EP3144430B1 - Device and method for monitoring a dangerous situation between a working machine and an operator of the working machine and monitoring system - Google Patents
Device and method for monitoring a dangerous situation between a working machine and an operator of the working machine and monitoring system Download PDFInfo
- Publication number
- EP3144430B1 EP3144430B1 EP16173449.6A EP16173449A EP3144430B1 EP 3144430 B1 EP3144430 B1 EP 3144430B1 EP 16173449 A EP16173449 A EP 16173449A EP 3144430 B1 EP3144430 B1 EP 3144430B1
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- EP
- European Patent Office
- Prior art keywords
- work machine
- coil arrangement
- receiver coil
- remote control
- distance
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/90—Additional features
- G08C2201/91—Remote control based on location and proximity
Definitions
- the present invention relates to an apparatus and a method for monitoring a hazardous situation between a work machine and an operator of the work machine and a monitoring system with a remote control, a work machine and a device for monitoring hazardous situations.
- a system with a work machine and a remote control which controls the work machine or controls.
- the connection between the work machine and the remote control can be wired or wireless, for example as a radio link (RF), infrared (IR), etc., be formed.
- RF radio link
- IR infrared
- At the work machine receiving units are provided which receive signals of the remote control and, if necessary, prepare. The signals are evaluated by means of a reception evaluation unit provided on the work machine. Depending on the type of control signal received, the work machine reacts accordingly, for example with stop, turn off, start, etc.
- the remote control comprises a transmission module for controlling a transmission unit.
- the transmitting unit can send radio or IR signals, etc.
- the remote control comprises a control unit and a control unit. The operator of the remote control causes corresponding signals to be generated via the control unit, which reach the work machine via the transmission module and the transmission unit.
- RFID technology Other well-known security systems are based on RFID technology.
- RFID reader which emits an identifier (ID).
- ID identifier
- RFID transponder remote control
- RFID transponder active radio systems on special radio frequencies (RFID principle).
- RFID principle radio frequencies
- the application of the RFID principle allows the machine to convey the information that the remote control and thus also the operator of the remote control are in the vicinity of the machine, so there is a dangerous situation and can be responded to accordingly.
- the dangerous situation is characterized in that the work machine has come so close to the remote control or continues to approach the remote control that the operator of the remote control is endangered by the working machine.
- the invention is based on the object to provide a device and an associated method for monitoring a dangerous situation between a work machine and an operator of the work machine, with detection of the dangerous situation and an adjoining stop the machine work without active feedback to the machine and which can also be used in work machines and remote controls that communicate with each other by means of infrared data connection. Furthermore, the invention is based on the object to provide a monitoring system with a remote control, a working machine and a device for hazardous situation monitoring available.
- a device for monitoring a dangerous situation between a work machine and an operator of the work machine, wherein the device comprises a receiver coil arrangement and a transmit coil arrangement, wherein the transmit coil arrangement is arranged on the work machine and designed to generate a magnetic field with a work machine-specific identifier, the receiver coil arrangement arranged on a remote control of the operator for controlling the work machine, on a helmet and / or a warning vest of the operator of the remote control or provided in the immediate vicinity of the remote control and its operator and adapted to receive the magnetic field of the transmitting coil assembly, wherein a receiver evaluation unit provided on the remote control is designed to evaluate the magnetic field of the transmitting coil arrangement in order to determine the distance and / or the position of the working machine relative to the receiverersp be determined and a data transmission connection, which is designed, inter alia, for transmitting control commands for controlling the work machine between a transmitting unit of the remote control and a receiver unit of the working machine, depending on the position of the working machine, the distance of the working machine relative
- a method for monitoring a dangerous situation between a work machine and an operator of the work machine using said device according to the invention for monitoring the dangerous situation is further specified, namely, with the method steps: providing the device for monitoring the dangerous situation with a transmitting coil arrangement which is connected to the Working machine is arranged with a receiver coil assembly, which is arranged on the remote control of the operator to control the machine, a helmet and / or a warning vest of the operator of the remote control or provided in close proximity to the remote control and its operator, generating a magnetic field by means of the transmitting coil assembly , Receiving the magnetic field of the transmitting coil assembly by means of the receiver coil assembly and determining the distance and / or the position of the working machine relative to the receiver coil assembly by Auswer between the transmitting unit of the remote control and a receiver unit of the working machine depending on the position of the working machine, the distance of the working machine relative to the remote control and / or one of the Working machine applied control command of the remote control persists, if a dangerous situation, wherein the working
- a monitoring system with a working machine, a remote control and a device for monitoring a dangerous situation between the working machine and the operator of the working machine is further specified.
