EP3014591A1

EP3014591A1 - Radio control system for controlling at least one machine, in particular a crane

Info

Publication number: EP3014591A1
Application number: EP14726918.7A
Authority: EP
Inventors: Wolfgang Brendel; Friederike Brendel
Original assignee: Brendel Friederike; Brendel Holding & Co KG GmbH; Brendel Wolfgang
Current assignee: Brendel Holding & Co KG GmbH; BRENDEL, FRIEDERIKE
Priority date: 2013-06-25
Filing date: 2014-05-16
Publication date: 2016-05-04
Anticipated expiration: 2034-05-16
Also published as: AU2014301526B2; ES2726189T3; AU2014301526A1; CN105474284A; EP3014591B1; AU2014301526A2; US20160155322A1; CN105474284B; WO2014206644A1; CA2916559A1; WO2014206645A1; DE102013212071A1

Abstract

The invention relates to a radio control system for controlling machines, comprising a radio receiver (7) on the machine side to which a dedicated identification marking is assigned; a mobile data carrier (9) that is dedicated to the radio receiver (7) but can be transported separately, which as stored data contains the information about the identification marking of the radio receiver (7); a radio transmitter (1) for generating and transmitting radio telegrams to the radio receiver (7), wherein the radio transmitter (1) is also assigned a dedicated identification marking. The radio transmitter (1) has an interface for transmitting data, by means of which the mobile data carrier (9) can be brought into data transmission connection, and by way of which information can be transmitted, and by way of which information about the identification marking of the radio receiver (7) can be transferred by the mobile data carrier (9) into the radio transmitter (1). Subject to said information regarding the identification marking of the radio receiver (7), the radio transmitter (1) is further configured to generate and store identification data, and the radio transmitter (1) is further configured to incorporate the identification data into the radio telegrams of the radio transmitter (1), wherein the radio receiver (7) can be initialized such that the radio receiver (7) accepts radio telegrams for the machine control if relevant identification data is contained in the radio telegrams.

Description

Radio control system for controlling at least one machine, in particular a crane

description

The invention relates to a radio control system for controlling at least one machine, in particular a crane, comprising a machine-side radio receiver, which is assigned its own identification, and a radio transmitter for generating and transmitting radio telegrams with control commands to the radio receiver, wherein the radio transmitter assigned its own identification is. The identification marks may e.g. Device numbers or device addresses stored in the devices.

Radio control systems of the type contemplated herein typically include a radio receiver installed on the machine to be controlled and a normally mobile, i. radio transmitter portable by an operator for wireless transmission of control commands to the radio receiver.

The term radio transmitter should fall within the scope of the present application, not only the purely radio transmission part, but an extended device in particular with controls that are operable to specify control commands by an operator, and with electronic circuits including microcomputer circuits or controller circuits for internal control and Execution of device functions, eg the generation and transmission of radio telegrams. The radio transmitter can have further components and functions. The term radio receiver should also not only be understood to mean a purely radio-controlled receiving part, but also a device which, in addition to the radio-controlled receiver component, includes electronic circuits including microcomputer circuits or controller circuits for the internal control and execution of device functions, eg for testing and implementation of received NEN radio control data in machine-side control command signals, wherein the receiver is integrated in a machine-side control system, which implements the control commands provided by the radio receiver, for example for controlling actuators or machine switching devices.

As radio controllable machines are e.g. Cranes, hoists and other conveyor systems, adjustment systems, construction machines and the like. In question.

A main task in radio control technology is the safe control of the crane or the machine via the air interface.

For security reasons, it is necessary that an unambiguous association between radio transmitter and radio receiver of a radio control system be given at any given time of radio control operation. It must be avoided that several radio transmitters can access the radio receiver in an uncontrolled or uncoordinated manner, and that in such a situation control of the operation of the machine to be controlled is lost. In order to ensure a secure radio control of machines, so far the radio transmitter and the machine-installed radio receiver by an exclusively handled address coding in the communication protocols (radio telegrams) have been clearly assigned to each other. In this way, it has been ensured that the receiver accepts only radio telegrams of the transmitter assigned thereto for the machine control system that are coded accordingly or provided with relevant address information. The address specifications were previously usually realized within the associated devices by depositing the relevant address data (identification labels) in fixed memory of the transmitter and the receiver. Such a read-only memory programming is usually done in the factory in the manufacturing process of the radio transmitter and the radio receiver, wherein the fixed memory used can be exchangeable components that can be exchanged if necessary only by specially qualified and authorized personnel. It is also known on the transmitter side that one with a unique address programming The module can also have key functions and as such can be removed from the sender in order to block access to the sender.

It is also known to modifiable store the unique assignment addresses of a radio transmitter-radio receiver pair using circuit components, such as DIP switches, but these circuit modules are housed securely within the device housing and if necessary only by specially qualified and authorized personnel in their Address memory switching states should be changed. Typically, therefore, the so-called "pairing" of a radio transmitter and a radio receiver previously takes place by default before the device delivery default setting of the assignment to be used in the communication protocols assignment addresses, especially since the interchangeable address storage modules are provided once in pairs from the factory in pairs for the system.

