EP3014591B1 - Radio control system for controlling at least one machine, in particular a crane - Google Patents

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 is also to be understood not only a purely radio reception part, but a device which in addition to radio receiver component electronic circuits including microcomputer circuits or controller circuits for internal control and execution of device functions, eg for testing and implementation of received Radio control data in machine-side control command signals, wherein the receiver is integrated in a machine-side control system, which converts the control commands provided by the radio receiver, for example for the control of 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 from such a situation the control over 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. On the transmitter side, it is also known that one programmed with a unique address Block can also have key features and as such can be removed from the transmitter to block access to the transmitter.

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 block to be 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 the 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 flag. 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. The associated with the address of the control panel to an address feature indicator of the receiving part may be, for example, a well visible on the hoist machine number, which has to enter the operator during an initialization 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.

From US2009 / 0009358 A1 A radio control system is already known, as defined in the preamble of claim 1.

EP2339559 A1 also discloses a radio control system for controlling at least one machine.

• einen maschinenseitigen Funkempfänger, dem eine eigene, eindeutige Identifikationskennzeichnung zugeordnet ist,
• einen Funksender zur Erzeugung und Übertragung von Funktelegrammen zu dem Funkempfänger, wobei der Funksender ferner dazu eingerichtet ist, in Abhängigkeit von Informationen über die Identifikationskennzeichnung des Funkempfängers Identifizierungsdaten zu generieren und zu speichern, und
  wobei der Funksender ferner dazu eingerichtet ist, die Identifizierungsdaten in seine Funktelegramme einzubeziehen, wobei der Funkempfänger so initialisierbar ist, dass er Funktelegramme für die Maschinensteuerung akzeptiert, wenn sie betreffende Identifizierungsdaten in den Funktelegrammen enthalten, wobei auch dem Funksender eine eigene, eindeutige Identifikationskennzeichnung zugeordnet ist, wobei der Funksender ferner dazu eingerichtet ist, die Identifizierungsdaten in Abhängigkeit von Informationen über die Identifikationskennzeichnung des Funksenders und in Abhängigkeit von Informationen über die Identifikationskennzeichnung des Funkempfängers zu generieren, wobei das Funksteuersystem ferner einen dem Funkempfänger zugeordneten, jedoch von diesem gesondert transportierbaren mobilen Datenträger umfasst, der als eingespeicherte Daten die Informationen über die Identifikationskennzeichnung des Funkempfängers enthält, wobei der Funksender eine Schnittstelle zum Übertragen von Daten aufweist, mit der der mobile Datenträger in Datenübertragungsverbindung bringbar ist und über welche Informationen über die Identifikationskennzeichnung des Funkempfängers von dem mobilen Datenträger in den Funksender übertragbar sind, wobei das Generieren der Identifizierungsdaten in Abhängigkeit von Informationen über die Identifikationskennzeichnung des Funksenders und in Abhängigkeit von Informationen über die Identifikationskennzeichnung des Funkempfängers den Prozess des Einlesens der Informationen über die Identifikationskennzeichnung des Funkempfängers und die Mitteilung der Identifikationskennzeichnung des Funkempfängers an den Funksender durch Datenübertragung über seine Datenübertragungsschnittstelle erfordert.

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, unique identification tag,
• a radio transmitter for generating and transmitting radio telegrams to the radio receiver, wherein the radio transmitter is further adapted to generate and store identification data in dependence on information about the identification of the radio receiver, and
  wherein the radio transmitter is further adapted to include the identification data in its radio telegrams, wherein the radio receiver is initializable so that it accepts radio messages for the machine control, if they contain relevant identification data in the radio telegrams, whereby the radio transmitter is assigned its own, unique identification tag , wherein the radio transmitter is further adapted to generate the identification data in dependence on information about the identification of the radio transmitter and in dependence on information about the identification of the radio receiver, wherein the radio control system further comprises a the radio receiver associated, but this separately transportable mobile data carrier containing, as stored data, the identification tag information of the radio receiver, the radio transmitter having an interface for transmission n of data with which the mobile data carrier can be brought into data transmission connection and via which information about the identification identifier of the radio receiver can be transmitted from the mobile data carrier to the radio transmitter, wherein the generation of the identification data in dependence on information about the Identification marking of the radio transmitter and in dependence on information about the identification of the radio receiver requires the process of reading the information on the identification of the radio receiver and the notification of the identification of the radio receiver to the radio transmitter by data transmission over its data transmission interface.