- the parameters of the magnetic fields inter alia their frequency, phase, amplitude, are variable.
- magnetic fields with different parameters can be superimposed.
- danger zones are defined around the receiver coil assembly at different distances to the receiver coil assembly, wherein the work machine for each of the danger zones is assigned a target speed, so that the speed of the machine decreases with decreasing distance to the receiver coil assembly and the machine is stopped. Ie, that's the speed the work machine, which is located at a comparatively great distance from the receiver coil assembly and approaches, is slowed down first. Only when the work machine is located at a comparatively short distance from the receiver coil arrangement does the work machine stop.
- the actual speed of the work machine during the onset of the machine in one of the danger zones to the respective danger zone assigned target speed is customizable, namely, by driving the machine by means of a control command.
- the stop of the work machine according to the invention is carried out without control command from the remote control by interrupting the data transmission connection.
- the data transmission connection is in the form of an infrared connection, a radio connection or another wireless or wired connection (US, CAN, I 2 C, etc.).
- USB wireless or wired connection
- I 2 C I 2 C
- a danger indicator located on the remote control which is implemented as a visual, audible and / or vibration display, is adapted to indicate to the operator of the remote control when a danger zone is detected. This additional warning to the operator reduces the operator's risk of injury.
- the danger display arranged on the remote control which is designed as a visual, audible and / or vibration display, is furthermore designed to indicate to the operator of the remote control in the form of warning levels in which the danger zone is the working machine. That is, the smaller the distance of the working machine to the remote control, the higher the warning level activated on the remote control and vice versa.
- the receiver coil arrangement is designed to receive magnetic fields with work machines specific identifier and with an emergency identifier, which is identical for all machines from transmitting coil assemblies of several work machines, wherein the specgorince is adapted to a dangerous situation when approaching any work machine by detection of the emergency identifier in Detecting the magnetic field and to send the detected magnetic field strength and frequencies as a broadcast signal to all remote controls upon detection of the dangerous situation, the broadcast signal includes the machines specific identification of the dangerous situation triggering machine.
- An evaluation of the broadcast signal to the remote controls, which receive the broadcast signal leads on the side of that remote control, which controls the dangerous situation triggering machine, for switching off the control signal to stop the corresponding work machine.
- the magnetic field of each machine includes in appropriate training in addition to the machine-specific identifier the said emergency identifier in the form of sequences or codes, as in the machine-specific identifier is modulated in the field-generating signal.
- the broadcast signal may be relayed to other work machines and remote controls using wireless sensor nodes, via which multiple work machines and multiple remote controls communicate with each other, for the purpose of remotely controlling the distance and / or position of the work machine relative to a plurality of remote controls To provide monitoring of dangerous situations. Also, this development allows the use of the monitoring system according to the invention, for example, on a larger construction site with multiple machines, even if these machines are controlled by separate remote controls and act independently.
- the transmitting coil arrangement and / or receiver coil arrangement is a 3D coil arrangement with a plurality of transmitting coils or receiver coils are formed, which are aligned orthogonal to each other.
- a 3D coil arrangement serves the purpose of receiving field lines from all three directions of a Cartesian coordinate system and to perform field strength measurements from said directions.
- the working machine is a soil compactor or a trench roller.
- This type of work machines are comparatively often run without a driver, are controlled by remote controls and require the monitoring system according to the invention for dangerous situations.