Experience has shown that a very high percentage of all failures of radio control systems of the type considered here are due to defective radio transmitters. It is therefore desirable in the event of a failure of a radio transmitter, either by a defect or by loss, that a replacement transmitter can be easily provided and put into operation while maintaining a high safety standard, so that the replacement transmitter also in terms of the clear assignment to a relevant Radio receiver can occur instead of the defective or lost radio transmitter.

In the case of the used as a key address memory module remains this during operation on the transmitter and is usually not deducted. Therefore, it can not be fundamentally assumed that the key will be retained in the event of loss of the sender. Thus, the replacement transmitter problem is not solved. Although it has hitherto been possible by the use of replaceable and basically duplicatable address memory modules, a replacement transmitter with an identical construction put into operation. However, should a lost believed transmitter along with earlier address memory module reappear, duplication of the key poses a security risk. It would be desirable to have a system which can forget replaced or detached components and always reject them as invalid after their replacement.

A second essential task in radio control technology is a flexible system formation comprising one or more transmitters and one or more receivers for controlling one or more machines. Basically, the wireless technology has significant advantages compared to wired control techniques here. So far, a system constellation of one or more transmitters and one or more receivers i.d.R. defined before delivery of the system. This constellation is thus fixed and not subsequently modifiable. It would be desirable to have a system that can be expanded or supplemented later on.

From DE 10 2006 012 471 B4 a system for the wireless transmission of control commands for a control of a hoist, in particular a crane, known, wherein a wireless control unit with radio transmitter has a unique address and a receiving part of the hoist has a selectable license plate. It is an unambiguous assignment of the control panel to establish the receiving part by an address feature is formed from the address of the control panel and the indicator of the receiving part and this address feature is emitted in an assignment message from the control unit and received by the receiving part, where it is used to assign the Keypad comes to the receiving part. Future control commands can then be deducted wirelessly from the keypad to the receiver. That with the address of the control panel to a

Address characteristic associated identifier of the receiving part can be, for example, a machine visibly arranged on the hoist machine number, which has to enter the operator during an initialization routine in the control panel, for example by keyboard input. This known system designed a flexible assignment of the control panel to the receiving part. It does not last highest safety requirements. Thus, if necessary, an unauthorized person, if they have the control panel, make an assignment between the control panel and the receiver on the hoist and build a working radio control connection.

The invention has for its object to provide a radio control system of the type mentioned above, which allows a flexible and possibly variable assignment between at least one radio transmitter and at least one radio receiver user while maintaining high safety standards for radio control operation.

To solve this problem, a radio control system with the features of claim 1 is proposed, namely a radio control system for controlling machines, in particular cranes, which has the following features:

a machine-side radio receiver, which is assigned its own identification tag,

a mobile data carrier which is assigned to the radio receiver but which can be transported separately by the latter and which contains as information stored the information about the identification tag of the radio receiver,

a radio transmitter for generating and transmitting radio telegrams to the radio receiver, wherein the radio transmitter also has its own identification and further has a Schnittstel le for reading data with which the mobile data carrier can be brought into communication with data and information about the identification of the radio receiver of the mobile data carrier can be transmitted to the radio transmitter, wherein the radio transmitter is further configured to generate and store identification data in dependence on this information via the identification of the radio receiver by executing suitable programs and application of suitable algorithms, and wherein the radio transmitter is further adapted thereto , the iden- tification data in his radio telegrams, the radio receiver is initializable so that it accepts radio telegrams for the machine control, if they contain relevant identification data in the radio messages.

The identification tag of the radio receiver is preferably a fixed, individual recipient address or device number, which is permanently stored in the receiver. Similarly, the identification of the radio transmitter is also a fixed, individual radio transmitter address or device number, which is permanently stored in the radio transmitter.

However, according to the present invention, the identification tags of the radio receiver and the radio transmitter need not already be factory-matched, ie, they can and will normally be quite different. A factory default assignment (pairing) of radio transmitter and radio receiver is not required, since such an assignment is easily possible on the user side during initial commissioning of the radio control system in a simple manner and with little effort in an initialization process. In this case, the radio transmitter is to communicate the identification tag of the radio receiver by data transmission via its data transmission interface. This is done by reading out the identification tag of the radio receiver containing mobile data carrier. Depending on the nature of the mobile data carrier, such a data read-out process can take place without contact, for example by using RFID or radio technology, or else via electrical contact connections of the mobile data carrier and the radio transmitter, possibly with the interposition of connecting lines. According to a particularly preferred variant of the invention, the identification tag of the radio receiver is deposited on a readable and possibly writable chip card by a corresponding read and possibly write device in the transmitter or possibly also in the receiver, which serves as a mobile data carrier for the initialization process in data transmission connection with the radio transmitter can be brought. Other cards, such as magnetic stripe cards, are also in ge. For this purpose, the radio transmitter has a suitable reading and possibly writing device which is assigned to the data transmission interface. The radio transmitter can store the information read in by the mobile data carrier about the identification tag of the radio receiver. The mobile data carrier represents a separate authorization card, without which a functioning assignment of radio transmitter to radio receiver would not be possible. It is therefore not sufficient to dispose only of the radio transmitter and to know the identification tag of the radio receiver in order to establish a functioning radio control connection. It also includes the process of reading the information from the mobile disk to the radio transmitter to do so. After the assignment of the radio transmitter to the radio receiver, the mobile data carrier can be safely stored, for example, in a safe until it is needed again for a possible new initialization process.

