EP2323943B1 - Mobile working machine having a remote control device - Google Patents

Mobile working machine having a remote control device Download PDF

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Publication number
EP2323943B1
EP2323943B1 EP09781996.5A EP09781996A EP2323943B1 EP 2323943 B1 EP2323943 B1 EP 2323943B1 EP 09781996 A EP09781996 A EP 09781996A EP 2323943 B1 EP2323943 B1 EP 2323943B1
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EP
European Patent Office
Prior art keywords
control device
remote control
transmitting
supporting
zone boundary
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EP09781996.5A
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German (de)
French (fr)
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EP2323943A1 (en
Inventor
Wolf-Michael Petzold
Martin Mayer
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Putzmeister Engineering GmbH
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Putzmeister Engineering GmbH
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane

Definitions

  • the invention relates to a mobile machine of the type specified in the preamble of claims 1, 3 and 11 with at least one working or support member having at least one motor drive mechanism, with a control device for controlling the at least one drive mechanism and with a wirelessly communicating with the control device remote control device.
  • Mobile machines such as concrete pumps, are provided with a support structure with which they can be supported in their working position on a surface.
  • the Abstützorgane the support structure are previously extended individually on the chassis and supported with her foot on the ground.
  • the extension and retraction of the support members and the up and down movement of the foot is triggered via separate switch via electro-hydraulic actuation mechanisms. From the machine, although all operating mechanisms can be controlled simultaneously, if the ground is known. However, it is often not clear from the distance at which point the foot part hits the ground. Therefore, in addition to the support cylinder has a switch arranged to better position the foot can. However, it can not be ruled out here that the operator is in danger if the foot part strikes the ground. He could get trapped and hurt there. Also, the extension and retraction of the support organs represents a certain danger, since the boom can hit the operator and thereby hurt.
  • the present invention seeks to develop a Fembedienungssystem for working and / or Abst Reifenorgane in working machines of the type specified, which meets higher demands on the reliability.
  • zone boundaries are defined for this, an inner zone boundary and an outer zone boundary.
  • the zone limits are determined by suitable parameterization of the transmitting and / or receiving units. In the example case of the support organs, this presupposes that transmitting and / or receiving units are present both on the supporting member and on the remote control held by the operator.
  • a first embodiment of the invention provides that at the at least one working or support member two wirelessly communicating with a receiving unit of the remote control unit transmitting units are arranged whose transmission ranges are different, wherein the one transmitting unit one of the inner zone boundary corresponding inner range limit and the other transmitting unit defines an outer range limit corresponding to the outer zone boundary, and wherein the control means responds to triggering an actuating signal for the drive mechanism only when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or support member.
  • a preferred embodiment of the invention provides that four arranged on a chassis, designed as Stützaurisoner support organs are provided, which are extendable under the action of associated drive mechanisms from a transport position to a support position extendable and lifting the chassis on a substrate, and that at each Boom two pairs on wireless signals of the remote control device responsive, an inner and an outer range limit defining transmitting and / or receiving units are arranged.
  • a chassis designed as Stützaurisoner support organs
  • an inner and an outer range limit defining transmitting and / or receiving units are arranged.
  • the transmission or working support members are arranged whose transmission ranges are different, wherein the one transmitting unit defines an inner zone boundary corresponding inner range limit and the other transmitting unit corresponds to the outer zone boundary corresponding outer reach limit, and wherein they control means only under triggering an actuation signal for the drive mechanism is responsive when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or supporting member.
  • the invention provides in this case that four arranged on a chassis, designed as a support arm supporting organs are present, which are extendable under the action of associated drive mechanisms from a transport position to a support position extendable and lifting the chassis on a substrate, and that at each cantilever is arranged two transmitting and / or receiving units which respond in pairs to wireless signals of the remote control device and which define an inner and an outer range limit.
  • the range limit of the mutually assigned transmit and receive units can be adjusted for example via the transmission power and / or the antenna geometry.
  • the transmitting and receiving units are designed as radio units, in particular as RFID units of an RFID system.
  • the RFID units of an RFID system consist of an RFID transponder and an RFID reader for reading the transponder identification.
  • the reader contains software in the form of a microprogram that controls the actual reading process. As a rule, the reader generates an electromagnetic high-frequency field with a predetermined range. This not only transmits data, but also powers the RFID transponder. If larger ranges are to be achieved, active transponders with their own power supply can also be used. Speak according to the invention the matched RFID units to matching identification signals.
  • the transmitting and receiving units are designed as infrared or ultrasonic units. Control signals which are necessary for the actuation of the drive mechanism can also be exchanged via the dispensing and / or receiving units.
  • a third embodiment of the invention provides that arranged on a chassis landing gear is provided as a working member which is movable under the action of an associated drive mechanism from a starting position to a working position, and that on the chassis or working member at least one group of two in pairs wireless signals of the remote control device responsive, an inner and an outer range limit defining transmitting and / or receiving units are arranged.
  • the chassis is, for example, a wheel or crawler chassis.
  • Truck concrete pumps shown schematically consist essentially of a chassis 10 with at least one front axle 11 and at least one rear axle 12, with a cab 13, a rotatably mounted on a near-axis turntable 14 about a vertical axis concrete boom 15, with a distance from the slewing gear 14 on the Chassis 10 mounted pump assembly 16 and a support structure 18 for the chassis 10.
  • the support structure 18 has a chassis-fixed support frame 19 and comprises two front support boom 20 and two rear support boom 22, which in the transport position ( Fig. 1a ) are retracted and aligned substantially parallel to the vehicle longitudinal axis 24 and in the support position ( Fig. 1b ) project obliquely forward or backward over the chassis 10 and are supported with their feet 26,28 on the floor 30.
  • the front support arms 20 are pivotable about their vertical pivot axes 32 and the rear support arm 22 about their vertical pivot axes 34 between the transport position and the support position under the action of a respective Ausstellzylinders 36.
  • the front support boom 20 are formed as a telescopic boom. They each include a pivotable about a vertical pivot axis 32 relative to the chassis extension box 38 and one of three telescopic segments 40 ', 40 ", 40'" existing telescopic part 40.
  • the rear support arm 22 are simple Swivel legs trained. How out Fig. 1b can be seen, depending on the deployment angle of the support arm 20, 22 next to the normal support (below) and a narrow support (top) can be selected. This adaptation to given space in the field of construction site is possible.
  • the invention therefore provides for the operation of the support arms 20, 22 and the support legs 26, 28, a remote control device 54 before. In this case, the operator can get close enough to the extend or retractable outriggers to observe the motion during the support process can. At the same time, however, it must be ensured that a danger to the operator is avoided by the extension and retraction support arms.
  • the in Fig. 2 shown truck concrete pump on a control device 50 for controlling the arranged in the Stauerauslegem 20, 22 electro-hydraulic drive mechanisms, which can be operated individually via a remote control device 54 by the operator.
  • the remote control device 54 has a radio transmitter 56 which communicates via a radio link 58 with a radio receiver 60 fixed to the frame and connected to the control device 50.
  • the drive mechanism for one of the support beams is in Fig. 2 symbolically indicated by a Stauerauslegerventil 52.
  • each of the support arms 20, 22 is connected via its own drive mechanism 52 to the control device.
  • the zone boundaries 66 ', 66 are defined by suitable parameterization of the RFID system
  • the parameterization then takes place, for example, such that the inner zone boundary 66' is replaced by the reception at a first zone Antenna is detected. If the operator comes too close to the outrigger, this antenna responds and shuts off the movement. If the inner range limit 66 'is exceeded to the outside, then one is in the operating zone 70 as long as the second range limits 66 "have not yet been reached. In this case, contact only exists for one of the two RFID transponders , so it is located outside the operating zone 70 in the outer zone 72nd
  • the RFIDs have an additional function. You can identify the reader 64 of the operator. Only when the remote control 54 contains the appropriate reader 64, the operation of the support arms 20, 22 can be triggered. For an individualization of this kind could speak, if there are several concrete pumps on a large construction site, which must not disturb each other. Further, this technique can also be used to avoid supporting leg collisions with chassis parts of some kind, such as the cab. Also, the RFID technology can be used if there is a reader with a distance sensor is arranged.
  • the measures according to the invention can also be used to actuate two support arms simultaneously.
  • a remote control for the support arms of a truck-mounted concrete pump.
  • a working device in the form of a mobile concrete pump 80 with remote-controlled crawler track 82 is in Fig. 3a and b shown in a side view and an end view.
  • the operator must perform two tasks at the same time, namely the operation of the working machine along a certain distance and the operation of certain work organs for the execution of the concreting operations.
  • the safety of the operator is also ensured in this case by the fact that any operation is interrupted, if it is within a security zone and thus could be at risk, or if it is outside a predetermined operating zone and moving too far away from the working position and possibly jeopardizing other persons or the working machine.
  • the RFID system described above in connection with the support function is used, in which a RFID reader is arranged on a remote control device, not shown, and at certain positions of the mobile concrete pump 80 RFID transponder pairs 62 ', 62 "are arranged.
  • the antennas of the RFID transponders 62 ', 62 are configured such that their respective ranges define a zone boundary which subdivides the space around the concrete pump into a safety zone, an operating zone and an outer zone.
  • the remote control device is as previously used only in the operating zone for purposes of actuation.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Selective Calling Equipment (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