- a stop command is sent to the work machine by means of the remote control via an infrared connection, if a dangerous situation is recognizable and the distance and / or the position of the work machine relative to the receiver coil arrangement is exacerbating, ie, the work machine moves towards the receiver coil arrangement, or when there is a situation wherein the distance or position of the work machine relative to the receiver coil assembly is unknown.
- the intensity and / or the frequency of the magnetic field (s) is / are measured for the determination of the distance and / or the position of the work machine relative to the receiver coil arrangement. This also serves to assign the work machine to the remote control to couple both components.
- the invention has the following advantages that the interruption of the data transmission connection upon detection of a Hazard situation is an extremely safe means to cause a stoppage or a stop of the machine due to lack of command signal of the remote control particularly reliable.
- the invention can be used with any type of data transmission connection, even with wired data transmission connections.
- the time duration until the stop of the working machine is particularly shortened, since the expense of generating and transmitting a feedback signal for stopping the working machine is eliminated. That is, with the invention, the driving and control effort on the part of the remote control and in particular the circuit complexity and the circuit complexity are reduced on the part of the working machine. This also reduces the circuit complexity and complexity in the work machine and remote control.
- the monitoring system according to the invention with remote control and work machine due to reduced communication effort or lack of communication requirement because of the elimination of feedback in a dangerous situation is particularly effective against data transmission errors protected.
- Fig. 1 shows a monitoring system with the components work machine 6 and remote control 14, which controls the machine.
- the work machine 6 and the remote control 14 communicate via the data transmission connection 7, which in the exemplary embodiment is a wireless data transmission connection (for example a radio connection (RF) and / or infrared connection (IR)).
- RF radio connection
- IR infrared connection
- the work machine 6 comprises receiving units 4 which receive and process the signals, in particular control signals, of the remote control 14. The signals are evaluated in a receiver evaluation unit 5 of the work machine 6. The work machine 6 responds according to the information transmitted by the control signals with a response such as stop, turn, start, etc.
- a transmitting coil arrangement 1 with at least one, for example, a ferrite core having a transmitting coil is provided on the working machine 6, which generates a uniformly distributed around the working machine 6 magnetic field 3.
- the magnetic field comprises several individual fields in the present exemplary embodiment.
- the transmitting coil arrangement 1 is controlled accordingly by a transmitting unit 2 in the working machine 6.
- the generated magnetic fields include, for example, pure sinusoidal signals, which need not necessarily be at the same frequency, but also modulated data, such as the work machine specific identifier and / or the emergency identifier.
- the magnetic fields may have other properties, such as sweep frequencies, allowing them to be clearly distinguished from other magnetic fields.
- the frequency of the magnetic fields generated at the working machine 6 is determined taking into account disturbing influences, in particular by other means of communication, on the working machine 6. With the aid of the frequency of the magnetic field, the assignment of the working machine 6 to the remote control 14 takes place. The frequency is determined in a coupling phase of the working machine 6 and the remote control 14.
- a receiver coil assembly 11 having at least one receiver coil for receiving the magnetic field generated at the working machine 6.
- the receiver coil assembly 11 is provided directly to the remote control 14. But it can also be provided separately for remote control, for example in the helmet and / or in the safety vest of the operator of the remote control.
- the receiver coil assembly 11 is configured so that the magnetic field can be received from all spatial directions.
- the receiver coil arrangement 11 is designed, for example, as a 3D coil arrangement.
- a receiver evaluation unit 10 which is connected to a control unit 12 and a transmission module 9 of the remote control 14, on the remote control 14 evaluates the magnetic field. By means of the receiver evaluation unit 10, field strength, intensity, frequency, phase, amplitude and other parameters of the magnetic field (eg sweep frequencies) are determined. evaluated. The evaluation of the frequencies of the magnetic field serves inter alia the assignment of the working machine to the remote control.
- the magnetic field evaluation can also include the difference of magnetic field parameters.
- the position and / or the distance and also the direction of movement and speed of the working machine 6 in relation to the receiver coil assembly 11 to the remote control 14 and the voltage applied to the work machine 6 Control command of the remote control 14 evaluate.
