EP2612308B1 - Funkfernsteuerung mit lagesensorik - Google Patents

Funkfernsteuerung mit lagesensorik Download PDF

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Publication number
EP2612308B1
EP2612308B1 EP10757578.9A EP10757578A EP2612308B1 EP 2612308 B1 EP2612308 B1 EP 2612308B1 EP 10757578 A EP10757578 A EP 10757578A EP 2612308 B1 EP2612308 B1 EP 2612308B1
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EP
European Patent Office
Prior art keywords
machine
remote control
radio remote
control system
designed
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Active
Application number
EP10757578.9A
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German (de)
English (en)
French (fr)
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EP2612308A1 (de
Inventor
Wolfgang Brendel
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Brendel Holding & Co KG GmbH
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Brendel Holding & Co KG GmbH
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/30—User interface
    • G08C2201/32—Remote control based on movements, attitude of remote control device
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices

Definitions

  • the present invention relates to a radio remote control of a crane, a boom, a loading bridge and / or a hoist with various moving components (machine) with at least one controllable by the radio remote machine drive a movable machine part, comprising a machine associated with the radio receiving device, a handset with a control unit , a transmitting device and at least one motion sensor, wherein the control unit is adapted to transmit control commands caused by a user to the transmitting device and to cause the transmitting device for transmitting the control commands to the receiving device, and wherein by means of the motion sensor movements of the handset in the room by at least a tilting or tilting axis (KA, DA) can be detected, such that in a movement operating mode the detected movements can be converted by the control unit into control commands which are sent to the machine by F unkübertragung between transmitting device and receiving device can be transmitted, wherein the movement mode of operation can be activated by a user input on the handset.
  • KA, DA tilting or tilting axis
  • a particularly preferred although not exclusive field of application of the present invention is the control of cranes and hoists.
  • a jib crane such as a construction crane, e.g. the orientation of the boom (rotation angle), the movement of the cat and the movement of the hook are controlled with a suitably designed radio remote control according to the invention.
  • Position sensors are also installed today, for example, in mobile phones, so that the orientation of such a device, in particular its display can be determined to adjust the display in the display according to the orientation of the device.
  • radio remote controls are from the US 2005/0212911 A1 , of the DE 10 2004 009 561 A1 and the US 2008/0150749 A1 known.
  • the US 2005/0212911 A1 discloses in general the configuration or use of a handheld device, for example a mobile telephone, as a radio remote control for all possible devices, partly with movable divider and the radio remote control corresponds in its functionality to the other features of the preamble of claim 1.
  • the DE 10 2004 009 561 A1 discloses the use of a smartphone as a remote control for controlling a device detected by the camera by means of movements of the smartphone.
  • the US 2008/0150749 A1 discloses a remote control for a reclining or seating device, for example a hospital bed, the lying or Sirzflä- has several elements, each of which is separately adjustable by a liner motor. The operating state of the respective linear motors is sent back to the remote control.
  • the object of the invention is to improve a generic radio remote control in terms of intuitive operation by a user.
  • the receiving device has a feedback transmitter and is adapted to activate the feedback transmitter for the transmission of feedback information upon receipt of control commands, and wherein the handset set up for receiving the return information and connected to the control unit feedback receiver and controlled by the control unit having acoustic and / or haptic display device by means of which operating function information of the radio remote control in accordance with the reception of feedback signals from the feedback transmitter can be displayed.
  • control unit it is possible to determine the current reference position in a comfortable hand position for a user.
  • a handset of a radio remote control is often not kept exactly horizontal, but a natural attitude of the human hand causes the handset is held with a slight inclination in the upward direction.
  • This natural posture can then be defined as the current reference position or as a kind of neutral position, so that movements detected by the motion sensor, such as turning, tilting or tilting of the handset, can be detected and converted into control commands.
  • Based on such a natural position of the human hand also results in an optimal utilization of the possible movements by the user for the purpose of controlling a corresponding machine drive.
  • the radio remote control is set up such that upon activation of the motion mode, the current position of the handset is detected in space and compared with a predetermined reference position, and that detected movements are only as control commands to the machine can be transmitted, if the radio remote control has been brought at least approximately in the predetermined reference position, wherein for the generation of control commands movements are detected relative to the predetermined reference position.
  • the predetermined reference position may be, for example, a substantially horizontal orientation of the handset in space. This predetermined reference position must be reached or adjusted starting from a position of the handset in the room in which the motion control is activated. Once the handset has been brought into a current position or is already in activating the motion control, which corresponds approximately to the predetermined reference position, d. H. meets this predetermined reference position within a tolerance range, then further movements of the handset are detected based on the predetermined reference position and converted into control commands that can be transmitted to the machine.