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 read-only and, if necessary, non-contact by means of a corresponding reading and possibly writing device in the transmitter or possibly also in the receiver. recordable chip card deposited, which can be brought as a mobile data carrier for the initialization process in data transmission connection with the radio transmitter. Other cards, such as magnetic stripe cards, come into question. 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 in the initialization process to make this identification data a common one Generate system address and apply to 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 latter recognizes the station that appeals to him because the station transmits identification data by means of which the recipient is unambiguously addressed on the one hand, whereby the receiver becomes acquainted with 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.

In the initialization process for the commissioning of the radio control system, a common system address for the radio receiver and the radio transmitter can be generated, which is based on the identification of both devices and therefore information contained in the relevant radio messages of the transmitter information about the individual transmitter, which are interpretable by the receiver. Due to such an individual sender identification in the radio telegrams, for example, a hitherto as a radio partner of the

As such, receivers of accepted radio transmitters may be excluded as such when e.g. 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 the radio transmitter as a user authorization card to be assigned or assigned and separately transportable mobile ID card data in the user authorization data are stored or stored and which can be brought into data communication with the radio transmitter, the radio transmitter is set up To exchange data with the data medium brought with him in a data transmission connection and to check authorization data from the ID card data carrier and to allow positive test result its transmission mode for radio control of the machine in question, so that the radio transmitter can be unlocked by the ID card data carrier for the transmission mode.

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 badge data medium 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 data carriers that can be read and written to without contact (eg RFID modules or RFID chip cards), wherein the radio transmitter should have a suitable read and possibly write device in adaptation to it, via which a connection to the Data transmission interface of the radio transmitter for the badge volume 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 stripe cards, which in turn can be read and possibly written by a suitable reading and possibly writing device, or active memory chips.

The radio control system according to the invention may comprise a plurality of such badge data carriers in order to provide the possibility of authorized use of the radio transmitter for approximately different persons, whereby each of these badge data carriers is to be initialised in the above-mentioned sense by means of the radio transmitter before functioning as a key can. In the case of several of such ID card data carriers, it may be provided that these different user authorization data are used in different ways assigned 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 with the usage 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 to relevant controls 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 according to the invention may comprise a plurality of badge data carriers to be assigned user authorization data in the sense described above, which user authorization data may be different and may include restricted (or extended) user authorization information interpretable by the radio transmitter and transmitted by the radio transmitter 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 a crane control, a so-called "point-to-point" operation possible, the radio receiver installed on the crane only radio control commands accepted in the form of data telegrams, which originate from the one radio transmitter and contain the relevant identification data, if necessary decrypted.

In the constellation of the radio control system with a single transmitter and multiple receivers installed in various adjacent cranes, a so-called "tandem ride" of the cranes is possible. Thereby, e.g. two cranes record a common load and move synchronously, the operator by means of the individual radio transmitter can specify the driving commands.

In the constellation of the radio control system with multiple transmitters and a individual receiver is possible, for example in the case of crane control the so-called "release / takeover operation" in which an operator can control eg the load of the crane and a part of the subsequent load movement by means of a first transmitter and another operator with a second transmitter the other Can control movement of the load and possibly the settling of the load. Such 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 same transmitter for all other going into service transmitters (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 Include radio receiver, wherein each radio receiver is initializable so that it only accepts radio telegrams for the machine control, if they contain associated identification data 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 constellation (point-to-point, tandem, release / takeover, first-come-first serve) chosen during the commissioning of the radio system 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, his transmission mode 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.