As the stored data, the mobile data carrier preferably contains, in addition to the identification identifier of the radio receiver, further radio system information, such as data about currently configured and / or generally permissible system constellations, where such additional system information can be taken into account during initialization processes.

The radio transmitter can generate and store identification data using suitable algorithms depending on the information read by the mobile data carrier via the identification tag of the radio receiver, which enable a desired defined association between the radio transmitter and the radio receiver, wherein preferably information about the permitted associations on the mobile radio Disk are stored. According to a preferred variant of the invention, the radio transmitter and the radio receiver are set up to generate this identification data at a common system address during the initialization process and to accept it on both sides. In this case, the radio transmitter preferably transmits this system address generated by it in the course of the initialization process by radio to the radio receiver. The- This recognizes the responding him station that the transmitter sends identification data by which the recipient is on the one hand uniquely addressed, the receiver gets to know the identity of the transmitter and can accept him as his radio partner. For the first time during initialization and then during normal operation, the radio transmitter must therefore include the identification data (system address) in its radio telegrams. Radio telegrams generated in this way and sent to the radio receiver are then accepted by the radio receiver as permissible data for the machine control. External radio telegrams, which do not correspond to the communication protocols defined during the initialization between the radio transmitter and radio receiver of the radio control system, ie do not contain the identification data (common system address) of the radio transmitter and the radio receiver, are not accepted by the radio receiver for the machine control.

According to one embodiment of the invention, the information read from the mobile data carrier and stored by the radio transmitter on the identification of the radio receiver from the radio transmitter to one or more other mobile data carriers, so that copies or partial copies of the original mobile data carrier can be generated.

The radio transmitter is adapted to generate the identification data not only in dependence on information about the identification tag of the radio receiver - but also in dependence on the identification tag of the radio transmitter. In the initialization process for the commissioning of the radio control system, it is therefore possible to generate a common system address for the radio receiver and for the radio transmitter, which is based on the identifiers of both devices and therefore information about the individual transmitter contained in the relevant radio telegrams of the transmitter, that of the receiver are interpretable. Due to such an individual sender identification in the radio telegrams, for example, a hitherto as a radio partner of the Receivers accepted radio transmitter for the future to be excluded as such, for example, if it has been replaced by a replacement transmitter and for the latter a corresponding initialization process has taken place. A lost transmitter can be excluded from the radio system in this way, so that radio telegrams that are sent after a possible reappearance of this transmitter by this transmitter are no longer accepted by the radio receiver as instructions for machine control.

According to a preferred embodiment of the invention, the radio control system comprises at least one mobile ID card data carrier to be assigned to the radio transmitter as a user authorization card and separately transportable in which user authorization data are stored or storable and which can be brought into data transmission connection with the radio transmitter, wherein the Radio transmitter is set up to exchange data with the brought in data transmission connection with ID card media and use authorization data from the ID card data carrier and allow positive test result its transmission mode for radio control of the machine in question, so that the radio transmitter by means of the badge data carrier for the transmission mode is unlocked.

According to one embodiment of the invention, the radio transmitter can be operated in an initialization mode in which it can read out and store an identification tag assigned to the card data carrier from it after the common data transmission connection has been established. In the simplest example, this identification designation corresponds to the usage authorization data from this point in time.

Preferably and in accordance with a further embodiment of the invention, the radio transmitter is operable in an initialization mode in which it can store the usage authorization data in the card data carrier brought into data communication connection with it. For generation the user authorization data, the radio transmitter may be adapted to read out an ID tag associated with the ID card data carrier and to form a data record and store it in the ID card data carrier, depending on preferably both the identification tag of the ID card data carrier and the identification tag of the radio transmitter this record corresponds to the usage authorization data. After such an initialization process, the badge volume may be used as the key for enabling radio transmission of the radio transmitter. Preferably, the radio system according to the invention is designed so that the ID card data carrier after unlocking does not have to remain on the radio transmitter, but z. B. can be stored by the operator until the next activation.

The ID card data carrier is preferably contactlessly readable and possibly writable data carriers (eg RFID modules or RFID chip cards), the radio transmitter, in adaptation to this, should have a suitable reading and possibly writing device via which a connection to the Data transmission interface of the radio transmitter for the ID card data carrier can be produced. In this case, the data transmission interface of the radio transmitter can be an RFID interface. In general, as mobile data carriers within the scope of the invention, other cards are also suitable, e.g. Magnetic strip cards, which in turn can be read and possibly written by a suitable read and possibly write device, or active memory chips.

