EP1945552B1 - Radio remote control device for a working machine - Google Patents

Radio remote control device for a working machine Download PDF

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Publication number
EP1945552B1
EP1945552B1 EP06806093A EP06806093A EP1945552B1 EP 1945552 B1 EP1945552 B1 EP 1945552B1 EP 06806093 A EP06806093 A EP 06806093A EP 06806093 A EP06806093 A EP 06806093A EP 1945552 B1 EP1945552 B1 EP 1945552B1
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EP
European Patent Office
Prior art keywords
radio
radio transmitter
irregular
remote control
operating device
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EP06806093A
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German (de)
French (fr)
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EP1945552A1 (en
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Wolfang Brendel
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Huber und Brendel
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Huber und Brendel
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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

Definitions

  • the invention relates to a radio remote control device for a working device, comprising a radio transmitter for transmitting control command signals for the implement and a radio receiving device associated with the implement for receiving control command signals of the radio transmitter and for converting the control command signals into control signals for controlling work functions of the implement.
  • a radio remote control device for a working device is already out of the DE-A-3234395 known.
  • radio remote control devices in conveyors and lifting devices, especially in load cranes to control their working movements.
  • the operator of a crane leads for this purpose, the portable radio transmitter with it and can specify at the radio transmitter control commands, which are converted by the radio transmitter into control command signals.
  • the control command signals sent by the radio transmitter are received by the radio receiver of the crane and converted into control signals for controlling the working functions of the crane.
  • work functions may be e.g. the crane turn in a tower crane, the movements of the trolley in a crane with trolley jib and the hoist functions include.
  • the radio transmitter with controls, such as buttons, joystick levers, etc. equipped. It is also already known to equip such a radio transmitter with an emergency stop control.
  • a radio message can be issued by pressing the emergency stop control on the radio transmitter, which is interpreted by the radio receiving device of the crane and leads to the emergency stop circuit of motion functions of the crane.
  • the emergency stop signal is usually transmitted actively from the radio transmitter to the radio receiving device as a control command or passively transmitted, in that the radio transmitter separates the radio connection to the radio receiver.
  • the radio receiving device interprets the failure of the radio contact as an emergency stop situation and causes the crane control to switch off the motion functions of the crane or the switching off of the crane electrical system.
  • the delay times between the indexing of the emergency stop situation to the shutdown reaction on the crane can be a few seconds, for example a maximum of 0.55 seconds in the case of the emergency shutdown triggered by the active control command and a maximum of 2 seconds in the event of passive emergency shutdown.
  • the portable radio transmitters are usually designed as handsets or as Umhlindtechnik.
  • the handsets are often relatively small and lightweight and are similar in appearance to the radiotelephone terminals. They are in many cases with one hand to operate.
  • the transfer devices are usually slightly larger controllers that the operator can carry in front of the body, the device being attached to a collar.
  • the invention has for its object to provide a radio remote control device of the type mentioned, which reliably and quickly triggers a bidding reaction in the work unit in emergency situations, such as an emergency stop circuit causes.
  • the radio transmitter has a sensor device for detecting at least one of an irregular force action state and / or an irregular movement state and / or at least one irregular position state of the radio transmitter and is adapted to detect the irregular State to modify its radio transmission behavior in a specific manner, and that the radio receiving device is adapted to trigger an emergency control signal upon detection of the specific change in radio transmission behavior of the radio transmitter to influence the work functions of the implement in a predetermined manner, in particular to limit or stop.
  • An irregular force condition is e.g. when the radio transmitter experiences a relatively heavy impact, such as being struck against an object or striking it after a falling movement. Regardless of whether the operator intentionally or unintentionally caused the irregular force condition, the radio transmitter's radio behavior is changed to trigger the emergency control signal at the radio receiver, thereby affecting the work function of the implement in the predetermined manner.
  • the latter means for most implements that movement degrees of freedom are limited or all suppressed, such as the emergency shutdown of the drive devices.
  • An irregular motion state of the radio transmitter is detected in one embodiment of the invention when the radio transmitter performs a falling movement or a throwing motion. Furthermore, as an irregular state of motion, the rolling or tumbling of the radio transmitter, for example, after falling on an inclined surface in question. Even such an irregular state has in the relevant embodiment of the invention, the safety intervention in working functions of the implement result.
  • An irregular state of the radio transmitter is detected in one embodiment of the invention, when the radio transmitter rests with its control panel on a base.
  • the sensor device preferably comprises at least one acceleration sensor (active or passive), in particular a piezoelectric sensor and / or capacitive sensor and / or inductive sensor for detecting an irregular force action state and / or irregular movement state of the radio transmitter.
  • a plurality of such acceleration sensors are provided in different installation positions in the radio transmitter in order to be able to detect irregular states.
  • the sensor device is preferably combined with a signal evaluation circuit which is set up to evaluate the sensor signals and to decide on the basis of the evaluation whether a respective irregular state has occurred.
  • the signal evaluation can detect dynamic and / or static states of the radio transmitter, the dynamic detection taking into account temporal changes of the sensor signals.
  • the subject of the invention is also a crane as a working device with a radio remote control device of the type described above, wherein the crane comprises control means which limit the Häzings mecanicsgrade of the crane when triggering the emergency control signal, in particular trigger an emergency shutdown at least one Agricultureboys damagessgrades.
  • Fig. 1 schematically shows an operator 1 of a crane (not shown) which holds in one hand a radio transmitter 3 of a radio remote control device according to the invention and this radio transmitter 3 strikes against a wall 5 in an emergency situation.
  • the operator 1 thus causes an irregular force acting state of the radio transmitter 3, which is detected by a sensor device provided therein with acceleration sensors or position sensors and thus gives rise to the specific change of the radio transmission behavior of the radio transmitter.
  • This change in radio transmission behavior is that the radio transmitter first actively transmits an emergency stop control signal and then transitions to an off state which results in the interruption of the radio connection to the radio receiver of the crane.
  • the radio receiving device of the crane Upon receipt of the active emergency stop control signal by the radio receiving device of the crane, there is an emergency shutdown of the crane (eg triggering a stop signal to the crane-side pilot contactor). This is done with the least possible delay.
  • the radio receiving device is further configured to trigger an emergency shutdown of the crane when they Interruption of radio transmission between radio transmitter and radio receiver device detects (passive emergency stop state). The latter intervenes if the emergency stop control signal was not received.
  • the operator does not have to first search and operate an emergency stop switch on the radio transmitter 3, but can indicate the emergency situation by striking the device against a resistor 5 (shock-off function).
  • the necessary impact strength for triggering the emergency stop control signal or the radio signal interruption is preferably adjustable by a program intervention on the transmitter. After the radio transmitter has been switched off, it can be reactivated by entering a PIN code or, if necessary, by pressing a respective pushbutton.
  • Fig. 2 the operator 1 has lost the radio transmitter 3 from his hand, so that it rolls on a surface 7. This is an irregular state of motion that is detected by the sensor device and indexed as such.
  • the radio transmitter 3 changes its radio transmission behavior in a corresponding manner by issuing the emergency stop control command and then by interrupting the radio contact with the crane. An unintentional activation of the crane or movements with risk potential are thus prevented.
  • Such a shutdown is also triggered when in the embodiment discussed here, the radio transmitter 3 rests for a minimum period of, for example, two seconds with the front side (operating side) down on a base. After switching off the radio transmitter this can be reactivated.
  • Fig. 3 shows the situation that the radio transmitter 3 of the operator has fallen out of hand, with a drop height of about 1 meter. This situation also corresponds to an irregular state of motion of the radio transmitter 3.
  • the sensor device with acceleration sensors recognizes this case situation, for example by determining the "quasi-weightlessness" of an element in the radio transmitter, and effects according to the already with reference to the Figures 1 and 2 described radio transmission or Funfunkterbrechungsmethoden an emergency shutdown of the crane.
  • the minimum duration of time from which the radio transmitter detects the irregular state of motion can be adjustable.
  • both the sensitivity of the acceleration detection and the monitoring dead times (fall delays) can be programmed by a program intervention via a user interface in the display of the radio transmitter. This can be done in different hierarchy levels by the user, its supervisor, or at the factory.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Selective Calling Equipment (AREA)
  • Control And Safety Of Cranes (AREA)
  • Transmitters (AREA)