Die Erfindung betrifft eine mobile Arbeitsmaschine der im Oberbegriff der Anspreche 1, 3 und 11 angegebenen Gattung mit mindestens einem Arbeits- oder Abstützorgan, das mindestens einen motorischen Antriebsmechanismus aufweist, mit einer Steuereinrichtung zur Ansteuerung des mindestens einen Antriebsmechanismus und mit einem mit der Steuereinrichtung drahtlos kommunizierenden Fernsteuergerät.The invention relates to a mobile machine of the type specified in the preamble of claims 1, 3 and 11 with at least one working or support member having at least one motor drive mechanism, with a control device for controlling the at least one drive mechanism and with a wirelessly communicating with the control device remote control device.

Mobile Arbeitsmaschinen, wie beispielsweise Fahrbetonpumpen, sind mit einer Abstützkonstruktion versehen, mit der sie in ihrer Arbeitsposition auf einem Untergrund abstützbar sind. Die Abstützorgane der Abstützkonstruktion werden bisher einzeln am Fahrgestell ausgefahren und mit ihrem Fußteil auf dem Untergrund abgestützt. Üblicherweise wird das Aus- und Einfahren der Abstützorgane und die Auf- und Abbewegung des Fußteils über getrennte Schalter über elektrohydraulische Betätigungsmechanismen ausgelöst. Von der Maschine aus können zwar alle Betätigungsmechanismen gleichzeitig angesteuert werden, wenn der Untergrund bekannt ist. Allerdings ist von der Entfernung aus oft nicht erkennbar, an welcher Stelle das Fußteil auf dem Untergrund auftrifft. Deshalb hat man zusätlich am Abstützzylinder noch einen Schalter angeordnet, um das Fußteil besser positionieren zu können. Allerdings ist, hier nicht auszuschließen, dass der Bediener in Gefahr kommt, wenn das Fußteil auf dem Boden auftrifft. Er könnte dort eingeklemmt und verletzt werden. Auch das Aus- und Einfahren der Abstützorgane stellt eine gewisse Gefahr dar, da der Ausleger den Bediener treffen und dadurch verletzen kann.Mobile machines, such as concrete pumps, are provided with a support structure with which they can be supported in their working position on a surface. The Abstützorgane the support structure are previously extended individually on the chassis and supported with her foot on the ground. Usually, the extension and retraction of the support members and the up and down movement of the foot is triggered via separate switch via electro-hydraulic actuation mechanisms. From the machine, although all operating mechanisms can be controlled simultaneously, if the ground is known. However, it is often not clear from the distance at which point the foot part hits the ground. Therefore, in addition to the support cylinder has a switch arranged to better position the foot can. However, it can not be ruled out here that the operator is in danger if the foot part strikes the ground. He could get trapped and hurt there. Also, the extension and retraction of the support organs represents a certain danger, since the boom can hit the operator and thereby hurt.