The radio control system according to the invention may comprise a plurality of such ID card data carriers in order to provide the possibility of authorized use of the radio transmitter for approximately different persons, wherein each of these ID card data carriers is to be initialized in the above-mentioned sense by means of the radio transmitter before functioning as a key can. In the case of several such ID card data carriers, it may be provided that these different user authorization data are used in the sense of assign differently agreed subaddresses. The various badge data carriers are thus distinguishable for the radio transmitter, so that it may be possible to log which individual badge data carriers were used at the time for the radio control. However, it is also possible to prepare the or some of the badge data carriers identically to the user authorization data, so that they are indistinguishable as a key. Logged data can be stored in the radio transmitter and / or, if applicable, in a write-back process on the ID card data carrier.

It is according to a variant of the invention, moreover, also possible to use the ID card data carriers of different people in independent of the radio control system systems that require activation or registration by such a key, such as access to factory premises, using a such key is possible, for example, user data for time recording.

After complete successful initialization of the system, i. the initialization process between ID card data carrier and radio transmitter and the initialization process between radio transmitter and radio receiver, the normal radio control operation can take place. An operator can specify control commands for the control elements of the radio transmitter. In the case of controlling a crane, such as a slewing crane, e.g. Control commands for setting the angle of rotation of the crane, for raising or lowering the crane hook or for moving the trolley of the crane can be specified, as is known per se from the prior art.

The radio control system of the invention may comprise a plurality of badge media to which user authorization data in the above-described sense are to be assigned, which user authorization data may be different and may include restricted (or extended) user authorization information interpretable by the radio transmitter and from Radio control system for limiting (or possibly extension) of the machine control to certain modes of the machine (s) to be controlled depending on the extent of the authorization to use can be implemented.

By selectively distributing the badge data carrier to differently qualified operators can thus be ensured that some operating modes of the machine, which require special attention and skill of the operator in the control, can only be used by appropriately qualified operators.

So far, it has not been clearly stated that the radio control system according to the invention is not limited to a single radio transmitter and a single radio receiver, but is, if necessary, expandable. Thus, constellations are quite possible in which a single radio transmitter can communicate with multiple radio receivers or multiple transmitters can communicate with a single receiver or multiple transmitters can communicate with multiple receivers. In the already described possibility of the combination of a radio transmitter and a radio receiver to a radio control system according to the invention, e.g. in the case of crane control, a so-called "point-to-point" operation is possible, wherein the radio receiver installed on the crane only accepts radio control commands in the form of data telegrams originating from the one radio transmitter and possibly containing the relevant identification data in decrypted form.

In the constellation of the radio control system with a single transmitter and several receivers installed in different adjacent cranes, a so-called "tandem ride" of the cranes is possible, for example, two cranes can share a common load and move in synchrony, the operator using the individual radio transmitter can specify the movement commands.

In the constellation of the radio control system with several transmitters and one For example, in the case of crane control, the so-called "release / take-over operation" is possible, in which an operator can control, for example, the load bearing of the crane and part of the subsequent load movement by means of a first transmitter and another operator with a second transmitter This mode of operation may be advantageous when the load is to be lifted over confusing terrain.

Further operating options arise in the constellation of the radio control system with multiple transmitters and multiple receivers.

In the constellation of the radio control system with multiple transmitters and multiple receivers, an operating mode is also possible in which the first in-service transmitter dials a specific receiver and thus takes over the associated crane (the associated machine). This crane (this machine) then remains locked until active release by this very same transmitter for all other going into operation transmitter (so-called "first-come-first-serve" principle).

In the above sense, the radio control system according to an embodiment of the invention comprises a plurality of radio receiver, each of which has its own identification, and wherein each radio receiver own, but separately transportable mobile data carrier is associated with information stored on the identification of the relevant radio receiver, said the relevant mobile data carrier can be brought into data transmission connection with the radio transmitter in order to transmit the information about the identification tag of the relevant radio receiver to the radio transmitter, and wherein the radio transmitter is adapted to generate in response to this information on the identification tag of the radio receiver concerned this identification data to be assigned and store, and wherein the radio transmitter is further adapted to the identification data in its radio telegrams for the respective Radio receiver. Each radio receiver can be initialized in such a way that it accepts radio programs for the machine control only if they contain identification data assigned to it in the radio telegrams.

According to a further embodiment of the invention, the radio control system comprises a plurality of radio transmitters, each of which has an interface for reading in data, via which information about the identification tag of a respective radio receiver can be stored in the radio transmitter concerned, and wherein each radio transmitter is further adapted, depending from this information about the identification of the radio receiver in question to generate and store this associated identification data, and wherein each radio transmitter is further adapted to include the identification data in its radio telegrams, each radio receiver is initializable so that he received from him radio telegrams for the machine control accepted only if they contain identification data assigned to it in the radio telegrams.