Some of the badge media according to an embodiment of the invention may include authorization information associated with particular modes of operation of the machine (s) to be controlled, the wireless transmitters, when enabled for transmission with such badge, the authorization information or derived therefrom Send data in their radio control telegrams, and wherein the radio receiver are adapted to allow on receipt of such radio telegrams only certain modes of the machine (s) in dependence on the authorization information 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 the radio control system controllable stationary machines, but especially mobile machines, such as land vehicles, watercraft or aircraft or components of such vehicles, such. Trolley for the transport of goods to be conveyed, wherein from a central monitoring station by means of the radio transmitter each one momentarily to be moved tram can be controlled. 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. Thus, an operator is prevented from inadvertently activating a machine which has previously been an addressee of the radio control by means of the radio control system, e.g. was 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 initial operation of the radio control system and various modes of operation will be explained below with reference to the radio control of cranes.

1a bis 1c

zeigen in schematischen Darstellungen ein Ausführungsbeispiel eines Funksteuersystems nach der Erfindung in verschiedenen Stadien seiner Erstinbetriebnahme.

Figur 2

zeigt in einer schematischen Darstellung eine Momentsituation einer Tandemfahrt zweier Drehkräne mit einem Funksteuersystem nach der Erfindung.

Figur 3

zeigt in schematischer Darstellung einen Funksender und zwei mobile Datenträger, die per RFID-Datenübertragung drahtlos Informationen austauschen können.

The figures

1a to 1c

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

FIG. 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 that can exchange information wirelessly via RFID data transmission.

The radio transmitter 1 in the FIGS. 1a to 1c includes as controls push buttons 3 and a knob 4. The controls 3, 4 are to specify machine control commands operable to send to control a machine, in the example to control the slewing crane 6, from the radio transmitter 1 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 transmission part with a radio transmission antenna 5 and an internal circuit arrangement 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 includes a RMC chip card 9 (RMC = R eceiver M aster C ard) as a mobile data carrier comprising a memory chip 11 in which a unique identification designation of the radio receiver is stored. 7 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 wireless control system according to the invention also comprises at least one TUC chip card 13 (TUC = T ransmitter U ser C ard), which serves as a key for releasing the transmission operation of the radio transmitter 1 and in the example as part of the initialization process, receives corresponding usage authorization data.

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 11 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 communication with a relevant data transmission interface of the radio transmitter 1 (cf. FIG. 1a ).

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.

FIG. 1b 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 11 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 for forms 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 use authorization data record as a function of this identification tag and the identification tag of the radio transmitter 1 and storing it in the memory chip 14 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 unlocking the radio transmission operation of the radio transmitter 1. The TUC chip card 13 does not remain after the activation at the radio transmitter, 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 is only radio-ready from a preparation state in a disconnection process, even if the TUC card has been taken out of the slot 15 or 17 out. In Figure 1c is the radio transmitter 1 in this sense shown in the ready state and can be operated by an operator are 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 in a conventional manner in the on-site control system of the crane 6 and generates in accordance with the received radio telegrams control signals for drives and the like. The components to be controlled of the crane. 6

In Figure 1c is shown with dashed lines, another radio transmitter 1 ', which has already been initialized according to the radio transmitter 1 in the manner described above and can also send the radio receiver 7 data telegrams. The activation of the radio transmitter 1 '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 can 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 authorization data records, wherein the radio transmitters 1, 1' are those of a respective TUC chip card 13, 13 'with the use authorization record interpret received authorization notes and in corresponding control commands that are required for the release or execution of a particular special mode and are to be sent in radio telegrams to the radio receiver can implement.

