mode de fonctionnement par l'appareil de commande (2), caractérisée en ce que l'appareil de commande (2) est muni d'un contact à enfichage (9) auquel peut être raccordé soit un câble à multiconducteurs (11), soit l'émetteur (34), constitué par une partie émettrice HF (51) et une partie émettrice à ondes lumineuses (52), pouvant être relié par l'intermédiaire d'un guide d'ondes lumineuses (39) au dispositif récepteur, un éditeur de télégrammes commun (50) étant monté en amont de la partie émettrice à ondes lumineuses (52) ou de la partie émettrice HF (51) et un décodeur de télégrammes étant monté dans le dispositif récepteur en étant relié à une partie réceptrice haute fréquence (58) ou à une partie réceptrice à ondes lumineuses (59).
2. Télécommande selon la revendication 1, caractérisée en ce que, pour la transmission par le parcours radio ou par le guide d'ondes lumineuses (39), on utilise des télégrammes codés numériquement, dans lesquels sont associés à chaque fonction de commande deux télégrammes partiels transmis de façon continue après établissement des liaisons (9, 10, 13, 14 ; 38, 40, 41, 43 ; 47, 48), qui comprennent chacun un bit associé à la fonction, une information d'adresse et un bit de parité en tant que sécurité, et représentant l'état du circuit électrique de l'appareil de commande (2), le récepteur (42) comprenant une partie réceptrice (58, 59), une commande à processeur central (56) et une partie à relais (55) ou un convertisseur numérique/analogique (66).
3. Télécommande selon la revendication 1 ou 2, caractérisée en ce qu'il est prévu pour l'émetteur (34) une source de courant séparée et portative (36) comprenant un contrôle de sous-tensions (53) dans l'émetteur (34), et pour le récepteur (42) une alimentation en tension (46) qui lui est propre et qui comprend un contrôle de sous-tensions (78).
4. Télécommande selon l'une quelconque des revendications 1 à 3, caractérisée en ce que le récepteur (39) comprend un dispositif à homme mort (79) et un interrupteur d'urgence (80) auquel correspond un interrupteur d'urgence (81) dans l'émetteur (2).
EP83100108A 1983-01-08 1983-01-08 Télécommande pour machines à construction, en particulier pour une pompe à béton coopérante avec un bras de distribution Expired EP0113383B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
AT83100108T ATE35472T1 (de) 1983-01-08 1983-01-08 Fernsteuerung fuer baumaschinen, insbesondere fuer mit einem verteilermast zusammenwirkende betonpumpe.
DE8383100108T DE3377243D1 (en) 1983-01-08 1983-01-08 Remote control for construction machines, especially for a concrete pump co-operating with a distribution arm
EP83100108A EP0113383B1 (fr) 1983-01-08 1983-01-08 Télécommande pour machines à construction, en particulier pour une pompe à béton coopérante avec un bras de distribution
GR73195A GR79747B (fr) 1983-01-08 1983-12-08
US06/559,938 US4621375A (en) 1983-01-08 1983-12-09 Remote control system for constructional machinery
BR8400064A BR8400064A (pt) 1983-01-08 1984-01-06 Controle remoto para maquinas de construcao,especialmente para bombas de concreto que cooperam com um mastro distribuidor
JP59000916A JPS59134237A (ja) 1983-01-08 1984-01-09 建設機械用遠隔制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP83100108A EP0113383B1 (fr) 1983-01-08 1983-01-08 Télécommande pour machines à construction, en particulier pour une pompe à béton coopérante avec un bras de distribution

Publications (2)

Publication Number Publication Date
EP0113383A1 EP0113383A1 (fr) 1984-07-18
EP0113383B1 true EP0113383B1 (fr) 1988-06-29

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP83100108A Expired EP0113383B1 (fr) 1983-01-08 1983-01-08 Télécommande pour machines à construction, en particulier pour une pompe à béton coopérante avec un bras de distribution

Country Status (7)

Country Link
US (1) US4621375A (fr)
EP (1) EP0113383B1 (fr)
JP (1) JPS59134237A (fr)
AT (1) ATE35472T1 (fr)
BR (1) BR8400064A (fr)
DE (1) DE3377243D1 (fr)
GR (1) GR79747B (fr)

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DE2841533A1 (de) * 1978-09-23 1980-03-27 Wolfgang Dr Ing Steinbach Schaltungsanordnung zur steuerung von maschinen
US4471492A (en) * 1982-11-01 1984-09-11 General Electric Company Voltage indicating arrangement for a radio transceiver

Also Published As

Publication number Publication date
ATE35472T1 (de) 1988-07-15
JPS59134237A (ja) 1984-08-01
BR8400064A (pt) 1984-08-14
US4621375A (en) 1986-11-04
GR79747B (fr) 1984-10-31
DE3377243D1 (en) 1988-08-04
JPH0536577B2 (fr) 1993-05-31
EP0113383A1 (fr) 1984-07-18

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