Abstract

The invention relates to a radio remote control unit for an operating device, comprising a radio transmitter for transmitting control command signals for the operating device and a radio reception unit assigned to the operating device for receiving control command signals of the radio transmitter and for converting the control command signals into control signals for controlling the operating functions of the operating device, characterized in that the radio transmitter has a sensor unit for detecting at least one irregular force induction state and/or an irregular movement state and/or at least one irregular positional state of the radio transmitter and is equipped to change its radio transmission performance in a specific manner on detection of the irregular state, and the radio reception unit is equipped to trigger an emergency control signal on detecting the specific change in the radio transmission performance of the radio transmitter to influence the operating functions of the operating device in a predetermined manner.

Description

Die Erfindung betrifft eine Funkfernsteuereinrichtung für ein Arbeitsgerät, mit einem Funksender zum Senden von Steuerbefehlssignalen für das Arbeitsgerät und einer dem Arbeitsgerät zugeordneten Funkempfangseinrichtung zum Empfang von Steuerbefehlssignalen des Funksenders sowie zur Umsetzung der Steuerbefehlssignale in Steuersignale zur Steuerung von Arbeitsfunktionen des Arbeitsgerätes. Eine derartige Funkfernsteuereinrichtung für ein Arbeitsgerät ist bereits aus der DE-A-3234395 bekannt.The invention relates to a radio remote control device for a working device, comprising a radio transmitter for transmitting control command signals for the implement and a radio receiving device associated with the implement for receiving control command signals of the radio transmitter and for converting the control command signals into control signals for controlling work functions of the implement. Such a radio remote control device for a working device is already out of the DE-A-3234395 known.