In FIG. 2 is another special mode illustrated, namely the so-called tandem drive operation with two cranes 6, 6 ', which carry a common load 20' and to perform synchronized conveying movements. The radio control system comprises in the example according to FIG FIG. 2 two radio receiver 7 and a radio transmitter 1. The radio transmitter 1 has been initialized by means of the RMC chip cards 9 of both receivers 7 so that it can address both radio receiver 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 case of a re-emergence of a lost radio transmitter believed 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.

In the Figures 1a - 1c and 2 the radio transmitters 1 are shown with card insertion slots for receiving the TUC chip card 13 and the RMC chip card 9, wherein the smart cards 9, 13 are to be inserted therein to a data transmission connection to manufacture with the interface of the transmitter 1.

FIG. 3 illustrates in an embodiment of the invention, a further and particularly preferred possibility of data exchange between a transmitter 1 and a chip card 13 and a RMC chip card 9, namely the data exchange via RFID radio. The transmitter 1 has for this purpose an RFID interface 21. The smart cards 9, 13 in Fig. 3 are accordingly equipped with an RFID module 11 and 14 RFID smart cards. It may also be provided in such an embodiment of the invention unidirectional or bidirectional data transmission. 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 (15)

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

   - a radio receiver (7) on the machine side, to which a dedicated, unique identification marking is assigned,

   - a radio transmitter (1) for generating and transmitting radio telegrams to the radio receiver (7),