Ähnliche Probleme treten bei selbstfahrenden Arbeitsmaschinen auf, die über geeignete Schaltelemente von außen bedient werden müssen, beispielsweise um sie von einer Ausgangsposition in eine Arbeitsposition zu verfahren. Dabei ist nicht auszuschließen, dass die Arbeitsmaschine im Fahrzustand mit dem Bediener kollidiert und diesen verletzt. Auch beim Ein-satz von Fernbedienungen für die Arbeits- oder Abstützorgane sind Kollisionen mit dem Bediener und daraus resultierende Verletzungen nicht auszuschließen. Um diesen Nachteil zu vermeiden, wurde bei einer Arbeitsmaschine der eingangs angegebenen Art bereits vorgeschlagen ( US-5,450,068 A1 ), dass das Fernsteuergerät einen eine innere Zonengrenze definierenden ersten Abstandssensor und einen eine äußere Zonengrenze definierenden zweiten Abstandssensor aufweist, und dass die Steuereinrichtung nur dann auf Fernsteuersignale unter Auslösung eines Betätigungssignals für den motorischen Antriebsmechanismus anspricht, wenn sich das Fernsteuergerät im Bereich zwischen der inneren und der äußeren Zonengrenze befindet.Similar problems occur in self-propelled machines, which must be operated via suitable switching elements from the outside, for example, to move them from a starting position to a working position. It can not be ruled out that the working machine collides with the operator while driving and injures him. Also at the insert Remote controls for the work or support organs, collisions with the operator and resulting injuries can not be excluded. To avoid this disadvantage, has already been proposed in a working machine of the type specified above ( US 5,450,068 A1 in that the remote control device has a first distance sensor defining an inner zone boundary and a second distance sensor defining an outer zone boundary, and that the controller responds to remote control signals only upon actuation of the motor drive mechanism when the remote control device is in the range between the inner and the outer limits the outer zone boundary is located.

Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, ein Fembedienungssystem für die Arbeits- und/oder Abstützorgane in Arbeitsmaschinen der eingangs angegebenen Art zu entwickeln, das höhere Anforderungen an die Betriebssicherheit erfüllt.Proceeding from this, the present invention seeks to develop a Fembedienungssystem for working and / or Abstützorgane in working machines of the type specified, which meets higher demands on the reliability.

Zur Lösung dieser Aufgabe werden die im Patentanspruch 1 angegebenen Merkmale vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To solve this problem the features specified in claim 1 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

Im Falle der Ansteuerung der erfindungsgemäßen Abstützorgane besteht das Grundprinzip der Erfindung darin, dass um das äußerste Ende eines jeden Abstützorgans drei Zonen gebildet werden:

  • eine Sicherheitszone im engsten Umgebungsbereich eines jeden Abstützorgans, in der sich die Bedienperson nicht aufhalten darf;
  • eine Bedienzone, innerhalb der sich die Bedienperson aufhalten muss, um das Abstützorgan bedienen zu können;
  • eine Außenzone, von der aus eine Fernbedienung des Abstützorgans nicht möglich ist.
In the case of activation of the support organs according to the invention, the basic principle of the invention is that three zones are formed around the outermost end of each support member:
  • a safety zone in the immediate vicinity of each support structure in which the operator is not allowed to rest;
  • an operating zone within which the operator must be in order to operate the support member can;
  • an outer zone, from which a remote control of the supporting member is not possible.

Gemäß der Erfindung werden dazu zwei Zonengrenzen definiert, eine innere Zonengrenze und eine äußere Zonengrenze. Die Zonengrenzen werden durch geeignete Parametrierung der Sende- und/oder Empfangseinheiten festgelegt. Im Beispielsfall der Abstützorgane setzt dies voraus, dass Sendeund/oder Empfangseinheiten sowohl am Abstützorgan als auch an der von der Bedienperson festgehaltenen Fernbedienung vorhanden sind.According to the invention, two zone boundaries are defined for this, an inner zone boundary and an outer zone boundary. The zone limits are determined by suitable parameterization of the transmitting and / or receiving units. In the example case of the support organs, this presupposes that transmitting and / or receiving units are present both on the supporting member and on the remote control held by the operator.

Demgemäß sieht eine erste Ausgestaltung der Erfindung vor, dass an dem mindestens einen Arbeits- oder Abstützorgan zwei drahtlos mit einer Empfangseinheit des Fernsteuergeräts kommunizierende Sendeeinheiten angeordnet sind, deren Sendereichweiten unterschiedlich sind, wobei die eine Sendeeinheit eine der inneren Zonengrenze entsprechende innere Reichweitengrenze und die andere Sendeeinheit eine der äußeren Zonengrenze entsprechende äußere Reichweitengrenze definiert, und wobei die Steuereinrichtung nur dann unter Auslösung eines Betätigungssignals für den Antriebsmechanismus anspricht, wenn sich das Fernsteuergerät im Bereich zwischen der inneren und der äußeren Reichweitengrenze gegenüber dem zugehörigen Arbeit- oder Abstützorgan befindet.Accordingly, a first embodiment of the invention provides that at the at least one working or support member two wirelessly communicating with a receiving unit of the remote control unit transmitting units are arranged whose transmission ranges are different, wherein the one transmitting unit one of the inner zone boundary corresponding inner range limit and the other transmitting unit defines an outer range limit corresponding to the outer zone boundary, and wherein the control means responds to triggering an actuating signal for the drive mechanism only when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or support member.

Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass vier an einem Fahrgestell angeordnete, als Stützausieger ausgebildete Abstützorgane vorgesehen sind, die unter der Einwirkung zugehöriger Antriebsmechanismen von einer Transportstellung in eine Abstützstellung ausfahrbar und unter Anheben des Fahrgestells auf einem Untergrund abstützbar sind, und dass an jedem Ausleger zwei paarweise auf drahtlose Signale des Fernbedienungsgeräts ansprechende, eine innere und eine äußere Reichweitengrenze definierende Sende- und/oder Empfangseinheiten angeordnet sind. Mit den erfindungsgemäßen Maßnahmen ist es auch möglich, dass mindestens zwei Stützausleger gleichzeitig ansteuerbar sind, wenn sich das Fernsteuergerät zwischen der inneren und äußeren Reichweitengrenze der anzusteuernden Stützausleger befindet.A preferred embodiment of the invention provides that four arranged on a chassis, designed as Stützausieger support organs are provided, which are extendable under the action of associated drive mechanisms from a transport position to a support position extendable and lifting the chassis on a substrate, and that at each Boom two pairs on wireless signals of the remote control device responsive, an inner and an outer range limit defining transmitting and / or receiving units are arranged. With the measures according to the invention, it is also possible for at least two support arms to be actuated simultaneously when the remote control device is located between the inner and outer range limits of the support arms to be controlled.