Es ist bekannt, solche Funkfernsteuereinrichtungen bei Fördergeräten und Hubgeräten, insbesondere bei Lastkränen einzusetzen, um deren Arbeitsbewegungen zu steuern. Die Bedienungsperson eines Kranes führt zu diesem Zwecke den tragbaren Funksender mit sich und kann an dem Funksender Steuerbefehle vorgeben, die vom Funksender in Steuerbefehlssignale umgesetzt werden. Die vom Funksender gesendeten Steuerbefehlssignale werden von der Funkempfangseinrichtung des Kranes empfangen und in Steuersignale zur Steuerung der Arbeitsfunktionen des Kranes umgesetzt. Diese Arbeitsfunktionen können z.B. die Krandrehung bei einem Turmdrehkran, die Bewegungen der Laufkatze bei einem Kran mit Laufkatzenausleger und die Hubwerksfunktionen umfassen.It is known to use such radio remote control devices in conveyors and lifting devices, especially in load cranes to control their working movements. The operator of a crane leads for this purpose, the portable radio transmitter with it and can specify at the radio transmitter control commands, which are converted by the radio transmitter into control command signals. The control command signals sent by the radio transmitter are received by the radio receiver of the crane and converted into control signals for controlling the working functions of the crane. These work functions may be e.g. the crane turn in a tower crane, the movements of the trolley in a crane with trolley jib and the hoist functions include.

Zur Vorgabe der Steuerbefehlssignale sind die Funksender mit Bedienungselementen, etwa Tasten, Joystickhebeln etc. ausgestattet. Es ist auch bereits bekannt, einen solchen Funksender mit einem Not-Aus-Bedienelement auszurüsten. Im Falle der Funkfernsteuerung eines Kranes kann durch Betätigung des Not-Aus-Bedienelementes am Funksender eine Funkbotschaft abgesetzt werden, welche von der Funkempfangseinrichtung des Kranes interpretiert wird und zur Not-Aus-Schaltung von Bewegungsfunktionen des Kranes führt. Das Not-Aus-Signal wird üblicherweise aktiv vom Funksender zur Funkempfangseinrichtung als Steuerbefehl übertragen oder passiv vermittelt, indem der Funksender die Funkverbindung zur Funkempfangseinrichtung trennt. Die Funkempfangseinrichtung interpretiert das Ausbleiben des Funkkontaktes als Not-Aus-Situation und veranlasst über die Kransteuerung das Abschalten der Bewegungsfunktionen des Kranes bzw. das Abschalten der Kranelektrik. Die Verzögerungszeiten zwischen der Indizierung der Not-Aus-Situation bis zur Abschaltreaktion am Kran kann bei wenigen Sekunden, z.B. bei maximal 0,55 Sekunden im Falle der durch aktiven Steuerbefehl ausgelösten Notabschaltung und maximal 2 Sekunden im Falle der Passiv-Notabschaltung liegen.To specify the control command signals, the radio transmitter with controls, such as buttons, joystick levers, etc. equipped. It is also already known to equip such a radio transmitter with an emergency stop control. In the case of radio remote control of a crane, a radio message can be issued by pressing the emergency stop control on the radio transmitter, which is interpreted by the radio receiving device of the crane and leads to the emergency stop circuit of motion functions of the crane. The emergency stop signal is usually transmitted actively from the radio transmitter to the radio receiving device as a control command or passively transmitted, in that the radio transmitter separates the radio connection to the radio receiver. The radio receiving device interprets the failure of the radio contact as an emergency stop situation and causes the crane control to switch off the motion functions of the crane or the switching off of the crane electrical system. The delay times between the indexing of the emergency stop situation to the shutdown reaction on the crane can be a few seconds, for example a maximum of 0.55 seconds in the case of the emergency shutdown triggered by the active control command and a maximum of 2 seconds in the event of passive emergency shutdown.

Die tragbaren Funksender werden üblicherweise als Handgeräte oder als Umhänggeräte ausgeführt. Die Handgeräte sind häufig relativ klein und leicht ausgebildet und ähneln vom optischen Erscheinungsbild her Funktelefon-Endgeräten. Sie sind in vielen Fällen mit einer Hand zu bedienen. Die Umhänggeräte sind üblicherweise etwas größere Steuergeräte, die die Bedienungsperson vor dem Körper tragen kann, wobei das Gerät an einem Halsband befestigt ist.The portable radio transmitters are usually designed as handsets or as Umhänggeräte. The handsets are often relatively small and lightweight and are similar in appearance to the radiotelephone terminals. They are in many cases with one hand to operate. The transfer devices are usually slightly larger controllers that the operator can carry in front of the body, the device being attached to a collar.