- the detection of the distance is performed by measuring the magnetic flux. This measurement takes place in the low-frequency range, for example at some 10 kHz, since signal shading hardly plays a role here.
- 3D coil arrangements for magnetic field reception for detecting the magnetic flux and estimation of the distance used are not possible. Comparatively accurate distance measurements are possible by intersection of magnetic fields of multiple coils. Positioning can also be done by an additional GPS module on the working machine (in Fig.1 not shown).
- the information to stop the work machine 6 must reach the same. This is done according to the invention in the way of the interruption of the data transmission connection 7, via which the work machine 6 receives in normal operation information for controlling the same from the remote control 14. That is, the control signal (IR, radio, US, etc.) is turned off on the remote control side.
- the remote control is designed to send the detected magnetic field strength and frequencies as a broadcast signal to all remote controls upon detection of a dangerous situation by approaching any machine on the site, the broadcast signal includes the identifier of the dangerous situation triggering machine.
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Description
Vorliegende Erfindung betrifft eine Vorrichtung und ein Verfahren zur Überwachung einer Gefahrensituation zwischen einer Arbeitsmaschine und einem Bediener der Arbeitsmaschine sowie ein Überwachungssystem mit einer Fernsteuerung, einer Arbeitsmaschine und einer Vorrichtung zur Gefahrensituationsüberwachung.The present invention relates to an apparatus and a method for monitoring a hazardous situation between a work machine and an operator of the work machine and a monitoring system with a remote control, a work machine and a device for monitoring hazardous situations.
Aus dem Stand der Technik ist ein System mit einer Arbeitsmaschine und einer Fernsteuerung bekannt, die die Arbeitsmaschine steuert bzw. kontrolliert. Die Verbindung zwischen der Arbeitsmaschine und der Fernsteuerung kann drahtgebunden oder drahtlos, beispielsweise als Funkverbindung (RF), Infrarotverbindung (IR) etc., ausgebildet sein. An der Arbeitsmaschine sind Empfangseinheiten vorgesehen, welche Signale der Fernsteuerung empfangen und, falls notwendig, aufbereiten. Die Signale werden mittels einer an der Arbeitsmaschine vorgesehenen Empfangsauswerteeinheit ausgewertet. Je nach Art des empfangenen Steuersignals reagiert die Arbeitsmaschine entsprechend beispielsweise mit Stopp, Abbiegen, Anfahren, etc.From the prior art, a system with a work machine and a remote control is known, which controls the work machine or controls. The connection between the work machine and the remote control can be wired or wireless, for example as a radio link (RF), infrared (IR), etc., be formed. At the work machine receiving units are provided which receive signals of the remote control and, if necessary, prepare. The signals are evaluated by means of a reception evaluation unit provided on the work machine. Depending on the type of control signal received, the work machine reacts accordingly, for example with stop, turn off, start, etc.
Die Fernsteuerung umfasst ein Sendemodul zur Ansteuerung einer Sendeeinheit. Die Sendeeinheit kann Funk- oder IR-Signale etc. versenden. Weiterhin umfasst die Fernsteuerung eine Steuereinheit und eine Bedieneinheit. Der Bediener der Fernsteuerung bewirkt, dass über die Steuereinheit entsprechende Signale erzeugt werden, die über das Sendemodul und die Sendeeinheit zur Arbeitsmaschine gelangen.The remote control comprises a transmission module for controlling a transmission unit. The transmitting unit can send radio or IR signals, etc. Furthermore, the remote control comprises a control unit and a control unit. The operator of the remote control causes corresponding signals to be generated via the control unit, which reach the work machine via the transmission module and the transmission unit.