The system configuration selected during the commissioning of the radio system (point-to-point, tandem drive, release / transfer, first-come-first serve) from one or more transmitters and one or more receivers can at any later time by re-running the initialization process to be changed.

Preferably, for each of the radio transmitters, there is at least one mobile identity card medium assigned or assignable to the respective radio transmitter as a user authorization card, in which user authorization data is stored or storable and which can be brought into data communication with the respective radio transmitter, each radio transmitter being arranged to: To exchange data with the ID card data carrier brought with him in a data transmission connection and to check usage authorization data from the ID card data carrier and, if the test result is positive, to send it to allow the radio control of the machine, so that the radio transmitter can be unlocked by means of the ID card data carrier for the transmission mode.

Preferably, each of the radio transmitters is operable in an initialization mode in which it can store the respective usage authorization data in the badge data carrier brought into data communication therewith.

According to one embodiment of the invention, some of the badge data carriers may contain authentication information associated with specific operating modes of the machine (s) to be controlled, the wireless transmitters, if they are released for transmission with such a badge data carrier, the authentication information or deriving data derived therefrom in their radio control telegrams, and wherein the radio receivers are adapted to allow on receipt of such radio telegrams only certain operating modes of the machine (s) in dependence on the Autonsierungsinformationen or derived data in the machine control.

The radio transmitters are preferably set up to record and log user data and / or data about their respective transmission mode, and preferably to store at least some of this data in the respective data medium with which it was currently enabled for transmission. It can also be provided that the receiver can write data to the mobile data carrier assigned to it, for example operating data and / or user data.

The above explanations show that the radio control system according to the invention in a flexible, simple and repeatable manner user initializable and modifiable, ie also configurable in terms of system constellation while maintaining high security standards and further allows different configurations of radio transmitters and radio receivers. An interesting further aspect of the invention relates to a radio control system for controlling machines comprising at least one respective radio receiver per machine, at least one radio transmitter for generating and transmitting radio telegrams to at least one of the radio receivers and a group of mobile data carriers selectively assigned or assignable to the radio receivers and contain addressing information for the selective addressing of individual radio receivers by the radio transmitter, wherein the radio transmitter has an interface for data transmission and wherein each of the mobile data carriers can be brought into data transmission connection with the radio transmitter via its interface in order to transmit the respective addressing information to the radio transmitter wherein the radio transmitter is further adapted to operate in response to the addressing information it has received from a respective mobile data carrier, sp generate ezifische identification data for addressing the one radio receiver, which is associated with the relevant mobile data carrier, and wherein the radio transmitter is adapted to include the specific identification data in its radio telegrams, so that these radio telegrams are accepted only by the radio receiver to the machine control, to whose addressing the specific identification data generated by the radio transmitter respectively.

The mobile data carriers are preferably chip cards, particularly preferably RFID chip cards, the data transmission interface of the radio receiver being adapted in accordance with the smart card type, that is to say preferably an RFID interface.

The specified radio control system according to this further aspect of the invention may be integrated into the previously described radio control system according to the invention, wherein the mobile data carrier z. B. ID card according to claim 5 may be. The radio control system according to the further aspect of the invention allows the selection of a respective particular machine (or possibly a specific subgroup) from a machine group for their control from the radio transmitter. The machines can z. B. by means of the radio control system controllable stationary machines, but in particular mobile machines, such as land vehicles, watercraft or aircraft or components of such vehicles, such as trolleys for the transport of conveyed, being controlled by a central monitoring station by means of the radio transmitter each a momentarily moving tram can be. It can be controlled in this example in each case the tram, to the radio receiver of the currently used for radio transmitter activation mobile data carrier belonging to the allocation. If the currently controlled trolley has completed its current transport task, the radio transmitter can be reprogrammed by initialization using another mobile data carrier, so that it can address another receiver with its radio telegrams to the machine assigned to this, in the example, a respective other tram from the considered tram group to be able to control. Preferably, the radio transmitter is designed or programmed so that it must be reinitialized after each shutdown of the control operation by means of a mobile data carrier. This prevents an operator from unintentionally activating a machine that was previously the addressee of the radio control by means of the radio control system, for example by another operator. In the radio control system, if necessary, several radio transmitters can be included, which can be initialized by means of the individual mobile data carriers to control selected machines.

With reference to the figures, a possible initialization process for the initial commissioning of the radio control system and various operating modes are explained below with reference to the radio control of cranes.

The figures

1 a to 1 c show an exemplary embodiment in schematic representations a radio control system according to the invention in various stages of its initial operation.

Figure 2 shows a schematic representation of a torque situation of a tandem drive two rotating cranes with a radio control system according to the invention.

FIG. 3 shows a schematic representation of a radio transmitter and two mobile data carriers which can exchange information wirelessly by means of RFID data transmission.