Insbesondere bei Funksender-Handgeräten kann es vorkommen, dass in Notfallsituationen die Einhandbedienung der Not-Aus-Bedienungselemente nicht ohne weiteres in der gebotenen Eile erfolgen kann, so dass einer Gefährdungssituation zu spät begegnet wird.Particularly in the case of hand-held radio transmitters, it may happen that in emergency situations the one-hand operation of the emergency stop control elements can not readily take place in the required hurry so that a hazardous situation is encountered too late.

Der Erfindung liegt die Aufgabe zugrunde, eine Funkfernersteuereinrichtung der eingangs genannten Art bereitzustellen, die in Notfallsituationen zuverlässig und schnell eine gebotene Reaktion bei dem Arbeitsgerät auslöst, etwa eine Not-Aus-Schaltung veranlasst.The invention has for its object to provide a radio remote control device of the type mentioned, which reliably and quickly triggers a bidding reaction in the work unit in emergency situations, such as an emergency stop circuit causes.

Zur Lösung dieser Aufgabe wird erfindungsgemäß vorgeschlagen, dass der Funksender eine Sensoreinrichtung zur Erfassung wenigstens eines irregulären Krafteinwirkungszustandes oder/und eines irregulären Bewegungszustandes oder/und wenigstens eines irregulären Lagezustandes des Funksenders aufweist und dazu eingerichtet ist, bei Feststellung des irregulären Zustandes sein Funksendeverhalten in spezifischer Weise zu ändern, und dass die Funkempfangseinrichtung dazu eingerichtet ist, bei Feststellung der spezifischen Änderung des Funksendeverhaltens des Funksenders ein Notsteuersignal auszulösen, um die Arbeitsfunktionen des Arbeitsgerätes in vorbestimmter Weise zu beeinflussen, insbesondere zu beschränken bzw. zu stoppen.To solve this problem, the invention proposes that the radio transmitter has a sensor device for detecting at least one of an irregular force action state and / or an irregular movement state and / or at least one irregular position state of the radio transmitter and is adapted to detect the irregular State to modify its radio transmission behavior in a specific manner, and that the radio receiving device is adapted to trigger an emergency control signal upon detection of the specific change in radio transmission behavior of the radio transmitter to influence the work functions of the implement in a predetermined manner, in particular to limit or stop.

Ein irregulärer Krafteinwirkungszustand liegt z.B. vor, wenn das Funksendegerät einen relativ heftigen Stoß erfährt, etwa indem es gegen einen Gegenstand angeschlagen wird oder wenn es nach einer Fallbewegung aufprallt. Ungeachtet dessen, ob die Bedienungsperson den irregulären Krafteinwirkungszustand absichtlich oder unabsichtlich herbeigeführt hat, erfolgt die Änderung des Funksendeverhaltens des Funksenders, um bei der Funkempfangseinrichtung das Notsteuersignal auszulösen und damit die Arbeitsfunktion des Arbeitsgerätes in der vorbestimmten Weise zu beeinflussen. Letzteres bedeutet bei den meisten Arbeitsgeräten, dass Bewegungsfreiheitsgrade beschränkt bzw. sämtlich unterbunden werden, etwa im Sinne der Notabschaltung der Antriebsvorrichtungen.An irregular force condition is e.g. when the radio transmitter experiences a relatively heavy impact, such as being struck against an object or striking it after a falling movement. Regardless of whether the operator intentionally or unintentionally caused the irregular force condition, the radio transmitter's radio behavior is changed to trigger the emergency control signal at the radio receiver, thereby affecting the work function of the implement in the predetermined manner. The latter means for most implements that movement degrees of freedom are limited or all suppressed, such as the emergency shutdown of the drive devices.

Ein irregulärer Bewegungszustand des Funksenders wird bei einer Ausführungsform der Erfindung detektiert, wenn das Funksendegerät eine Fallbewegung oder eine Wurfbewegung ausführt. Des Weiteren kommt als irregulärer Bewegungszustand das Rollen bzw. Taumeln des Funksenders, etwa nach Herunterfallen an einer Schrägfläche in Frage. Auch ein solcher irregulärer Zustand hat bei der betreffenden Ausführungsform der Erfindung den Sicherheitseingriff in Arbeitsfunktionen des Arbeitsgerätes zur Folge.An irregular motion state of the radio transmitter is detected in one embodiment of the invention when the radio transmitter performs a falling movement or a throwing motion. Furthermore, as an irregular state of motion, the rolling or tumbling of the radio transmitter, for example, after falling on an inclined surface in question. Even such an irregular state has in the relevant embodiment of the invention, the safety intervention in working functions of the implement result.