Zur Vermeidung von Unfällen, welche dadurch zustande kommen können, dass sich der Bediener der Fernsteuerung zu nahe an der Arbeitsmaschine befindet, existieren bestimmte Sicherheitssysteme. Bei einem derartigen Sicherheitssystem aus dem Stand der Technik wird von der Fernsteuerung ein Signal ausgesendet, welches nur in unmittelbarer Nähe der Arbeitsmaschine detektiert werden kann. Bei zu geringem Abstand zwischen Arbeitsmaschine und Fernsteuerung wird die Arbeitsmaschine durch entsprechende, per Signal von der Fernsteuerung an die Arbeitsmaschine übermittelte Befehle veranlasst, anzuhalten.To avoid accidents, which may be caused by the fact that the operator of the remote control is too close to the working machine, certain security systems exist. In such a safety system of the prior art, a signal is emitted by the remote control, which can be detected only in the immediate vicinity of the work machine. If the distance between the working machine and the remote control is too short, the working machine becomes caused by corresponding, transmitted by signal from the remote control to the working machine commands to stop.
Ein solches System ist zum Beispiel offenbart im Dokument
Weitere bekannte Sicherheitssysteme basieren auf RFID-Technologie. Dabei wird von der Arbeitsmaschine (RFID-Lesegerät) ein "begrenztes" elektromagnetisches Feld (RF) aufgebaut, welches eine Kennung (ID) aussendet. Diese Kennung wird beispielweise in der Fernsteuerung (RFID-Transponder) erfasst und an die Arbeitsmaschine per Lastmodulation oder Backscatter-Verfahren (passive RFID-Transponder) oder bei aktiven Funksystemen auf speziellen Funk-Frequenzen zurückgesendet (RFID-Prinzip). Die Anwendung des RFID-Prinzips ermöglicht, der Arbeitsmaschine die Information zu übermitteln, dass sich die Fernsteuerung und damit auch der Bediener der Fernsteuerung im Nahbereich der Arbeitsmaschine befinden, sich also eine Gefahrensituation ergibt und darauf entsprechend reagiert werden kann. Die Gefahrensituation ist dadurch gekennzeichnet, dass sich die Arbeitsmaschine derart nah an die Fernsteuerung angenähert hat bzw. sich weiterhin der Fernsteuerung annähert, dass der Bediener der Fernsteuerung durch die Arbeitsmaschine gefährdet ist.Other well-known security systems are based on RFID technology. In this case, a "limited" electromagnetic field (RF) is set up by the working machine (RFID reader), which emits an identifier (ID). This identifier is detected, for example, in the remote control (RFID transponder) and sent back to the work machine by load modulation or backscatter method (passive RFID transponder) or active radio systems on special radio frequencies (RFID principle). The application of the RFID principle allows the machine to convey the information that the remote control and thus also the operator of the remote control are in the vicinity of the machine, so there is a dangerous situation and can be responded to accordingly. The dangerous situation is characterized in that the work machine has come so close to the remote control or continues to approach the remote control that the operator of the remote control is endangered by the working machine.
Aus dem Stand der Technik sind weitere Systeme bekannt, bei denen die Arbeitsmaschine ein magnetisches Wechselfeld erzeugt, welches mittels der Fernsteuerung oder eines anderen Empfängers detektiert wird, wobei in Folge der Auswertung des Wechselfelds und Bestimmung der Feldstärke, welche einen Bezug zur Reichweite zwischen der Fernsteuerung und der Arbeitsmaschine hat, ein Steuersignal zurück zur Arbeitsmaschine geschickt wird, woraufhin die Arbeitsmaschine gestoppt wird.Further systems are known from the prior art, in which the work machine generates an alternating magnetic field which is detected by means of the remote control or another receiver, wherein as a result of the evaluation of the alternating field and determination of the field strength, which relates to the range between the remote control and the work machine has sent a control signal back to the work machine, whereupon the work machine is stopped.