The radio transmitter 1 in Figures 1 a to 1 c includes as controls pushbuttons 3 and a rotary knob 4. The controls 3, 4 are operable to specify machine control commands for controlling a machine, in the example to control the slewing crane 6, from the radio transmitter 1 are to be sent in radio telegrams. The type and number of controls may vary in different radio transmitters of a radio control system according to the invention. The radio transmitter 1 has an integrated transmitting part with a radio transmitting antenna 5 and an internal Schaltungsanord voltage with a microcomputer circuit for data acquisition and organization and control of the radio transmitter functions. To the radio control system according to the invention further includes a radio receiver 7, which is installed in the example on the machine side on the slewing crane 6, whose operating functions are to be controlled by means of the radio control system.

Before the first commissioning of the radio control system, the radio transmitter 1 and the radio receiver 7 are not yet assigned to each other. This is done by an initialization method according to the invention. The radio control system comprises a RMC chip card 9 (RMC = Receiver Master Card) as a mobile data carrier, which comprises a memory chip 1 1, in which a unique identification tag of the radio receiver 7 is stored. This RMC chip card 9 is assigned to the radio receiver 7 individually and exclusively and is usually supplied by the manufacturer with the receiver 7. The radio control system according to the invention also comprises at least one TUC chip card 13 (TUC = Transmitter User Card), which serves as the key for enabling the transmission operation of the radio transmitter 1 and, in the example, receives corresponding authorization information in the context of the initialization process.

The RMC chip card 9 is to be inserted into the card insertion slot 15 of the radio transmitter 1 in order to establish a data transfer contact between the memory chip 1 1 of the RMC chip card 9 and a data transmission interface of the radio transmitter 1. In a corresponding manner, the TUC chip card 13 is to be inserted into the card insertion slot 17 of the radio transmitter 1 in order to bring the memory chip 14 of the TUC chip card 13 into data transmission connection with a relevant data transmission interface of the radio transmitter 1 (see FIG.

The readout of the TUC data (as well as a possible description of the TUC chip card 13) is indicated by suitable visual, audible or haptic feedback on success or failure and can be acknowledged if necessary by pressing an operating element.

Figure 1 b shows the radio transmitter 1 with inserted smart cards 9, 13. In this state, a first initialization routine of the radio transmitter 1 can be started. In this initialization routine, the radio transmitter 1 reads the identification tag of the radio receiver 7 from the memory chip 1 1 of the RMC chip card 9 and forms a record as a function of the identification tag of the radio receiver 7 and the identification tag of the radio transmitter 1, a common system address for the radio transmitter 1 and forms for the radio receiver 7. The radio transmitter 1 stores this system address for the future radio operation and also sends it to the radio receiver 7, which is adapted to recognize the determined according to a predetermined algorithm including its identification system address as such and for future calibration operations when receiving radio telegrams store. Furthermore, during the initialization process, the TUC chip card 13 can also be activated by the radio transmitter 1 reading out an identification tag of the TUC chip card 13 from its memory chip 14 and forming a user authorization data record as a function of this identification tag and the identification tag of the radio transmitter 1 Memory chip 14 of the TUC chip card 13 stores. After these initialization processes, the radio transmitter 1 can send radio telegrams with machine control instructions to the radio transmitter 7, the radio receiver 7 recognizing and accepting the radio telegrams on the basis of the system address data preferably encoded in the radio telegrams.

The RMC smart card 9 is no longer required for the further normal operation of the radio control system for the machine control (here: crane control) and can be kept in a safe place to hold them ready for further initialization operations, if z. B. a replacement radio transmitter or possibly an additional radio transmitter to be integrated into the radio control system.

For the radio transmission mode of the radio transmitter 1 for machine control, it is necessary that a valid, ie correctly initialized by the radio transmitter TUC chip card 13 is plugged into one of the card slots 15, 17 or was briefly for activation and thus logged on the radio transmitter. The TUC chip card 13 thus forms a key for enabling the radio transmission operation of the radio transmitter. 1 The TUC chip card 13 does not have to remain on the radio transmitter after the activation, but can be stored in another location (eg the operator on the man). According to a variant of the invention, it is provided that the transmitter 1 becomes radio-ready from a preparation state only in a free-switching process, even if the TUC card has been removed from the slot 15 or 17 out. In FIG. 1 c, the radio transmitter 1 is shown in the operative state in this sense and can be operated by an operator. are used to specify control commands by means of the controls 3, 4 for the crane 6, wherein the control commands are to be sent as radio telegrams to the receiver 7.

The radio receiver 7 is incorporated into the on-site control system of the crane 6 in a manner known per se and generates control signals for drives and the like of the components of the crane 6 to be controlled in accordance with the received radio telegrams.