Ein irregulärer Lagezustand des Funksenders wird bei einer Ausführungsform der Erfindung erkannt, wenn das Funksendegerät mit seinem Bedienungsfeld auf einer Unterlage aufliegt.An irregular state of the radio transmitter is detected in one embodiment of the invention, when the radio transmitter rests with its control panel on a base.

Vorzugsweise umfasst die Sensoreinrichtung wenigstens einen Beschleunigungssensor (aktiv oder passiv), insbesondere piezoelektrischen Sensor oder/und kapazitiven Sensor oder/und induktiven Sensor zur Erfassung eines irregulären Krafteinwirkungszustandes oder/und irregulären Bewegungszustandes des Funksenders. Gemäß einer besonders bevorzugten Ausführungsform sind mehrere solcher Beschleunigungssensoren in unterschiedlichen Einbaulagen in dem Funksendegerät vorgesehen, um irreguläre Zustände erfassen zu können.The sensor device preferably comprises at least one acceleration sensor (active or passive), in particular a piezoelectric sensor and / or capacitive sensor and / or inductive sensor for detecting an irregular force action state and / or irregular movement state of the radio transmitter. According to a particularly preferred embodiment, a plurality of such acceleration sensors are provided in different installation positions in the radio transmitter in order to be able to detect irregular states.

Die Sensoreinrichtung ist vorzugsweise mit einer Signalauswerteschaltung kombiniert, die dazu eingerichtet ist, die Sensorsignale auszuwerten und auf der Basis der Auswertung zu entscheiden, ob ein betreffender irregulärer Zustand eingetreten ist. Je nach Auswerteprogramm kann die Signalauswertung dynamische und/oder statische Zustände des Funksenders erfassen, wobei die dynamische Erfassung zeitliche Änderungen der Sensorsignale berücksichtigt.The sensor device is preferably combined with a signal evaluation circuit which is set up to evaluate the sensor signals and to decide on the basis of the evaluation whether a respective irregular state has occurred. Depending on the evaluation program, the signal evaluation can detect dynamic and / or static states of the radio transmitter, the dynamic detection taking into account temporal changes of the sensor signals.

Wenngleich unter den Begriff Arbeitsgerät sämtliche fernsteuerbaren Maschinen und Fördergeräte fallen sollen, so liegt ein Hauptaugenmerk der Erfindung auf der Fernsteuerung von Fördergeräten, insbesondere Hebezeugen.Although the term implement all remote-controlled machines and conveyors are to fall, so is a main focus of the invention on the remote control of conveyors, especially hoists.

Demgemäß ist Gegenstand der Erfindung auch ein Kran als Arbeitsgerät mit einer Funkfernsteuereinrichtung der vorstehend erläuterten Art, wobei der Kran Steuermittel umfasst, die bei Auslösung des Notsteuersignals die Arbeitsbewegungsfreiheitsgrade des Krans einschränken, insbesondere eine Notabschaltung wenigstens eines Arbeitsbewegungsfreiheitsgrades auslösen.Accordingly, the subject of the invention is also a crane as a working device with a radio remote control device of the type described above, wherein the crane comprises control means which limit the Arbeitsbewegungsfreiheitsgrade of the crane when triggering the emergency control signal, in particular trigger an emergency shutdown at least one Arbeitsbewegungsfreiheitsgrades.

Sollte daher die Bedienungsperson die Kontrolle über das Funksendegerät verlieren, so dass das Gerät einen ungewöhnlichen Stoß erfährt oder/und eine Fallbewegung ausführt oder/und eine Schräge herabrollt, so wird eine unbeabsichtigte Kranaktivierung verhindert und vor allem eine Kranbewegung mit Gefährdungspotential durch Notabschaltung unterbunden.If, therefore, the operator loses control of the radio transmitter so that the device experiences an unusual shock and / or makes a falling movement and / or rolls down an incline, inadvertent crane activation is prevented and, above all, a crane movement with hazard potential prevented by emergency shutdown.

Die Erfindung wird im Folgenden unter Bezugnahme auf piktogrammartige

  • Figuren 1 - 4 erläutert.
    Fig. 1
    zeigt die Situation, dass eine Bedienungsperson das Funk- sendegerät gegen eine Wand anschlägt.
    Fig. 2
    zeigt die Situation, dass das Funksendegerät nach Lösen von der Hand der Bedienungsperson ins Rollen gekommen ist.
    Fig. 3
    zeigt die Situation, dass das Funksendegerät aus einer Höhe von ca. 1 Meter aus der Hand der Bedienungsperson gefallen ist.
    Fig. 4
    zeigt die Situation, dass die Bedienungsperson das Funksende- gerät einer anderen Person zuwirft.
The invention will be described below with reference to pictogram-like
  • Figures 1 - 4 explained.
    Fig. 1
    shows the situation that an operator strikes the radio transmitter against a wall.
    Fig. 2
    shows the situation that the radio transmitter has come to roll after releasing from the operator's hand.
    Fig. 3
    shows the situation that the radio transmitter has fallen from a height of about 1 meter from the hand of the operator.
    Fig. 4
    shows the situation that the operator throws the radio transmitter to another person.