  • the invention allows intuitive operation and control of a machine by means of a hand-held device that contains motion sensors and whose control unit allows transmission of detected movements as a control command to the machine.
  • a radio remote control In this regard, reference should be made to two different control operation possibilities that may be implemented in respective embodiments of a radio remote control according to the present invention.
  • a first control mode the activation of the motion mode is performed by operating a switch.
  • a switch preferably any existing safety relay or the like.
  • the machine is unlocked and it follows the referencing of the handset according to one of the aforementioned referencing options.
  • By moving the handset relative to the detected reference position is then the specification of the controlled movement of the machine part, whereby by opposite directions of movement of the handset relative to the reference position control commands can be generated, which also cause the machine part to move in corresponding opposite directions.
  • the amount of the movement to be controlled for example the speed amount or the acceleration amount, can then also be specified.
  • An example of this is provided, for example, by specifying both the direction and the amount of the movement of the machine part to be controlled by rotating the handset relative to a reference position detected when the motion mode is activated by +/- 30 °, for example Plus area represents a direction of movement and the minus area represents the opposite direction of movement of the machine part.
  • a second control mode provides that e.g. two contacts or push buttons are provided, which are to be actuated to activate the movement mode of operation, wherein one of the keys associated with a direction of movement of the machine part, whereas the other button is associated with the opposite direction of movement of the machine part.
  • the movement of the handset relative to the respective reference position would then be e.g. specify only the amount of the controlled speed of the machine part.
  • the motion mode of operation is triggered by actuation of a switch on the handset and maintained by continued contact of that switch to control the movement of the machine part. Releasing this switch will then result in no further control commands being transmitted to control the movement of the machine part. It is therefore a kind of deadman circuit.
  • latching switches are provided for user input on the handset, by means of which the user can activate the movement mode of operation by an active switching operation on such a latching switch.
  • the output perceivable to the user of the handset improves the intuitive remote control of a machine.
  • the user will be supported in an intuitive way in the machine operation by means of movements of the handset.
  • the output is a kind of feedback to the user, so that the human-machine interface can be optimized.
  • the output means are set up such that the output perceptible to the user is generated as a function of signals output by the motion sensor.
  • the output means may be arranged to generate the output perceptible to the user in a stepwise manner in response to the achievement of certain signal strengths output by the motion sensor.
  • another signal could be output when an extreme value of the possible motion is reached.
  • the output means may be arranged to generate the output perceptible to the user in proportion to the signal strength output by the motion sensor.
  • the output means may be arranged to generate the output perceptible to the user in proportion to the signal strength output by the motion sensor.
  • the output perceptible to the user may be a predetermined one Characteristic are generated in accordance with the signal strength output by the motion sensor.
  • the characteristic curve can be optimized depending on the type of control, so that the dependence of the output perceptible on the user of the signal strength output by the motion sensor is directly proportional, ie linear, or degressive or progressive. In particular, a logarithmic characteristic also comes into question.
  • the perceptible for the user output of at least one output means is differentially, so only when the signal strength output by the motion sensor changes.
  • a differential or dynamic output normally provides the user with a sufficient subjective feedback feeling of the radio remote control and, on average, places a relatively small burden on the power supply of the handset since during the phases of constant signal output of the motion sensor the output means need not be activated.
  • the control unit is preferably set up in such a way that movements detected by the movement sensor or a movement sensor in a working rotation or tilting range of a maximum of about -45 ° to + 45 °, in particular -30 ° to + 30 °, cause an associated horizontal rotation or tilting movement .
  • Tilting axis are converted into control commands for the machine.
  • Such a limitation of the range of motion convertible into control commands for the machine serves, on the one hand, for ergonomic handling of the handheld device since movements in a larger angular range are inconvenient by means of the human hand.
  • an angular range defined in this way can also be used to define positions of the handheld device in which the motion control is switched off by means of the handheld device and no further ones Control commands are sent to the machine more due to detected movements.
  • the output means is set up in such a way that it indicates an approximation to the maximum rotational or tilting movement and / or leaving the working rotary or tilting range by a corresponding output perceptible to the user.
  • control unit can be set up in such a way that no further control commands due to detected movements are generated when leaving the work turning or tilting area until further notice.
  • safety-related control commands e.g. Stop commands are sent from the handset to the machine when the working turn or tilt range is exited.