Alternativ hierzu wird gemäß einer zweiten Ausführungsform der Erfindung vorgeschlagen, dass an dem Fernsteuergerät zwei drahtlos mit einer Empfangseinheit des Arbeits- oder Abstützorgan kommunizierende Sendeeinheiten angeordnet sind, deren Sendereichweiten unterschiedlich sind, wobei die eine Sendeeinheit eine der inneren Zonengrenze entsprechende innere Reichweitengrenze und die andere Sendeeinheit eine der äußeren Zonengrenze entsprechende äußere Reichweitengrenze definiert, und wobei sie Steuereinrichtung nur dann unter Auslösung eines Betätigungssignals für den Antriebsmechanismus anspricht, wenn sich das Fernsteuergerät im Bereich zwischen der inneren und der äußeren Reichweitengrenze gegenüber dem zugehörigen Arbeits- oder Abstützorgan befindet. Weiter sieht die Erfindung in diesem Fall vor, dass vier an einem Fahrgestell angeordnete, als Stützausleger ausgebildete Abstützorgane vorhanden sind, die unter der Einwirkung zugehöriger Antriebsmechanismen von einer Transportstellung in eine Abstützstellung ausfahrbar und unter Anheben des Fahrgestells auf einem Untergrund abstützbar sind, und dass an jedem Ausleger zwei paarweise auf drahtlose Signale des Fernbedienungsgeräts ansprechende, eine innere und eine äußere Reichweitengrenze definierende Sende- und/oder Empfangseinheiten angeordnet sind.Alternatively, it is proposed according to a second embodiment of the invention that on the remote control device two wirelessly with a receiving unit the transmission or working support members are arranged whose transmission ranges are different, wherein the one transmitting unit defines an inner zone boundary corresponding inner range limit and the other transmitting unit corresponds to the outer zone boundary corresponding outer reach limit, and wherein they control means only under triggering an actuation signal for the drive mechanism is responsive when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or supporting member. Next, the invention provides in this case that four arranged on a chassis, designed as a support arm supporting organs are present, which are extendable under the action of associated drive mechanisms from a transport position to a support position extendable and lifting the chassis on a substrate, and that at each cantilever is arranged two transmitting and / or receiving units which respond in pairs to wireless signals of the remote control device and which define an inner and an outer range limit.

Die Reichweitengrenze der einander paarweise zugeordneten Sende- und Empfangseinheiten kann beispielsweise über die Sendeleistung und/oder die Antennengeometrie verstellt werden.The range limit of the mutually assigned transmit and receive units can be adjusted for example via the transmission power and / or the antenna geometry.

Vorteilhafterweise sind die Sende- und Empfangseinheiten als Funkeinheiten, insbesondere als RFID-Einheiten eines RFID-Systems ausgebildet. Die RFID-Einheiten eines RFID-Systems (Radio Frequency Identification System) bestehen aus einem RFID-Transponder und einem RFID-Lesegerät zum Auslesen der Transponderkennung. Das Lesegerät enthält dabei eine Software in Form eines Mikroprogramms, das den eigentliche Leseprozess steuert. In der Regel erzeugt das Lesegerät ein elektromagnetisches Hochfrequenzfeld mit vorgegebener Reichweite. Damit werden nicht nur Daten übertragen, sondern auch der RFID-Transponder mit Energie versorgt. Wenn größere Reichweiten erzielt werden sollen, können auch aktive Transponder mit eigener Stromversorgung eingesetzt werden. Erfindungsgemäß sprechen die aufeinander abgestimmten RFID-Einheiten auf übereinstimmende Identifikationssignale an.Advantageously, the transmitting and receiving units are designed as radio units, in particular as RFID units of an RFID system. The RFID units of an RFID system (Radio Frequency Identification System) consist of an RFID transponder and an RFID reader for reading the transponder identification. The reader contains software in the form of a microprogram that controls the actual reading process. As a rule, the reader generates an electromagnetic high-frequency field with a predetermined range. This not only transmits data, but also powers the RFID transponder. If larger ranges are to be achieved, active transponders with their own power supply can also be used. Speak according to the invention the matched RFID units to matching identification signals.

Grundsätzlich ist es auch möglich, dass die Sende- und Empfangseinheiten als Infrarot- oder Ultraschalleinheiten ausgebildet sind. Über die Spendeund/oder Empfangseinheiten können auch Steuersignale ausgetauscht werden, die für die Betätigung des Antriebsmechanismus notwendig sind.In principle, it is also possible that the transmitting and receiving units are designed as infrared or ultrasonic units. Control signals which are necessary for the actuation of the drive mechanism can also be exchanged via the dispensing and / or receiving units.

Eine dritte Ausführungsform der Erfindung sieht vor, dass ein an einem Fahrgestell angeordnetes Fahrwerk als Arbeitsorgan vorgesehen ist, das unter der Einwirkung eines zugehörigen Antriebsmechanismus von einer Ausgangsposition in eine Arbeitsposition verfahrbar ist, und dass an dem Fahrgestell oder Arbeitsorgan mindestens eine Gruppe aus zwei paarweise auf drahtlose Signale des Fernsteuergeräts ansprechende, eine innere und eine äußere Reichweitengrenze definierende Sende- und/öder Empfangseinheiten angeordnet sind. Bei dem Fahrwerk handelt es sich beispielsweise um ein Räder- oder Raupenfahrwerk. Mit den erfindungsgemäßen Maßnahmen wird erreicht, dass die mobile Arbeitsmaschine über eine Fernbedienung angesteuert werden kann, ohne dass eine Kollision des Geräts mit der Bedienungsperson befürchtet werden muss.A third embodiment of the invention provides that arranged on a chassis landing gear is provided as a working member which is movable under the action of an associated drive mechanism from a starting position to a working position, and that on the chassis or working member at least one group of two in pairs wireless signals of the remote control device responsive, an inner and an outer range limit defining transmitting and / or receiving units are arranged. The chassis is, for example, a wheel or crawler chassis. With the measures according to the invention it is achieved that the mobile work machine can be controlled via a remote control without a collision of the device with the operator must be feared.