Fig. 1 zeigt schematisch ein Bedienungsperson 1 eines Krans (nicht gezeigt), welche in einer Hand ein Funksendegerät 3 einer Funkfernsteuereinrichtung nach der Erfindung hält und dieses Funksendegerät 3 in einer Notfallsituation gegen eine Wand 5 schlägt. Die Bedienungsperson 1 führt damit einen irregulären Krafteinwirkungszustand des Funksendegerätes 3 herbei, der von einer darin vorgesehenen Sensoreinrichtung mit Beschleunigungssensoren bzw. Lagesensoren detektiert wird und somit Anlass zur spezifischen Änderung des Funksendeverhaltens des Funksenders gibt. Diese Änderung des Funksendeverhaltens besteht darin, dass der Funksender zunächst aktiv ein Not-Aus-Steuersignal sendet und daraufhin in einen Ausschaltzustand übergeht, der zur Unterbrechung der Funkverbindung zur Funkempfangseinrichtung des Kranes führt. Bei Empfang des aktiven Not-Aus-Steuersignals durch die Funkempfangseinrichtung des Kranes kommt es zur Notabschaltung des Kranes (z.B. Auslösung eines Stopp-Signales zum kranseitigen Pilotschütz). Dies erfolgt mit einer möglichst geringen Verzögerung. Die Funkempfangseinrichtung ist ferner dazu eingerichtet, eine Notabschaltung des Krans auszulösen, wenn sie die Unterbrechung der Funkübertragung zwischen Funksender und Funkempfangseinrichtung feststellt (Passiv-Not-Aus-Zustand). Letzterer greift, falls das Not-Aus-Steuersignal nicht empfangen wurde. Fig. 1 schematically shows an operator 1 of a crane (not shown) which holds in one hand a radio transmitter 3 of a radio remote control device according to the invention and this radio transmitter 3 strikes against a wall 5 in an emergency situation. The operator 1 thus causes an irregular force acting state of the radio transmitter 3, which is detected by a sensor device provided therein with acceleration sensors or position sensors and thus gives rise to the specific change of the radio transmission behavior of the radio transmitter. This change in radio transmission behavior is that the radio transmitter first actively transmits an emergency stop control signal and then transitions to an off state which results in the interruption of the radio connection to the radio receiver of the crane. Upon receipt of the active emergency stop control signal by the radio receiving device of the crane, there is an emergency shutdown of the crane (eg triggering a stop signal to the crane-side pilot contactor). This is done with the least possible delay. The radio receiving device is further configured to trigger an emergency shutdown of the crane when they Interruption of radio transmission between radio transmitter and radio receiver device detects (passive emergency stop state). The latter intervenes if the emergency stop control signal was not received.

Wenngleich vorstehend die Kombination aus aktiver und passiver Notabschaltung angesprochen worden ist, so kann bei anderen Ausführungsformen der Erfindung ausschließlich die aktive Notabschaltung bzw. ausschließlich die passive Notabschaltung vorgesehen sein, z.B. jeweils mit einer Ausschaltverzögerung von maximal zwei Sekunden.Although the combination of active and passive emergency shutdown has been mentioned above, in other embodiments of the invention only the active emergency shutdown or only the passive emergency shutdown may be provided, e.g. each with a switch-off delay of a maximum of two seconds.

Gemäß Fig. 1 muss die Bedienungsperson im Notfall nicht erst einen Not-Aus-Schalter an dem Funksendegerät 3 suchen und betätigen, sondern kann die Notfallsituation dadurch anzeigen, dass sie das Gerät an einem Widerstand 5 anschlägt (Schock-Off-Funktion). Die notwendige Schlagstärke zur Auslösung des Not-Aus-Steuersignals bzw. zur Funksignalunterbrechung ist vorzugsweise durch einen Programmeingriff am Sender einstellbar. Nach dem Abschalten des Funksenders kann dieser durch Eingabe eines PIN-Codes oder ggf. durch einen betreffenden Drucktaster wieder aktiviert werden.According to Fig. 1 In an emergency, the operator does not have to first search and operate an emergency stop switch on the radio transmitter 3, but can indicate the emergency situation by striking the device against a resistor 5 (shock-off function). The necessary impact strength for triggering the emergency stop control signal or the radio signal interruption is preferably adjustable by a program intervention on the transmitter. After the radio transmitter has been switched off, it can be reactivated by entering a PIN code or, if necessary, by pressing a respective pushbutton.