Die Problematik im Stand der Technik besteht einerseits in der aufwendigen Ansteuerung der Arbeitsmaschine, um dieselbe anzuhalten und das Verletzungsrisiko für den Bediener zu reduzieren, und andererseits in der aufwendigen Aktivierung des Sicherheitssystems zur Abschaltung der Arbeitsmaschine und in den eingeschränkten Kommunikationsmöglichkeiten zwischen der Fernsteuerung und der Arbeitsmaschine.The problem in the prior art is on the one hand in the complex control of the machine to stop the same and reduce the risk of injury to the operator, and on the other hand in the complex activation of the safety system to shut down the machine and in the limited communication options between the remote control and the machine ,
Somit liegt der Erfindung die Aufgabe zu Grunde, eine Vorrichtung und ein dazugehöriges Verfahren zur Überwachung einer Gefahrensituation zwischen einer Arbeitsmaschine und einem Bediener der Arbeitsmaschine bereit zu stellen, wobei eine Erkennung der Gefahrensituation und ein daran anschließender Stopp der Arbeitsmaschine ohne aktive Rückmeldung an die Arbeitsmaschine auskommen und welche auch bei Arbeitsmaschinen und Fernsteuerungen einsetzbar sind, die mittels Infrarotdatenverbindung miteinander kommunizieren. Des weiteren liegt der Erfindung die Aufgabe zu Grunde, ein Überwachungssystem mit einer Fernsteuerung, einer Arbeitsmaschine und einer Vorrichtung zur Gefahrensituationsüberwachung zur Verfügung zu stellen.Thus, the invention is based on the object to provide a device and an associated method for monitoring a dangerous situation between a work machine and an operator of the work machine, with detection of the dangerous situation and an adjoining stop the machine work without active feedback to the machine and which can also be used in work machines and remote controls that communicate with each other by means of infrared data connection. Furthermore, the invention is based on the object to provide a monitoring system with a remote control, a working machine and a device for hazardous situation monitoring available.
Die Erfindung wird gemäß den Merkmalen der Ansprüche 1, 11 bzw. 15 gelöst.The invention is solved according to the features of
Erfindungsgemäß ist eine Vorrichtung zur Überwachung einer Gefahrensituation zwischen einer Arbeitsmaschine und einem Bediener der Arbeitsmaschine angegeben, wobei die Vorrichtung eine Empfängerspulenanordnung und eine Sendespulenanordnung umfasst, wobei die Sendespulenanordnung an der Arbeitsmaschine angeordnet und dazu ausgebildet ist, ein Magnetfeld mit einer Arbeitsmaschinen spezifischen Kennung zu erzeugen, wobei die Empfängerspulenanordnung, welche an einer Fernsteuerung des Bedieners zur Steuerung der Arbeitsmaschine, an einem Helm und/oder einer Warnweste des Bedieners der Fernsteuerung angeordnet oder in unmittelbarer Nähe zur Fernsteuerung und deren Bediener vorgesehen und dazu ausgebildet ist, das Magnetfeld der Sendespulenanordnung zu empfangen, wobei eine an der Fernsteuerung vorgesehene Empfängerauswerteeinheit dazu ausgebildet ist, das Magnetfeld der Sendespulenanordnung auszuwerten, um den Abstand und/oder die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung zu ermitteln, und wobei eine Datenübertragungsverbindung, welche unter anderem zur Übermittlung von Steuerbefehlen zur Ansteuerung der Arbeitsmaschine ausgebildet ist, zwischen einer Sendeeinheit der Fernsteuerung und einer Empfängereinheit der Arbeitsmaschine dazu ausgebildet ist, in Abhängigkeit der Position der Arbeitsmaschine, des Abstands der Arbeitsmaschine relativ zur Empfängerspulenanordnung und/oder eines an der Arbeitsmaschine anliegenden Steuerbefehls der Fernsteuerung fortzubestehen, wenn eine Gefahrensituation, wobei die Arbeitsmaschine einen für den Bediener der Fernsteuerung gefährdenden Abstand zur Empfängerspulenanordnung aufweist, nicht erkennbar ist, wobei die Datenübertragungsverbindung weiterhin dazu ausgebildet ist, fortzubestehen, wenn eine derartige Gefahrensituation erkennbar ist und der Abstand bzw. die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung nicht verschärfend ist, d.h. sich die Arbeitsmaschine von der Empfängerspulenanordnung entfernt, und wobei die Datenübertragungsverbindung ferner dazu ausgebildet ist, unterbrochen zu werden, wenn eine derartige Gefahrensituation erkennbar ist und der Abstand und/oder die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung verschärfend ist, d.h. sich die Arbeitsmaschine