EP1945552B1 - Dispositif de commande a distance par radio pour un appareil de travail - Google Patents

Dispositif de commande a distance par radio pour un appareil de travail 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
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.)
Active
Application number
EP06806093A
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German (de)
English (en)
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EP1945552A1 (fr
Inventor
Wolfang Brendel
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.)
Huber und Brendel
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Huber und Brendel
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Publication date
Application filed by Huber und Brendel filed Critical Huber und Brendel
Publication of EP1945552A1 publication Critical patent/EP1945552A1/fr
Application granted granted Critical
Publication of EP1945552B1 publication Critical patent/EP1945552B1/fr
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Classifications

    • 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.

Landscapes

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

Claims (10)

  1. Dispositif de radiotélécommande pour un instrument de travail, comprenant un émetteur radio (3) pour l'émission de signaux d'instruction de commande pour l'instrument de travail et un dispositif de réception radio associé à l'instrument de travail pour la réception de signaux d'instruction de commande du récepteur radio et pour la conversion des signaux d'instruction de commande en signaux de commande pour la commande de fonctions de travail de l'instrument de travail, caractérisé en ce que l'émetteur radio présente un dispositif capteur pour l'enregistrement d'au moins un état d'effet de force irrégulier et/ou d'un état de mouvement irrégulier et/ou d'au moins un état de position irrégulier de l'émetteur radio et est équipé pour modifier son comportement à l'émission radio de façon spécifique en cas de constatation de l'état irrégulier et en ce que le dispositif de réception radio est équipé pour déclencher un signal de commande d'urgence en cas de constatation de la variation spécifique du comportement à l'émission radio,de l'émetteur radio (3), afin d'influencer de façon prédéfinie les fonctions de travail de l'instrument de travail.
  2. Dispositif de radiotélécommande selon la revendication 1, caractérisé en ce que la variation spécifique du comportement à l'émission radio de l'émetteur radio (3) inclut le fait qu'il émet un signal d'urgence.
  3. Dispositif de radiotélécommande selon la revendication 1 ou 2, caractérisé en ce que la variation spécifique du comportement à l'émission radio de l'émetteur radio (3) inclut le fait qu'il interrompt son mode d'émission radio.
  4. Dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que l'influence des fonctions de travail de l'instrument de travail par le signal de commande d'urgence inclut le fait qu'au moins une fonction de travail de l'instrument de travail est stoppée.
  5. Dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif capteur comprend au moins un capteur d'accélération, en particulier un capteur piézoélectrique, afin d'enregistrer l'état irrégulier concerné.
  6. Dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif capteur comprend au moins un capteur de position qui envoie un signal indiquant un état de position irrégulier de l'émetteur radio (3) lorsque l'émetteur radio est déposé dans une orientation définie par rapport au support.
  7. Dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif capteur est combiné avec un circuit d'analyse de signal qui est équipé pour analyser les signaux de capteur et décider sur la base de l'analyse si un état irrégulier concerné est apparu.
  8. Dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que le circuit d'analyse de signal indique un état irrégulier lorsque l'émetteur radio (3) exécute un mouvement de chute.
  9. Dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisé en ce que le circuit d'analyse de signal indique un état irrégulier lorsque l'émetteur radio effectue un mouvement de roulis ou de nutation.
  10. Grue en tant qu'instrument de travail dotée d'un dispositif de radiotélécommande selon l'une quelconque des revendications précédentes, caractérisée en ce qu'elle comprend des moyens de commande qui limitent les degrés de liberté de mouvement de travail en cas de déclenchement du signal de commande d'urgence, en particulier déclenchent une déconnexion d'urgence d'au moins un degré de liberté de mouvement de travail.
EP06806093A 2005-10-10 2006-10-06 Dispositif de commande a distance par radio pour un appareil de travail Active EP1945552B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005048386A DE102005048386A1 (de) 2005-10-10 2005-10-10 Funkfernsteuereinrichtung für ein Arbeitsgerät
PCT/EP2006/009692 WO2007042222A1 (fr) 2005-10-10 2006-10-06 Dispositif de commande a distance par radio pour un appareil de travail

Publications (2)

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

Family

ID=37625432

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06806093A Active EP1945552B1 (fr) 2005-10-10 2006-10-06 Dispositif de commande a distance par radio pour un appareil de travail

Country Status (7)

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

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007028709B4 (de) * 2007-06-21 2017-03-09 Pepperl + Fuchs Gmbh Datenübertragungsvorrichtung und Verfahren zur Übertragung von Daten
CN102070090A (zh) * 2010-06-12 2011-05-25 无锡核力重工有限公司 一种起重机用遥控系统
DE102015009168A1 (de) * 2015-07-20 2017-01-26 Lubas Maschinen Gmbh Funkfernsteuerungs-Handgerät
US10152052B1 (en) * 2015-10-28 2018-12-11 Ning Lu Portable single-handed remote control system for unmanned aerial vehicle
DE102016109749B4 (de) * 2016-05-26 2025-05-28 Jungheinrich Aktiengesellschaft Verfahren zur Steuerung eines Flurförderzeugs über eine tragbare Funkbedieneinheit sowie ein solches Flurförderzeug
RU2642026C1 (ru) * 2017-01-09 2018-01-23 Общество с ограниченной ответственностью "Научно-производственное предприятие "Резонанс" Система дистанционного управления машиной со стреловым оборудованием
JP7371415B2 (ja) * 2019-09-24 2023-10-31 株式会社タダノ 遠隔操作端末
DE102020209667A1 (de) 2020-07-30 2022-02-03 Robert Bosch Gesellschaft mit beschränkter Haftung Steuereinrichtung, Steueranordnung und Verfahren zur Remotesteuerung einer Arbeitsmaschine
US12442832B2 (en) * 2022-12-21 2025-10-14 Abl Ip Holding Llc Wall-mounted controller with anti-tamper feature

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US4306314A (en) * 1979-10-29 1981-12-15 Griffiths Edward E Equipment control system with fiber optic coupled remote control
US4614274A (en) * 1980-12-08 1986-09-30 Par Systems Corp. Control system for automatic material handling crane
DE3234395A1 (de) * 1982-09-16 1984-03-22 F.T. Industries Co., Ltd., Fukuyama, Hiroshima Funkgesteuerte, schwenkbare lasthakenanordnung
DE3924551A1 (de) * 1989-07-25 1991-01-31 Nokia Unterhaltungselektronik Fernbedienungsgeber
JP2907514B2 (ja) * 1990-09-05 1999-06-21 松下精工株式会社 リモートコントロールスイッチの取付装置
US5453758A (en) * 1992-07-31 1995-09-26 Sony Corporation Input apparatus
JP3345198B2 (ja) * 1994-12-20 2002-11-18 住友重機械建機クレーン株式会社 リモートコントロールボックス
US6346891B1 (en) * 1998-08-31 2002-02-12 Microsoft Corporation Remote control system with handling sensor in remote control device
IT1317433B1 (it) * 2000-04-28 2003-07-09 Potain Socita Anonyme Dispositivo di controllo di comando per gru a torre
DE10025131A1 (de) * 2000-05-20 2001-11-29 Integrated Electronic Systems Sys Consulting Gmbh Fernsteueranlage insbesondere zur Fernsteuerung von Industriegeräten

Also Published As

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

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