Gemäß Fig. 2 hat die Bedienungsperson 1 das Funksendegerät 3 aus der Hand verloren, so dass es an einer Fläche 7 abrollt. Dies ist ein irregulärer Bewegungszustand, der von der Sensoreinrichtung erkannt und als solcher indiziert wird. Der Funksender 3 ändert in entsprechender Weise sein Funksendeverhalten durch Abgabe des Not-Aus-Steuerbefehls und danach durch Unterbrechung des Funkkontaktes zum Kran. Eine unbeabsichtigte Aktivierung des Krans bzw. Bewegungen mit Gefährdungspotential werden somit unterbunden. Eine solche Abschaltung wird auch ausgelöst, wenn bei dem hier besprochenen Ausführungsbeispiel das Funksendegerät 3 über eine Mindestdauer von z.B. zwei Sekunden mit der Frontseite (Bedienseite) nach unten auf einer Unterlage aufliegt. Nach dem Abschalten des Funksenders kann dieser wieder aktiviert werden.According to Fig. 2 the operator 1 has lost the radio transmitter 3 from his hand, so that it rolls on a surface 7. This is an irregular state of motion that is detected by the sensor device and indexed as such. The radio transmitter 3 changes its radio transmission behavior in a corresponding manner by issuing the emergency stop control command and then by interrupting the radio contact with the crane. An unintentional activation of the crane or movements with risk potential are thus prevented. Such a shutdown is also triggered when in the embodiment discussed here, the radio transmitter 3 rests for a minimum period of, for example, two seconds with the front side (operating side) down on a base. After switching off the radio transmitter this can be reactivated.

Fig. 3 zeigt die Situation, dass das Funksendegerät 3 der Bedienungsperson aus der Hand gefallen ist, und zwar mit einer Fallhöhe von ca. 1 Meter. Auch diese Situation entspricht einem irregulären Bewegungszustand des Funksendegerätes 3. Entsprechendes gilt für die in Fig. 4 angedeutete Situation, dass eine Bedienungsperson 1 das Funksendegerät 3 einer anderen Person 9 zuwirft. Die Sensoreinrichtung mit Beschleunigungssensoren erkennt diese Fallsituation, etwa durch Feststellung der "Quasi-Schwerelosigkeit" eines Elementes in dem Funksendegerät, und bewirkt nach den schon unter Bezugnahme auf die Figuren 1 und 2 beschriebenen Funksende- bzw. Funkunterbrechungsmethoden eine Notabschaltung des Kranes. Die Mindestfalldauer, ab der der Funksender den irregulären Bewegungszustand feststellt, kann einstellbar sein. Fig. 3 shows the situation that the radio transmitter 3 of the operator has fallen out of hand, with a drop height of about 1 meter. This situation also corresponds to an irregular state of motion of the radio transmitter 3. The same applies to the in Fig. 4 indicated situation that an operator 1 throws the radio transmitter 3 to another person 9. The sensor device with acceleration sensors recognizes this case situation, for example by determining the "quasi-weightlessness" of an element in the radio transmitter, and effects according to the already with reference to the Figures 1 and 2 described radio transmission or Funfunkterbrechungsmethoden an emergency shutdown of the crane. The minimum duration of time from which the radio transmitter detects the irregular state of motion can be adjustable.

Vorzugsweise können sowohl die Sensitivität der Beschleunigungserfassung als auch die Überwachungstotzeiten (Abfallverzögerungen) durch einen Programmeingriff über eine Benutzeroberflächer im Display des Funksendegerätes programmiert werden. Dies kann in verschiedenen Hierarchieebenen vom Benutzer, dessen Supervisor, oder allein werksseitig vorgenommen werden.Preferably, both the sensitivity of the acceleration detection and the monitoring dead times (fall delays) can be programmed by a program intervention via a user interface in the display of the radio transmitter. This can be done in different hierarchy levels by the user, its supervisor, or at the factory.

Vorzugsweise können auch die oben beschriebenen möglichen Reaktionen:

  1. a) aktive Abgabe eines Not-Aus-Steuersignals vom Funksender,
  2. b) passive Not-Aus-Information durch Unterbrechung der Funkübertragung,
  3. c) Kombination aus a) und b) am Funksendegerät (geschützt durch Zugriffrechte)
eingestellt werden.Preferably, the possible reactions described above can also be:
  1. a) active delivery of an emergency stop control signal from the radio transmitter,
  2. b) passive emergency stop information by interruption of the radio transmission,
  3. c) combination of a) and b) on the radio transmitter (protected by access rights)
be set.