   wherein, subject to information about the identification marking of the radio receiver (7), the radio transmitter (1) is further configured to generate and store identification data, and
   wherein the radio transmitter (1) is further configured to incorporate the identification data into its radio telegrams, wherein the radio receiver (7) can be initialised such that it accepts radio telegrams for the machine control if they contain relevant identification data in the radio telegrams, wherein the radio transmitter (1) is also assigned a dedicated, unique identification marking, wherein the radio transmitter (1) is further configured to generate the identification data subject to information about the identification marking of the radio transmitter (1) and subject to information about the identification marking of the radio receiver (7), characterised in that the radio control system further comprises a mobile data carrier (9) that is assigned to the radio receiver (7) but can be transported separately from the same, which contains the information about the identification marking of the radio receiver (7) as stored data, 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 by way of which information about the identification marking of the radio receiver (7) can be transmitted from the mobile data carrier (9) into the radio transmitter (1), wherein the generating of the identification data subject to information about the identification marking of the radio transmitter (1) and subject to information about the identification marking of the radio receiver (7) requires the process of importing of the information about the identification marking of the radio receiver (7) and the communication of the identification marking of the radio receiver (7) to the radio transmitter (1) through data transmission via its data transmission interface.
2. Radio control system according to claim 1, wherein the identification data are system address data, by means of which the radio receiver (7) can be addressed to receive radio telegrams.
3. Radio control system according to at least one of the preceding claims, wherein the mobile data carrier (9) assigned to the radio receiver (7) is a chip card.
4. Radio control system according to at least one of the preceding claims, comprising at least one mobile ID data carrier (13), assignable or assigned to the radio transmitter (1) as right-to-use ID and transportable separately from the same, in which right-to-use data are stored or can be stored and which can be brought into data transmission connection with the radio transmitter (1), wherein the radio transmitter (1) is configured to exchange data with the ID data carrier (13) brought into data transmission connection with it and to check right-to-use data from the ID data carrier (13) and, if the result of checking is positive, to allow its transmitting operation for radio control of the relevant machine, so the radio transmitter (1) can be enabled for transmitting operation by means of the ID data carrier (13).
5. Radio control system according to claim 4, wherein the radio transmitter (1) can be operated in an initialisation mode, in which it can store the right-to-use data in the ID data carrier (13) brought into data transmission connection with it.
6. Radio control system according to claim 5, wherein the ID data carrier (13) has an identification marking assigned to it and has stored information about its identification marking and wherein the radio transmitter (1), in the initialisation mode, can read information about the identification marking of the ID data carrier (13) from the ID data carrier (1) brought into data transmission connection with the radio transmitter (1) and can generate the right-to-use data for the ID data carrier (13) subject to its identification marking.
7. Radio control system according to at least one of claims 4 to 6, wherein the ID data carrier (13) is a chip card.
8. Radio control system according to any one of claims 4 to 7, wherein a plurality of ID data carriers (13) are present, to which right-to-use data are to be allocated in a relevant initialisation mode, wherein these right-to-use data may be different and may contain information about limited rights to use, which can be interpreted by the radio transmitter (1) and can be implemented by the radio control system to limit the machine control to certain types of operation of the machine(s) to be controlled, depending on the scope to the right to use.
9. Radio control system according to any one of the preceding claims, wherein it comprises a plurality of radio receivers (7), each of which has a dedicated identification marking, and wherein a dedicated, but separately transportable mobile data carrier (9) with information about the identification marking of the relevant radio receiver (7) stored therein is assigned to each radio receiver (7), wherein the relevant mobile data carrier (9) can be brought into data transmission connection with the radio transmitter (1), in order to transmit the information about the identification marking of the relevant radio receiver (7) to the radio transmitter (1), and wherein the radio transmitter (1) is configured, subject to said information about the identification marking of the relevant radio receiver (7), to generate and store identification data to be assigned to the same, and wherein the radio transmitter (1) is further configured to incorporate the identification data into its radio telegrams for the particular radio receiver (7), wherein each radio receiver (7) can be initialised such that it accepts radio telegrams for the machine control, if they contain identification data assigned to it in the radio telegrams.
10. Radio control system according to any one of the preceding claims, wherein it comprises a plurality of radio transmitters (1, 1'), each of which has an interface for importing data, by way of which information about the identification marking of a particular radio receiver (7) can be transmitted into the relevant radio transmitter (1, 1'), and wherein each radio transmitter (1, 1') is further configured, subject to this information about the identification marking of the relevant radio receiver (7), to generate and store identification data assigned to the same, and wherein each radio transmitter (1, 1') is further configured to incorporate the identification data into its radio telegrams, wherein each radio receiver (7) can be initialised such that it accepts radio telegrams received by it for the machine control, if they contain identification data assigned to it.
11. Radio control system according to claim 10, wherein there is present for each radio transmitter (1, 1') in each case at least one mobile ID data carrier (13, 13'), assigned or assignable to the particular radio transmitter (1, 1') as right-to-use ID and transportable separately, in which right-to-use data are stored or can be stored and which can be brought into data transmission connection with the particular radio transmitter (1, 1'), wherein each radio transmitter (1, 1') is configured to exchange data with the ID data carrier (13, 13') brought into data transmission connection with it and to check right-to-use data from the ID data carrier (13, 13') and, if the result of checking is positive, to allow its transmitting operation for radio control of the machine, so the radio transmitters (1, 1') can be enabled for transmitting operation by means of the ID data carriers (13, 13').
12. Radio control system according to claim 11, wherein each radio transmitter (1, 1') can be operated in an initialisation mode, in which it can store the relevant right-to-use data in the ID data carrier (13, 13') brought into data transmission connection with it.
13. Radio control system according to claim 11 or 12, wherein at least some of the ID data carriers (13, 13') contain authorisation information, which is assigned to certain types of operation of the machine(s) to be controlled, wherein the radio transmitters (1, 1'), when they are enabled for the transmitting operation with such an ID data carrier (13, 13'), can transmit the authorisation information or data derived therefrom in their radio telegrams, and wherein the radio receivers (7) are configured, upon receiving such radio telegrams, subject to the authorisation information or data derived therefrom, to allow only certain types of operation of the machine(s) in the machine control.
14. Radio control system according to at least one of the preceding claims, wherein the radio transmitters (1, 1') are configured to collect and record user data and/or data about their particular transmitting operation.
15. Radio control system according to claim 14, wherein the radio transmitters (1, 1') are configured to store at least some of the user data and/or data about their particular transmitting operation on the particular ID data carrier (13), with which it has currently been enabled for the transmitting operation.

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