Im Folgenden wird die Erfindung anhand eines in der Zeichnung in schematischer Weise dargestellten Ausführungsbeispiels näher erläutert. Es zeigen

Fig. 1a
eine Seitenansicht einer Autobetonpumpe mit Stützauslegern in Transportstellung;
Fig. 1b
eine Draufsicht auf die Autobetonpumpe mit Stützauslegern in verschledenen Stellungen;
Fig. 2
ein Schema einer Autobetonpumpe mit Stützauslegern, die über ein Fernsteuergerät bedienbar sind.
Fig. 3
eine Seitenansicht und eine Stirnseitenansicht einer fahrbaren Dickstoffpumpe mit Raupenfahrwerk, das über ein Fernsteuergerät bedienbar ist.
In the following the invention will be explained in more detail with reference to an embodiment shown schematically in the drawing. Show it
Fig. 1a
a side view of a truck-mounted concrete pump with support arms in transport position;
Fig. 1b
a plan view of the truck-mounted concrete pump with support arms in verschledenen positions;
Fig. 2
a diagram of a truck-mounted concrete pump with support arms, which are operated via a remote control device.
Fig. 3
a side view and an end view of a mobile slurry pump with crawler track, which is operated via a remote control device.

Die in Fig. 1a, b und 2 schematisch dargestellten Autobetonpumpen bestehen im Wesentlichen aus einem Fahrgestell 10 mit mindestens einer Vorderachse 11 und mindestens einer Hinterachse 12, mit einem Fahrerhaus 13, einem an einem vorderachsnahen Drehwerk 14 um eine vertikale Achse drehbar gelagerten Betonverteilermast 15, mit einer im Abstand vom Drehwerk 14 auf dem Fahrgestell 10 montierten Pumpanordnung 16 sowie einer Stützkonstruktion 18 für das Fahrgestell 10. Die Stützkonstruktion 18 weist einen fahrgestellfesten Tragrahmen 19 auf und umfasst zwei vordere Stützausleger 20 und zwei rückwärtige Stützausleger 22, die in der Transportstellung (Fig. 1a) eingezogen und im Wesentlichen parallel zur Fahrzeuglängsachse 24 ausgerichtet sind und in der Abstützstellung (Fig. 1b) schräg nach vorne bzw. hinten über das Fahrgestell 10 überstehen und mit ihren Fußteilen 26,28 auf dem Boden 30 abgestützt sind.In the Fig. 1a, b and 2 Truck concrete pumps shown schematically consist essentially of a chassis 10 with at least one front axle 11 and at least one rear axle 12, with a cab 13, a rotatably mounted on a near-axis turntable 14 about a vertical axis concrete boom 15, with a distance from the slewing gear 14 on the Chassis 10 mounted pump assembly 16 and a support structure 18 for the chassis 10. The support structure 18 has a chassis-fixed support frame 19 and comprises two front support boom 20 and two rear support boom 22, which in the transport position ( Fig. 1a ) are retracted and aligned substantially parallel to the vehicle longitudinal axis 24 and in the support position ( Fig. 1b ) project obliquely forward or backward over the chassis 10 and are supported with their feet 26,28 on the floor 30.

Die vorderen Stützausleger 20 sind um ihre vertikalen Schwenkachsen 32 und die rückwärtigen Stützausleger 22 um ihre vertikalen Schwenkachsen 34 zwischen der Transportstellung und der Abstützstellung unter der Einwirkung je eines Ausstellzylinders 36 verschwenkbar. Bei dem in Fig. 1a und b gezeigten Ausführungsbeispiel sind die vorderen Stützausleger 20 als Teleskopausleger ausgebildet. Sie umfassen jeweils einen um eine vertikale Schwenkachse 32 gegenüber dem Fahrgestell verschwenkbaren Ausschubkasten 38 und ein aus drei Teleskopsegmenten 40',40",40'" bestehendes Teleskopteil 40. Die rückwärtigen Stützausleger 22 sind als einfache Schwenkbeine ausgebildet. Wie aus Fig. 1b zu ersehen ist, kann je nach Ausstellwinkel der Stützausleger 20, 22 neben der Normalabstützung (unten) auch eine Schmalabstützung (oben) gewählt werden. Damit ist eine Anpassung an gegebene Platzverhältnisse im Bereich der Baustelle möglich.The front support arms 20 are pivotable about their vertical pivot axes 32 and the rear support arm 22 about their vertical pivot axes 34 between the transport position and the support position under the action of a respective Ausstellzylinders 36. At the in Fig. 1a and b shown embodiment, the front support boom 20 are formed as a telescopic boom. They each include a pivotable about a vertical pivot axis 32 relative to the chassis extension box 38 and one of three telescopic segments 40 ', 40 ", 40'" existing telescopic part 40. The rear support arm 22 are simple Swivel legs trained. How out Fig. 1b can be seen, depending on the deployment angle of the support arm 20, 22 next to the normal support (below) and a narrow support (top) can be selected. This adaptation to given space in the field of construction site is possible.