  • leaving a preferred angular range or movement range preferably affects only the machine control by means of movement of the handset, but not the activation of the machine by means of any other controls on the handset, such as push buttons, joystick or the like
  • leaving the working rotation or tilting range in the machine control it is determined whether the machine will then remain in its current state or be brought into a neutral position. It is also to be determined whether the movements of all controllable by the radio remote machine parts in the case of leaving the Häitch- or tilting should be stopped or whether only those drives which are controlled by the motion control, stopped.
  • Such operating concepts can be determined taking into account corresponding security concepts and standards.
  • the receiving device has a feedback transmitter and is configured to activate the feedback transmitter for the transmission of feedback information upon receipt of control commands, wherein the handset for receiving the Having feedback information set up and connected to the control unit feedback receiver.
  • the receiving device with feedback transmitter and the transmitting device of the handset with feedback receiver thus form a bidirectional radio remote control system with improved security features.
  • the handset has an audible and / or optical and / or haptic display device controlled by the control unit, by means of which operating function information of the radio remote control in accordance with the reception of feedback signals can be displayed by the feedback transmitter.
  • Such a display device thus represents an output means which can inform the user about faults.
  • the aspect of the radio feedback, in particular in combination with the aforementioned display device and the features of the preamble of claim 1 is possibly independent inventive importance, and the applicant reserves the right to make a corresponding independent claim.
  • a further advantageous aspect of the invention is given by the features of claim 5, namely that a data on the respective actual position of the movable machine part and / or on the movement state detecting sensor device - and the data of this sensor device as a feedback information sending feedback message is provided on the machine , and that the handset has a set up to receive the feedback information and connected to the control device feedback receiver.
  • the hand-held device preferably has an optical unit controlled by the control unit, the respective actual position and / or the actual deviation of the actual position from the desired position determined by the current position of the hand-held device and / or the optical speed of the moving machine part. and acoustic and / or haptic display device.
  • the display device can therefore inform the user about the respective position, direction of movement and speed of movement of the machine part.
  • the display device comprises a display, eg LCD display, on which the information is displayed graphically as pictures or pictograms or videos or / and numerically representable as numbers and letters.
  • the predetermined reference position in the embodiment of the radio remote control according to claim 2 can be e.g. each time the controller is switched on, each time it is determined as a function of the instantaneous position of the movable machine part.
  • the handset first interrogates the feedback information from the acknowledgment transmitter on the machine before sending out new control commands.
  • control unit is set up to modify control commands for the machine as a function of the received feedback information.
  • modify control commands for the machine could be that, when the movable machine part approaches its nominal position, an automatic reduction of the speed of the machine part or / and a greater resolution of the control characteristic takes place in the sense of a more sensitive control.
  • further feedback options may be provided in the radio remote control according to the invention or a machine equipped therewith, such as the display of certain machine reactions or specific dynamic states of movement of the machine or the movable machine part, which eg by control operations or switching operations from another Control source as the radio remote control conditional.
  • a machine may be to control in which the movable machine part between two opposite end positions is movable and in which a limit switching off the machine drive as soon as the movable machine part reaches the end position or this approaching to a small distance.
  • the approximation of the machine part to the end position can according to a development of the present invention via a feedback signal per Radio transmitted to the handset and there lead to a relevant optical and / or acoustic and / or haptic display, so that the user is made aware of the situation of the machine.
  • oversteering feedback is, for example, a crane or hoist with a so-called load oscillation damping, in which the trolley or possibly the crane boom automatically executes compensatory movements in order to counteract an undesired oscillation of the load hanging on the crane.
  • Such compensatory movements can be displayed to the latter via wireless feedback from the crane to the handset.
  • a haptic and / or acoustic display on the handset is advantageous in order to inform the user accordingly.
  • Fig. 1 shows in a simplified schematic perspective view of a handset 10 of a radio remote control for a machine.
  • a machine devices are understood to have moving components that can be changed by appropriate control in their respective situation. It is particularly intended for the remote control of cranes, boom of concrete pumps, hydraulically powered loading bridges on trucks and the like.
  • the handset 10 comprises in its housing 12 at least one sensor, not shown, by means of which movements of the handset 10 in space can be detected.
  • the motion sensor or the motion sensors can or can detect rotational movements about a rotational or tilting axis DA and tilting movements about a tilting axis KA.
  • the detection of the movements of the Handset 10 can be done by means of appropriate angle and position sensors.
  • the position or movement sensors used react to gravity or gravitational attraction and therefore have an angle-dependent resolution or maximum signal strength depending on the rotational or tilting movement of the hand-held device.
  • the output signal may be maximum at deflection about the horizontal and increasingly be close to zero when turning or tilting in the vertical.