Claims (10)

  1. Radio remote control unit for an operating device, comprising a radio transmitter (3) for transmitting control command signals for the operating device and a radio reception unit assigned to the operating device for receiving control command signals of the radio transmitter and for converting the control command signals into control signals for controlling operating functions of the operating device, characterised in that the radio transmitter has a sensor device for detecting at least one irregular force induction state and/or an irregular motion state and/or at least one irregular positional state of the radio transmitter and is equipped to alter its radio transmission performance in a specific manner on detection of the irregular state and in that the radio reception unit is equipped to trigger an emergency control signal on detection of the specific change in the radio transmission performance of the radio transmitter (3) to influence the operating functions of the operating device in a predetermined manner.
  2. Radio remote control unit according to claim 1, characterised in that the specific change in the radio transmission performance of the radio transmitter (3) includes the fact that it sends an emergency signal.
  3. Radio remote control unit according to claim 1 or 2, characterised in that the specific change in the radio transmission performance of the radio transmitter (3) includes the fact that it interrupts its radio transmission operation.
  4. Radio remote control unit according to one of the preceding claims, characterised in that the influence on the operating functions of the operating device by the emergency control signal includes the fact that at least one operating function of the operating device is stopped.
  5. Radio remote control unit according to one of the preceding claims, characterised in that the sensor device comprises at least one acceleration sensor, in particular a piezoelectric sensor, to detect the respective irregular state.
  6. Radio remote control unit according to one of the preceding claims, characterised in that the sensor unit comprises at least one position sensor, which delivers a signal indicating an irregular positional state of the radio transmitter (3) when the radio transmitter is stored in a certain alignment relative to the substrate.
  7. Radio remote control unit according to one of the preceding claims, characterised in that the sensor unit is combined with a signal analyser circuit, which is equipped to analyse the sensor signals and to decide, on the basis of the analysis, whether a particular irregular state has occurred.
  8. Radio remote control unit according to one of the preceding claims, characterised in that the signal analyser circuit indicates an irregular state when the radio transmitter (3) executes a falling movement.
  9. Radio remote control unit according to one of the preceding claims, characterised in that the signal analyser circuit indicates an irregular state when the radio transmitter executes a rolling movement and/or a tumbling movement.
  10. Crane as an operating device having a radio remote control unit according to one of the preceding claims, characterised in that it comprises control means which restrict the degrees of freedom in the operating movement of the crane on triggering of the emergency control signal, in particular triggering an emergency deactivation of at least one degree of freedom of an operating movement.
EP06806093A 2005-10-10 2006-10-06 Radio remote control device for a working machine Active EP1945552B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005048386A DE102005048386A1 (en) 2005-10-10 2005-10-10 Radio remote control device for a working device
PCT/EP2006/009692 WO2007042222A1 (en) 2005-10-10 2006-10-06 Radio remote control device for a working machine

Publications (2)

Publication Number Publication Date
EP1945552A1 EP1945552A1 (en) 2008-07-23
EP1945552B1 true EP1945552B1 (en) 2011-01-05

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ID=37625432

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Application Number Title Priority Date Filing Date
EP06806093A Active EP1945552B1 (en) 2005-10-10 2006-10-06 Radio remote control device for a working machine

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US (1) US7980402B2 (en)
EP (1) EP1945552B1 (en)
CN (1) CN101321682B (en)
AT (1) ATE494256T1 (en)
DE (2) DE102005048386A1 (en)
ES (1) ES2358347T3 (en)
WO (1) WO2007042222A1 (en)

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CN102070090A (en) * 2010-06-12 2011-05-25 无锡核力重工有限公司 Remote control system for crane
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US10152052B1 (en) * 2015-10-28 2018-12-11 Ning Lu Portable single-handed remote control system for unmanned aerial vehicle
DE102016109749B4 (en) * 2016-05-26 2025-05-28 Jungheinrich Aktiengesellschaft Method for controlling an industrial truck via a portable radio control unit and such an industrial truck
RU2642026C1 (en) * 2017-01-09 2018-01-23 Общество с ограниченной ответственностью "Научно-производственное предприятие "Резонанс" Remote control system of machine with mast attachment
JP7371415B2 (en) * 2019-09-24 2023-10-31 株式会社タダノ remote control terminal
DE102020209667A1 (en) 2020-07-30 2022-02-03 Robert Bosch Gesellschaft mit beschränkter Haftung Control device, control arrangement and method for remote control of a work machine
US12442832B2 (en) * 2022-12-21 2025-10-14 Abl Ip Holding Llc Wall-mounted controller with anti-tamper feature

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Also Published As

Publication number Publication date
CN101321682A (en) 2008-12-10
ATE494256T1 (en) 2011-01-15
ES2358347T3 (en) 2011-05-09
DE502006008679D1 (en) 2011-02-17
CN101321682B (en) 2011-03-16
WO2007042222A1 (en) 2007-04-19
US20080210653A1 (en) 2008-09-04
US7980402B2 (en) 2011-07-19
DE102005048386A1 (en) 2007-04-12
EP1945552A1 (en) 2008-07-23

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