In Figure 1 c, a further radio transmitter Γ is shown with dashed lines, which has already been initialized according to the radio transmitter 1 in the manner described above and also the radio receiver 7 can send data telegrams. The activation of the radio transmitter Γ takes place with a correspondingly validated TUC chip card 13 ^' . Such a constellation of the radio control system from at least two radio transmitters 1, 1 ^' and a machine-side radio receiver 7 allows certain modes of the radio control system and the crane 6, if it is configured for the relevant modes, such. B. for the so-called release / takeover operation of the crane 6 for conveying a load over confusing terrain. The crane control, for example, initially takes place in accordance with control commands from the first radio transmitter 1, for example to receive the load 20 at a location which is easily visible to an operator with the first radio transmitter 1. Thereafter, the control of the radio control system to the second radio transmitter 1 ^' can be passed, the z. B. is operated by another operator who can see the place where the load is set off, in contrast to the first operator well. It may be provided that such special modes, such as the release / takeover operation, only authorized authorized operators is allowed. For such a case, it may be provided in the context of the present invention that the TUC chip cards 13, 13 ^' entrusted to the respective operators contain corresponding authorization notes in their usage authorization data records, wherein the radio transmitters 1, 1 ^{' are} those of a respective TUC Chip card 13, 13 ^' with the usage authorization data interpret the set of received authorization notes and convert them into corresponding control commands which are required for the release or execution of a relevant special operating mode and which are to be transmitted in radio telegrams to the radio receiver.

FIG. 2 illustrates a further special mode of operation, namely the so-called tandem-drive operation with two cranes 6, 6 ^' , which carry a common load 20 ^' and are to carry out synchronized conveying movements. The radio control system comprises in the example according to FIG. 2 two radio receivers 7 and one radio transmitter 1. The radio transmitter 1 was initialized by means of the RMC chip cards 9 of both receivers 7 so that it can address both radio receivers 7 with its radio telegrams. The TUC chip card 13 comprises authorization notes in its user authorization data record as a prerequisite for the release or execution of the tandem drive operation of the cranes 6, 6 ^' .

It should generally be pointed out that in the case of the loss of a radio transmitter initially described as problematic, a replacement transmitter is paired with the original receiver 7 by passing through the initialization routine. For this purpose, both the use of the RMC chip card 9 belonging to the radio receiver 7 as well as all the TUC chip cards 13 identifying the users are necessary. After successful re-pairing and use of the replacement transmitter, the original radio transmitter is no longer accepted by the radio receiver 7 as a radio partner. In the event of a resurgence of a lost radio transmitter, this does not pose a security risk. Should the re-emerged radio transmitter be intact, it can in turn be kept as a replacement transmitter or be used in a second radio system, where it can then be paired to a second receiver.

FIGS. 1a-1c and 2 show the radio transmitters 1 with card insertion slots for receiving the TUC chip card 13 and the RMC chip card 9, the chip cards 9, 13 being inserted therein in order to obtain a data make transmission connection with the interface of the transmitter 1.

FIG. 3 illustrates, in one exemplary embodiment of the invention, a further and particularly preferred possibility of data exchange between a transmitter 1 and a chip card 13 and an RMC chip card 9, namely the data exchange via RFID radio. The transmitter 1 has an RFID interface 21 for this purpose. The chip cards 9, 13 in FIG. 3 are correspondingly equipped with an RFID module 1 1 or 14 RFID chip cards. It is also possible to provide unidirectional or bidirectional data transmission in such an embodiment of the invention. After a respective initialization process, the chip cards 9, 13 can again be taken out of the RFID radio range. This also applies to the initialization of the transmitter in normal operation by the TUC chip card 13. The transmitter 1 can then be used until its shutdown for machine control.

Claims

claims

1 . Radio control system for controlling at least one machine (6), in particular a crane,

full

a machine-side radio receiver (7), which is assigned its own identification tag,

a mobile data carrier (9) which is assigned to the radio receiver (7) and can be transported separately by said radio data carrier (9), which contains as information stored the information about the identification tag of the radio receiver (7),

a radio transmitter (1) for generating and transmitting radio telegrams to the radio receiver (7), wherein the radio transmitter (1) is assigned its own identification tag,

wherein the radio transmitter (1) has an interface for transmitting data, with which the mobile data carrier (9) can be brought into data transmission connection and via which information about the identification of the radio receiver (7) from the mobile data carrier (9) in the radio transmitter (1 ) are transferable,

wherein the radio transmitter (1) is further adapted to generate and store identification data in dependence on this information via the identification tag of the radio receiver (7), and

wherein the radio transmitter (1) is further adapted to include the identification data in its radio telegrams, wherein

the radio receiver (7) is initializable so that it accepts radio telegrams for the machine control, if they contain relevant identification data in the radio telegrams.

2. Radio control system according to claim 1, wherein the identification data system address data by means of which the radio receiver (7) is addressable for the reception of radio telegrams.

3. Radio control system according to claim 1 or 2, wherein the radio transmitter (1) is adapted to generate the identification data in dependence on information about the identification marking of the radio transmitter (1) and in dependence on information about the identification marking of the radio receiver (7).

4. Radio control system according to at least one of the preceding claims, wherein the radio receiver (7) associated with mobile data carrier (9) is a smart card.