  • the hand-held device shown purely by way of example here can have a type of joystick 14, which can generally be operated with a thumb of a user's hand in order to remotely control corresponding machine parts.
  • two operation buttons 16, 18 are shown, which can be actuated to activate further control options.
  • One of these operating buttons 16, 18 can be used, for example, to activate a movement operating mode in which movements detected by the motion sensors, not shown, are actually converted into control commands in order to be able to control the machine as a function of performed movements.
  • This button can be assigned in the manner of a flip-flop circuit on re-pressing and switching off this motion mode of operation. Alternatively, the switching on or off can be done via different control buttons.
  • On a handset 10 may also be provided an emergency stop switch, which is not shown in the present example, however.
  • the hand-held device shown is purely exemplary and can be configured differently both with regard to its external shape and with regard to further or other operating elements.
  • the handset 10 can be rotated or pivoted about its axis of rotation DA (tilt axis), which is indicated by the double arrow. Furthermore, the handset 10 (FIG. Fig. 2 b) ) can also be tilted or pivoted about its tilt axis KA, which is also indicated by the double arrow.
  • the movements about the axis of rotation DA or Tilting axis KA are detected by the motion sensor (s) and, when the motion operating mode is activated accordingly, converted into control signals, which are transmitted to the machine to be remotely controlled.
  • Fig. 3 shows a schematic rectangular representation different positions of movement of the handset 10 about its axis of rotation DA.
  • a current position I of the handset 10 in space can be assumed as the reference position. How out Fig. 3 can be seen, this reference position I slightly inclined in the example to a horizontal. A comfortable position of such a handheld device is usually in an angular range of +/- 20 ° around the horizontal.
  • a so-called movement operating mode for example by pressing an actuating button 16 or 18 (FIG. Fig. 1 )
  • the current position I of the handset 10 detected in space and adopted as a reference position for the subsequent motion detection.
  • Rotary or pivotal movements of the handset 10 about the axis of rotation DA in positions II and III can then be evaluated with reference to the reference position I and converted into control commands, which are transmitted to the machine to be remotely controlled.
  • the movement position IV illustrates a position of the handset 10 in which a maximum angle of rotation has been exceeded with respect to the reference position I.
  • the generation of control commands due to the detected movements can be interrupted (termination of the motion mode).
  • IV can be achieved, for example, when a user, who holds the handset 10 in his hand while angling his arm, stretches it down so that the handset is oriented substantially vertically toward the ground.
  • Fig. 4 shows in the sub-figures a) and b) another type of control or another control mode.
  • the handset must first be brought into a movement position II or II ', which corresponds approximately to a preset reference position I of the hand-held device 10.
  • the movements of the hand-held device then detected are again converted into control commands, which can be transmitted to the machine. This is in Fig. 2 b) indicated by the movement positions III and V.
  • Switching off the motion mode of operation, so that the detected movements are no longer converted into control commands can be done by operating a control knob 16, 18 on the handset 10 or, as above with reference to the Fig. 3 described by leaving a predetermined angle range and the handset is brought, for example, in the movement position IV.
  • Fig. 5 shows a simplified flowchart for a control according to Fig. 3 , in which a current position in space is determined as the reference position.
  • a control unit which is normally housed in the housing 12 of the handset 10, whether the motion mode is turned on, for example by pressing a button on the operation buttons 16, 18.
  • the current position (see I in Fig. 3 ) of the handset in the room as a reference position determined (step 22).
  • step 24 the current position is detected and set in relation to the reference position I.
  • An action is taken at step 26 Inquire whether the motion mode has been turned off.
  • step 28 it is checked in step 28 whether the movement of the handset has taken place within a predetermined turning / tilting range. If the spin / tilt region has been left (N), the motion mode is turned off in step 34 and, if applicable, a user detectable signal is generated on the handset 10. If the movement is within the turning / tilting range (J) in step 28, a control command calculated as a function of the detected movement is generated in step 30 and transmitted to the machine to be remotely controlled or to a machine component to be driven. The steps 24-30 are usually repeated several times in succession with the motion operating mode switched on in order to be able to detect continuously changing movement positions of the handheld device 10 and to be able to generate corresponding control commands. This loop is indicated by the arrow 31.
  • the handset also comprises an output means, not shown in the figures, which is arranged to generate, in response to sensed movements, at least one output perceptible to the user, in particular an optical and / or audible and / or haptic signal on the handset.
  • an output means not shown in the figures, which is arranged to generate, in response to sensed movements, at least one output perceptible to the user, in particular an optical and / or audible and / or haptic signal on the handset.
  • This step 32 extends the multiple sweep loop of steps 24-32, which is indicated by the dashed arrows 33, circumventing the arrow 31.