Üblicherweise wird das Verschwenken und das Teleskopieren der Stützausleger 20, 22 und die Auf- und Abbewegung der Fußteile 26, 28 über getrennte Schalter an den Stützauslegern selbst oder von einer zentralen Schaltposition an der Arbeitsmaschine aus über elektrohydraulische Betätigungsmechanismen ausgelöst. Allerdings ist hier nicht auszuschließen, dass der Bediener durch Kollision der ausfahrenden Stützausleger 20, 22 und Fußteile 26, 28 in Gefahr kommt und dabei verletzt wird. Die Erfindung sieht daher für die Bedienung der Stützausleger 20, 22 und der Stützbeine 26, 28 ein Fernsteuergerät 54 vor. In diesem Fall kann der Bediener nahe genug an die aus- oder einzufahrenden Stützausleger herankommen, um den Bewegungsablauf beim Abstützvorgang beobachten zu können. Gleichzeitig muss jedoch dafür gesorgt werden, dass eine Gefahr für den Bediener durch die aus- und einfahrenden Stützausleger vermieden wird.Usually, the pivoting and the telescoping of the support arms 20, 22 and the up and down movement of the foot parts 26, 28 triggered via separate switches on the support arms themselves or from a central switching position on the machine via electro-hydraulic actuation mechanisms. However, it can not be ruled out here that the operator is in danger as a result of a collision of the extending support arms 20, 22 and foot parts 26, 28 and is thereby injured. The invention therefore provides for the operation of the support arms 20, 22 and the support legs 26, 28, a remote control device 54 before. In this case, the operator can get close enough to the extend or retractable outriggers to observe the motion during the support process can. At the same time, however, it must be ensured that a danger to the operator is avoided by the extension and retraction support arms.

Zu diesem Zweck weist die in Fig. 2 schematisch dargestellte Autobetonpumpe eine Steuerungseinrichtung 50 zur Ansteuerung der in den Stützauslegem 20, 22 angeordneten elektrohydraulischen Antriebsmechanismen auf, die über ein Fernsteuergerät 54 vom Bediener einzeln betätigt werden können. Das Fernsteuergerät 54 weist zu diesem Zweck einen Funksender 56 auf, der über eine Funkstrecke 58 mit einem gestellfesten und mit der Steueruhgseinrichtung 50 verbundenen Funkempfänger 60 kommuniziert. Der Antriebsmechanismus für einen der Stützausleger ist in Fig. 2 symbolhaft durch einen Stützauslegerventil 52 angedeutet. Selbstverständlich ist jeder der Stützausleger 20, 22 über einen eigenen Antriebsmechanismus 52 an die Steuerungseinrichtung angeschlossen.For this purpose, the in Fig. 2 shown truck concrete pump on a control device 50 for controlling the arranged in the Stützauslegem 20, 22 electro-hydraulic drive mechanisms, which can be operated individually via a remote control device 54 by the operator. For this purpose, the remote control device 54 has a radio transmitter 56 which communicates via a radio link 58 with a radio receiver 60 fixed to the frame and connected to the control device 50. The drive mechanism for one of the support beams is in Fig. 2 symbolically indicated by a Stützauslegerventil 52. Of course, each of the support arms 20, 22 is connected via its own drive mechanism 52 to the control device.

Da der Bediener sich grundsätzlich frei um die Autobetonpumpe herum bewegen kann, sind zusätzliche Vorkehrungen getroffen, die eine unerwünschte Kollision mit den Stützauslegern 20, 22 bei deren Betätigung verhindern. Zu diesem Zweck sind bei dem gezeigten Ausführungsbeispiel am fußteilseitigen Ende der Stützausleger 20, 22 jeweils zwei RFID-Transponder 62', 62" angeordnet, beispielsweise aufgeklebt, während an der Fernbedienung ein RFID-Lesegerät 64 angeordnet ist, an welchem die Transponderkennung auslesbar ist. Das Lesegerät 64 enthält eine Software in Form eines Mikroprogramms, das den eigentlichen Leseprozess steuert. Weiter erzeugt das Lesegerät 64 ein elektromagnetisches Hochfrequenzfeld. Dabei werden nicht nur Daten übertragen, sondern auch der RFID-Transponder mit Energie versorgt. Eine Besonderheit der Erfindung besteht nun darin, dass die Sendereichweiten der beiden Transponder 62', 62" eines jeden Stützbeins unterschiedlich sind. Damit können beispielsweise durch entsprechende Auswahl der Antennengeometrie unterschiedliche Reichweitengrenzen 66', 66" der Transponder eingestellt werden, die dazu verwendet werden, um am äußeren Ende eines jeden Stützauslegers 20, 22 drei durch die Reichweitengrenzen 66', 66" abgegrenzte Zonen zu bilden:

  • eine Sicherheitszone 68 im engste Umgebungsbereich eines jeden Stützauslegers, in der sich die Bedienperson nicht aufhalten darf,
  • eine Bedienzone 70, innerhalb der sich die Bedienperson aufhalten muss, um den Stützausleger bedienen zu können,
  • eine Außenzone 72, von der aus eine Fernbedienung des Stützauslegers nicht möglich ist.
Since the operator is basically free to move around the truck-mounted concrete pump, additional precautions are taken to prevent an undesirable collision with the support beams 20, 22 when actuated. For this purpose, two RFID transponders 62 ', 62 "are arranged, for example glued, in the embodiment shown on the foot part end of the support arms 20, 22, while an RFID reader 64 is arranged on the remote control, on which the transponder identification can be read out. The reader 64 contains software in the form of a microprogram that controls the actual reading process, and the reader 64 generates a high-frequency electromagnetic field, not only transmitting data but also powering the RFID transponder in that the transmission ranges of the two transponders 62 ', 62 "of each support leg are different. Thus, for example, by appropriate selection of the antenna geometry different range limits 66 ', 66 "of the transponder can be set, which are used to at the outer end of each support arm 20, 22 three zones defined by the range limits 66', 66" zones:
  • a safety zone 68 in the closest surrounding area of each support arm, in which the operator may not stay,
  • an operating zone 70, within which the operator must be in order to operate the support arm,
  • an outer zone 72 from which remote control of the support arm is not possible.