5. Radio control system according to at least one of the preceding claims, comprising at least one of the radio transmitter (1) as a user authorization card to be assigned or assigned and separately transportable mobile ID card data carrier (13) in the user authorization data are stored or stored and the with the radio transmitter ( 1) can be brought into data transmission connection, wherein the radio transmitter (1) is adapted to exchange data with the brought in data transmission connection with ID card data carrier (13) and use authorization data from ID card data carrier (13) to check and his positive transmission test operation for Radio control of the machine in question, so that the radio transmitter (1) by means of the badge data carrier (13) for the transmission mode is unlocked.

A radio control system according to claim 5, wherein the radio transmitter (1) is operable in an initialization mode in which it can store the usage authorization data in the badge data carrier (13) brought into data communication therewith.

The radio control system according to claim 6, wherein the badge data carrier (13) has an identification tag associated therewith and stores information about its tag and wherein the radio transmitter (1) in the initialization mode read information about the identification tag of the badge data carrier (13) from the badge data carrier (1) brought into data transmission connection with the radio transmitter (1) and the authorization for use of the badge data carrier (1). 13) depending on its identification mark.

8. radio control system according to at least one of claims 5 to 7, wherein the ID card data carrier (13) is a smart card.

A radio control system according to any one of claims 5 to 8, wherein there are a plurality of badge data carriers (13) to be assigned use authorization data in a respective initialization mode, said use permission data may be different and may include restricted usage information provided by the radio transmitter (1 ) and can be implemented by the radio control system for limiting the machine control to certain operating modes of the machine (s) to be controlled, depending on the extent of the authorization to use.

10. Radio control system according to one of the preceding claims, wherein it comprises a plurality of radio receiver (7), each of which has its own identification tag, and wherein each radio receiver (7) has its own, but separately transportable mobile data carrier (9) with stored information about the Identification of the relevant radio receiver (7) is assigned, wherein the respective mobile data carrier (9) with the radio transmitter (1) can be brought into data transmission connection to transmit the information about the identification of the relevant radio receiver (7) to the radio transmitter (1), and wherein the radio transmitter (1) is set up to generate and supply identification data to be assigned to it in dependence on this information via the identification tag of the relevant radio receiver (7). and wherein the radio transmitter (1) is further adapted to include the identification data in its radio telegrams for the respective radio receiver (7), each radio receiver (7) being initializable to accept radio telegrams for the machine control, if they Identification data associated with it in the radio telegrams.

1 1. Radio control system according to one of the preceding claims, wherein it comprises a plurality of radio transmitters (1, Γ), each of which has an interface for reading data, via which information about the identification tag of a respective radio receiver (7) in the relevant radio transmitter (1, 1 ^' ), and wherein each radio transmitter (1, 1 ^' ) is further configured to generate and store identification data associated therewith in dependence on this information via the identification tag of the relevant radio receiver (7), and

wherein each radio transmitter (1, 1 ^' ) is further adapted to include the identification data in its radio telegrams, each radio receiver (7) being initializable so as to accept radio telegrams received from it for the machine control if they contain identification data associated therewith.

12. Radio control system according to claim 1 1, wherein for each radio transmitter (1,

1 ^' ) is present in each case at least one mobile ID card data carrier (13, 13 ^' ) allocated to the respective radio transmitter (1, 1 ^' ) as a user authorization card and in which user authorization data are stored or storable and which can be stored with the respective one Radio transmitter (1, 1 ^' ) can be brought into data transmission connection, wherein each radio transmitter (1, 1 ^' ) is adapted to exchange data with the data carrier (13, 13 ^' ) brought into data transmission connection with it and use authorization data from the identification data carrier ( 13 13 ^' ) and, if the result of the test is positive, allow its transmission mode to be used for radio control of the machine, so that the radio transmitters (1, 1 ^' ) can be activated for transmission by means of the identification data carriers (13, 13 ^' ).

13. A radio control system according to claim 12, wherein each radio transmitter (1, 1 ^' ) is operable in an initialization mode, in which it can store the respective use authorization data in the brought in data transmission connection with ID card data carrier (13, 13 ^' ).

The radio control system of claim 12 or 13, wherein at least some of the badge data carriers (13, 13 ^' ) contain authorization information associated with particular modes of operation of the machine (s) to be controlled, wherein the radio transmitters (1, 1 ^' ), when they with such a badge data carrier (13, 13 ^' ) are enabled for the transmission operation, the authorization information or data derived therefrom can send in their radio telegrams, and wherein the radio receiver (7) are adapted to receive only certain operating modes of the machine upon receipt of such radio telegrams (n) depending on the authorization information or derived data in the machine control.

15. Radio control system according to at least one of the preceding claims, wherein the radio transmitter (1, 1 ^' ) are adapted to capture user data and / or data about their respective transmission mode and to log.

16 radio control system according to claim 15, wherein the radio transmitter (1, 1) are adapted to store at least some of the user data and / or data on their respective transmission mode on the respective ID card data carrier (13), with which he currently for the transmission mode was unlocked.