  • a perceptible for the user signal By generating a perceptible for the user signal can during the one Winkelaustsch generating Rotational or tilting movement of the handset 10 and the control command thus generated the user audibly or tactile or visually perceptible feedback can be given, which gives a subjectively experienced by the user control security, such as this by remote control by joystick or push buttons or the like knows and was used to.
  • the generation of a perceptible for the user signal can, for. B. when leaving the reference position and when reaching a first stage, which corresponds for example to a speed of the machine part to be remotely controlled.
  • a second stage of a speed control fast speed
  • speed level II is left again and returned to level I, this can also be made perceptible to the user by means of a corresponding signal.
  • the user perceivable signal is haptically and / or acoustically configured, the user may be visually focused on the remote components of the machine when remotely controlling the machine and is not required to direct his gaze to the handset 10.
  • the movements he makes with the handset 10 are brought to his perception by acoustic or / and haptic signals in a kind of feedback so that he can perform further movements or countermovements with the handset 10 according to the sensed signals to the desired Remote control of the machine to make.
  • such signals can also be output in proportion to the detected movements. It is conceivable, for example, that this makes the enlargement or reduction of the detected turning or tilting angle acoustically / haptically tangible, it being entirely possible for a different signal to be output for the enlargement of the angle than for the reduction of the angle. If the handset is held steady in a certain angular position, the corresponding signal will not be output, but only when the handset is set in motion. Alternatively, it is conceivable that an acoustic and / or haptic signal is output constantly during the entire movement operating mode and is preferably also configured proportionally to the detected rotational or tilting angle.
  • the proportional output of a user perceivable signal is not limited to a direct proportional dependence between sensed motion and signal strength. Rather, it is also thought of a logarithmic signal distribution, which is better suited for human perception.
  • Both the acoustic and the haptic or vibration feedback signal can consist of vibration impulses or short burst chains of vibration impulses, for example, whose spacing decreases as the rotational or tilting angle increases and thus their perceived intensity increases.
  • An acoustic and / or haptic and / or optical output on the handset can also be output when the reference position is reached or when a shutdown situation is reached, for example, when reaching angles of about +/- 45 ° with respect to the reference position.
  • the handset 10 includes a return receiver, which is adapted to receive feedback information from the machine to be controlled, in which case it is assumed that such feedback information sending return message transmitter is provided on the machine.
  • the receiving device on the machine may comprise a check-back transmitter which acknowledges the receipt of control commands, so that the feedback information is confirmation of the receipt of control commands. If these expected radio reception acknowledgments are not registered by the handset 10, a respective output means of the handset 10 may alert the user to any trouble.
  • this has a data on the respective actual position of the movable machine part and / or on the motion state detecting sensor device - and the data of this sensor device as feedback information sending feedback to the machine, wherein the feedback receiver of Handellas receive this feedback information and can pass it to the control unit.
  • the latter can then according to a variant of the invention modify control commands for the machine in dependence on the received feedback information.
  • the output means can be designed in the form of a display device so that they represent the respective actual position and / or the current deviation of the actual position of the determined by the current position of the handset target position and / or the speed of movement of the movable machine part , Also in this regard is an optical and / or acoustic and / or haptic display or output in question.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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EP10757578.9A 2010-08-31 2010-08-31 Funkfernsteuerung mit lagesensorik Active EP2612308B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2010/062706 WO2012028175A1 (de) 2010-08-31 2010-08-31 Funkfernsteuerung mit lagesensorik

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EP2612308A1 EP2612308A1 (de) 2013-07-10
EP2612308B1 true EP2612308B1 (de) 2017-04-05

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US (1) US8866597B2 (zh)
EP (1) EP2612308B1 (zh)
JP (1) JP2013536660A (zh)
CN (1) CN103069463A (zh)
DK (1) DK2612308T3 (zh)
ES (1) ES2624862T3 (zh)
PL (1) PL2612308T3 (zh)
RU (1) RU2534934C2 (zh)
WO (1) WO2012028175A1 (zh)

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CN103069463A (zh) 2013-04-24
RU2013114302A (ru) 2014-10-10
EP2612308A1 (de) 2013-07-10
ES2624862T3 (es) 2017-07-17
WO2012028175A1 (de) 2012-03-08
US20130147611A1 (en) 2013-06-13
JP2013536660A (ja) 2013-09-19
PL2612308T3 (pl) 2017-09-29
RU2534934C2 (ru) 2014-12-10
DK2612308T3 (en) 2017-07-31
US8866597B2 (en) 2014-10-21

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