Die Zonengrenzen 66', 66" werden durch geeignete Parametrierung der RFID-Systems festgelegt. Die Parametrierung erfolgt dann beispielsweise so, dass die innere Zonengrenze 66' durch den Empfang an einer ersten Antenne erkannt wird. Kommt der Bediener dem Stützausleger zu nah, so spricht diese Antenne an und führt zur Abschaltung der Bewegung. Wird die innere Reichweitengrenze 66' nach außen hin überschritten, so befindet man sich in der Bedienzone 70, solange die zweite Reichweitengrenzen 66" noch nicht erreicht ist. In diesem Fall besteht Kontakt nur zu einem der beiden RFID-Transponder. Geht auch dieser Kontakt verloren, so befindet man sich außerhalb der Bedienzone 70 in der Außenzone 72.The zone boundaries 66 ', 66 "are defined by suitable parameterization of the RFID system The parameterization then takes place, for example, such that the inner zone boundary 66' is replaced by the reception at a first zone Antenna is detected. If the operator comes too close to the outrigger, this antenna responds and shuts off the movement. If the inner range limit 66 'is exceeded to the outside, then one is in the operating zone 70 as long as the second range limits 66 "have not yet been reached. In this case, contact only exists for one of the two RFID transponders , so it is located outside the operating zone 70 in the outer zone 72nd

Die RFIDs haben noch eine zusätzliche Funktion. Sie können das Lesegerät 64 des Bedieners identifizieren. Nur wenn die Fernbedienung 54 das zutreffende Lesegerät 64 enthält, kann die Bedienung der Stützausleger 20, 22 ausgelöst werden. Für eine Individualisierung dieser Art könnte sprechen, wenn sich auf einer Großbaustelle mehrere Betonpumpen befinden, die sich gegenseitig nicht stören dürfen. Weiter kann diese Technik auch dazu verwendet werden, dass Stützbeinkollisionen mit Chassisteilen irgendwelcher Art, beispielsweise mit dem Fahrerhaus, vermieden werden. Auch dazu kann die RFID-Technologie eingesetzt werden, wenn dort ein Lesegerät mit einem Abstandssensor angeordnet ist.The RFIDs have an additional function. You can identify the reader 64 of the operator. Only when the remote control 54 contains the appropriate reader 64, the operation of the support arms 20, 22 can be triggered. For an individualization of this kind could speak, if there are several concrete pumps on a large construction site, which must not disturb each other. Further, this technique can also be used to avoid supporting leg collisions with chassis parts of some kind, such as the cab. Also, the RFID technology can be used if there is a reader with a distance sensor is arranged.

Grundsätzlich ist es möglich, RFID-Lesegeräte und RFID-Transponder gegeneinander auszutauschen, und auch in diesem Falle lassen sich ähnlich wie im beschriebenen Fall Reichweitengrenzen und damit eine Zonenaufteilung um den Stützausleger herum definieren.In principle, it is possible to exchange RFID readers and RFID transponders against each other, and also in this case can be defined as in the described case range limits and thus a zoning around the support arm around.

Weiter lassen sich die erfindungsgemäßen Maßnahmen auch dazu verwenden, dass zwei Stützausleger gleichzeitig betätigt werden. In diesem Falle ergeben sich einander überlappende Bedienzonen 70, innerhalb der sich der Bediener bei der Betätigung der Stützausleger aufhalten muss, um eine Kollisionsgefahr zu vermeiden.Furthermore, the measures according to the invention can also be used to actuate two support arms simultaneously. In this case, there are overlapping operating zones 70, within which the operator must be in the operation of the support arm to avoid a risk of collision.

Die vorstehende Beschreibung befasst sich mit einer Fernbedienung für die Stützausleger einer Autobetonpumpe. Grundsätzlich ist es möglich, die erfindungsgemäßen Maßnahmen auch für andere Anwendungsfälle einzusetzen, so beispielsweise bei der Fernbedienung eines selbstfahrenden Arbeitsgeräts, das über eine Fernbedienung von einer Ausgangsposition in eine Arbeitsposition verfahren werden soll. Ein solches Arbeitsgerät in Form einer mobilen Betonpumpe 80 mit fernbedienbarem Raupenfahrwerk 82 ist in Fig. 3a und b in einer Seitenansicht und einer Stirnseitenansicht dargestellt.
In diesem Falle muss der Bediener zwei Aufgaben gleichzeitig erfüllen, nämlich das Verfahren der Arbeitsmaschine entlang einer bestimmten Strecke und die Betätigung bestimmter Arbeitsorgane für die Ausführung der Betoniervorgänge. Die Sicherheit des Bedieners, der sich grundsätzlich frei im Raum bewegen kann, wird auch in diesem Falle dadurch gewährleistet, dass jegliche Betätigung unterbrochen wird, wenn dieser sich innerhalb einer Sicherheitszone befindet und dadurch gefährdet sein könnte, oder wenn er sich außerhalb einer vorgegebenen Bedienzone befindet und sich dabei zu weit von der Arbeitsposition weg bewegt und gegebenenfalls andere Personen oder die Arbeitsmaschine gefährden könnte. Zu diesem Zweck wird beispielsweise das vorstehend im Zusammenhang mit der Abstützfunktion beschriebene RFID-System verwendet, bei welchem an einem nicht dargestellten Fernbediengerät ein RFID-Lesegerät angeordnet ist und an bestimmtem Positionen der mobilen Betonpumpe 80 RFID-Transponderpaare 62', 62" angeordnet sind. Die Antennen der RFID-Transponder 62', 62" sind so konfiguriert, dass über ihre Reichweiten jeweils eine Zonengrenze definiert wird, die den Raum um die Betonpumpe in eine Sicherheitszone, eine Bedienzone und eine Außenzone unterteilt. Das Fernbedienungsgerät ist wie zuvor nur in der Bedienzone zu Betätigungszwecken einsetzbar.The above description deals with a remote control for the support arms of a truck-mounted concrete pump. In principle, it is possible to use the measures according to the invention for other applications as well, for example, in the remote control of a self-propelled implement, which is to be moved via a remote control from a starting position to a working position. Such a working device in the form of a mobile concrete pump 80 with remote-controlled crawler track 82 is in Fig. 3a and b shown in a side view and an end view.
In this case, the operator must perform two tasks at the same time, namely the operation of the working machine along a certain distance and the operation of certain work organs for the execution of the concreting operations. The safety of the operator, who in principle can move around freely in the room, is also ensured in this case by the fact that any operation is interrupted, if it is within a security zone and thus could be at risk, or if it is outside a predetermined operating zone and moving too far away from the working position and possibly jeopardizing other persons or the working machine. For this purpose, for example, the RFID system described above in connection with the support function is used, in which a RFID reader is arranged on a remote control device, not shown, and at certain positions of the mobile concrete pump 80 RFID transponder pairs 62 ', 62 "are arranged. The antennas of the RFID transponders 62 ', 62 "are configured such that their respective ranges define a zone boundary which subdivides the space around the concrete pump into a safety zone, an operating zone and an outer zone. The remote control device is as previously used only in the operating zone for purposes of actuation.