auf die Empfängerspulenanordnung zubewegt, bzw. wenn eine Situation vorliegt, wobei der Abstand bzw. die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung unbekannt ist.According to the invention, a device is provided for monitoring a dangerous situation between a work machine and an operator of the work machine, wherein the device comprises a receiver coil arrangement and a transmit coil arrangement, wherein the transmit coil arrangement is arranged on the work machine and designed to generate a magnetic field with a work machine-specific identifier, the receiver coil arrangement arranged on a remote control of the operator for controlling the work machine, on a helmet and / or a warning vest of the operator of the remote control or provided in the immediate vicinity of the remote control and its operator and adapted to receive the magnetic field of the transmitting coil assembly, wherein a receiver evaluation unit provided on the remote control is designed to evaluate the magnetic field of the transmitting coil arrangement in order to determine the distance and / or the position of the working machine relative to the receiverersp be determined and a data transmission connection, which is designed, inter alia, for transmitting control commands for controlling the work machine between a transmitting unit of the remote control and a receiver unit of the working machine, depending on the position of the working machine, the distance of the working machine relative to Receiver coil arrangement and / or a voltage applied to the work machine control command of the remote control, if a dangerous situation, the work machine having a distance to the receiver coil assembly endangering the operator of the remote control is not recognizable, the data transmission link being further adapted to persist when such danger situation is recognizable and the distance or position of the work machine relative to the receiver coil assembly is not aggravating that is, the work machine is removed from the receiver coil assembly, and wherein the data transfer connection is further configured to be interrupted when such a hazardous situation is detectable and the distance and / or position of the work machine is exacerbated relative to the receiver coil assembly, ie, the work machine is up moves the receiver coil assembly, or if there is a situation, wherein the distance or the position of the working machine relative to the receiver coil assembly is unknown.
Erfindungsgemäß ist weiterhin ein Verfahren zur Überwachung einer Gefahrensituation zwischen einer Arbeitsmaschine und einem Bediener der Arbeitsmaschine unter Anwendung der besagten erfindungsgemäßen Vorrichtung zur Überwachung der Gefahrensituation angegeben, und zwar, mit den Verfahrensschritten: Bereitstellen der Vorrichtung zur Überwachung der Gefahrensituation mit einer Sendespulenanordnung, welche an der Arbeitsmaschine angeordnet ist, mit einer Empfängerspulenanordnung, welche an der Fernsteuerung des Bedieners zur Steuerung der Arbeitsmaschine, an einem Helm und/oder einer Warnweste des Bedieners der Fernsteuerung angeordnet oder in unmittelbarer Nähe zur Fernsteuerung und deren Bediener vorgesehen ist, Erzeugen eines Magnetfelds mittels der Sendespulenanordnung, Empfangen des Magnetfelds der Sendespulenanordnung mittels der Empfängerspulenanordnung und Ermitteln des Abstands und/oder der Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung durch Auswerten des Magnetfelds der Sendespulenanordnung, wobei eine Datenübertragungsverbindung, welche unter anderem Steuerbefehle zur Ansteuerung der Arbeitsmaschine übermittelt, zwischen einer Sendeeinheit der Fernsteuerung und einer Empfängereinheit der Arbeitsmaschine in Abhängigkeit der Position der Arbeitsmaschine, des Abstands der Arbeitsmaschine relativ zur Fernsteuerung und/oder eines an der Arbeitsmaschine anliegenden Steuerbefehls der Fernsteuerung fortbesteht, wenn eine Gefahrensituation, wobei die Arbeitsmaschine einen für den Bediener der Fernsteuerung gefährdenden Abstand zur Empfängerspulenanordnung aufweist, nicht erkennbar ist, wobei die Datenübertragungsverbindung fortbesteht, wenn eine derartige Gefahrensituation erkennbar ist und der Abstand bzw. die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung nicht verschärfend ist, d.h. sich die Arbeitsmaschine von der Empfängerspulenanordnung entfernt, bzw., wobei die Datenübertragungsverbindung unterbrochen wird, wenn eine derartige