Claims (12)

  1. Mobile working machine having at least one working or supporting element (20, 22; 82) which has at least one motor drive mechanism, having a control device for controlling the at least one drive mechanism and having a remote control device (54) which wirelessly communicates with the control device (50), the remote control device and/or the at least one working or supporting element (20, 22; 82) having a first distance sensor which defines an inner zone boundary (66') and a second distance sensor which defines an outer zone boundary (66"), and the control device (50) responding to remote control signals with the triggering of an actuation signal for the drive mechanism only when the remote control device (54) is in the region between the inner zone boundary (66') and the outer zone boundary (66"), characterized in that two transmitting units (62', 62") which wirelessly communicate with a receiving unit (64) of the remote control device (54) are arranged on the at least one working or supporting element (20, 22; 82), the transmitting ranges of which transmitting units are different, one transmitting unit (62') defining an inner range limit corresponding to the inner zone boundary (66') and the other transmitting unit (62") defining an outer range limit corresponding to the outer zone boundary (66"), and the control device (50) responding with the triggering of an actuation signal for the drive mechanism only when the remote control device (54) is in the region (70) between the inner and outer zone boundaries (66', 66") opposite the associated working or supporting element (20, 22, 82).
  2. Mobile working machine according to Claim 1, characterized in that four supporting elements which are in the form of supporting struts (20, 22) and are arranged on a chassis are provided, which supporting elements can be moved from a transport position into a supporting position under the action of associated drive mechanisms (52) and can be supported on a substrate (30) by raising the chassis, and in that transmitting and/or receiving units which respond in pairs to wireless signals from the remote control device (54) and define an inner range limit (66') and an outer range limit (66") are arranged on each supporting strut (20, 22).
  3. Mobile working machine having at least one working or supporting element (20, 22; 82) which has at least one motor drive mechanism, having a control device for controlling the at least one drive mechanism and having a remote control device (54) which wirelessly communicates with the control device (50), the remote control device and/or the at least one working or supporting element (20, 22; 82) having a first distance sensor which defines an inner zone boundary (66') and a second distance sensor which defines an outer zone boundary (66"), and the control device (50) responding to remote control signals with the triggering of an actuation signal for the drive mechanism only when the remote control device (54) is in the region between the inner zone boundary (66') and the outer zone boundary (66"), characterized in that four supporting elements which are in the form of supporting struts (20, 22) and are arranged on a chassis are provided, which supporting elements can be moved from a transport position into a supporting position under the action of associated drive mechanisms (52) and can be supported on a substrate (30) by raising the chassis, and in that receiving units which respond in pairs to wireless signals from the remote control device (54) and define an inner range limit (66') and an outer range limit (66") are arranged on each supporting strut (20, 22), in that two transmitting units which wirelessly communicate with a respective receiving unit of the supporting struts are arranged on the remote control device (54), the transmitting ranges of which transmitting units are different, one transmitting unit defining an inner range limit corresponding to the inner zone boundary (66') and the other transmitting unit defining an outer range limit corresponding to the outer zone boundary (66"), and the control device (50) responding with the triggering of an actuation signal for the drive mechanism of an associated supporting strut only when the remote control device (54) is in the region between the inner and outer zone boundaries (66', 66") opposite the associated supporting strut.
  4. Mobile working machine according to one of Claims 1 to 3, characterized in that the transmitting and/or receiving units are in the form of radio devices.
  5. Mobile working machine according to one of Claims 1 to 4, characterized in that the transmitting and/or receiving units are in the form of RFID units of an RFID system.
  6. Mobile working machine according to Claim 5, characterized in that the RFID units comprise RFID transponders and RFID readers (64).
  7. Mobile working machine according to Claim 5 or 6, characterized in that the RFID units tuned to one another respond to matching identification signals.
  8. Mobile working machine according to one of Claims 1 to 3, characterized in that the transmitting and/or receiving units are in the form of infrared or ultrasonic units.
  9. Mobile working machine according to one of Claims 1 to 8, characterized in that control signals for actuating the drive mechanism can be interchanged via the transmitting and/or receiving units.
  10. Mobile working machine according to one of Claims 2 to 9, characterized in that at least two supporting struts (20, 22) can be controlled at the same time if the remote control device (54) is between the inner range limit (66') and the outer range limit (66") of the supporting struts (20, 22) to be controlled.
  11. Mobile working machine having at least one working or supporting element (20, 22; 82) which has at least one motor drive mechanism, having a control device for controlling the at least one drive mechanism and having a remote control device (54) which wirelessly communicates with the control device (50), the remote control device and/or the at least one working or supporting element (20, 22; 82) having a first distance sensor which defines an inner zone boundary (66') and a second distance sensor which defines an outer zone boundary (66"), and the control device (50) responding to remote control signals with the triggering of an actuation signal for the drive mechanism only when the remote control device (54) is in the region between the inner zone boundary (66') and the outer zone boundary (66"), characterized in that a running gear (82) which is arranged on a chassis (10) is provided as the working element and can be moved from a starting position into a working position under the action of an associated drive mechanism, and in that at least one group of two transmitting and/or receiving units (62', 62") which respond in pairs to wireless signals from the remote control device (54) and define an inner range limit and an outer range limit is arranged on the chassis (10) or working element.
  12. Mobile working machine according to one of Claims 4 to 7, 9, 10, characterized in that the range limit can be adjusted by varying the geometry and the transmission power of an antenna of the associated transmitting and/or receiving unit (62', 62").
EP09781996.5A 2008-09-15 2009-08-19 Mobile working machine having a remote control device Active EP2323943B1 (en)

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DE200810047425 DE102008047425A1 (en) 2008-09-15 2008-09-15 Mobile work machine with remote control device
PCT/EP2009/060726 WO2010028938A1 (en) 2008-09-15 2009-08-19 Mobile working machine having a remote control device

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EP2323943A1 EP2323943A1 (en) 2011-05-25
EP2323943B1 true EP2323943B1 (en) 2015-08-05

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WO2010028938A1 (en) 2010-03-18

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