Gefahrensituation erkennbar ist und der Abstand und/oder die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung verschärfend ist, d.h. sich die Arbeitsmaschine auf die Empfängerspulenanordnung zu bewegt, bzw. wenn eine Situation vorliegt, wobei der Abstand bzw. die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung unbekannt ist.According to the invention, a method for monitoring a dangerous situation between a work machine and an operator of the work machine using said device according to the invention for monitoring the dangerous situation is further specified, namely, with the method steps: providing the device for monitoring the dangerous situation with a transmitting coil arrangement which is connected to the Working machine is arranged with a receiver coil assembly, which is arranged on the remote control of the operator to control the machine, a helmet and / or a warning vest of the operator of the remote control or provided in close proximity to the remote control and its operator, generating a magnetic field by means of the transmitting coil assembly , Receiving the magnetic field of the transmitting coil assembly by means of the receiver coil assembly and determining the distance and / or the position of the working machine relative to the receiver coil assembly by Auswer between the transmitting unit of the remote control and a receiver unit of the working machine depending on the position of the working machine, the distance of the working machine relative to the remote control and / or one of the Working machine applied control command of the remote control persists, if a dangerous situation, wherein the working machine one for the operator of the The data transmission connection persists, if such a dangerous situation is recognizable and the distance or the position of the working machine relative to the receiver coil assembly is not sharpening, ie, the working machine of the receiver coil assembly, or wherein the data transmission connection is interrupted when such a dangerous situation is recognizable and the distance and / or the position of the working machine relative to the receiver coil arrangement is exacerbating, ie, the work machine moves to the receiver coil assembly, or if there is a situation, wherein the distance or the position of the work machine relative to the receiver coil assembly is unknown.
Wird also aufgrund einer Unterbrechung der Signalverbindung kein Steuerbefehl auf Seiten der Arbeitsmaschine empfangen, reagiert die Arbeitsmaschine mit Stopp, sodass keine weitere Bewegung ausgeführt wird. Dies soll dem Schutz des Bedieners und der Umgebung dienen.Thus, if no control command is received on the part of the work machine due to an interruption of the signal connection, the work machine responds with stop, so that no further movement is performed. This is to protect the operator and the environment.
Erfindungsgemäß ist weiterhin ein Überwachungssystem mit einer Arbeitsmaschine, einer Fernsteuerung und einer Vorrichtung zur Überwachung einer Gefahrensituation zwischen der Arbeitsmaschine und dem Bediener der Arbeitsmaschine angegeben.According to the invention, a monitoring system with a working machine, a remote control and a device for monitoring a dangerous situation between the working machine and the operator of the working machine is further specified.
Die Unteransprüche stellen zweckmäßige Weiterbildungen der Erfindung dar.The dependent claims represent expedient developments of the invention.
Zweckmäßigerweise sind die Parameter der Magnetfelder, unter anderem deren Frequenz, Phase, Amplitude, veränderbar. In bevorzugter Weiterbildung können Magnetfelder mit unterschiedlichen Parametern überlagert werden.Expediently, the parameters of the magnetic fields, inter alia their frequency, phase, amplitude, are variable. In a preferred development, magnetic fields with different parameters can be superimposed.
Zweckmäßigerweise sind in verschiedenen Abständen zur Empfängerspulenanordnung Gefahrenzonen um die Empfängerspulenanordnung festgelegt, wobei der Arbeitsmaschine für jede der Gefahrenzonen eine Sollgeschwindigkeit zugewiesen ist, so dass sich die Geschwindigkeit der Arbeitsmaschine mit abnehmendem Abstand zur Empfängerspulenanordnung verringert bzw. die Arbeitsmaschine gestoppt wird. D.h., dass die Geschwindigkeit der Arbeitsmaschine, die sich in vergleichsweise großer Entfernung zur Empfängerspulenanordnung befindet und sich dieser nähert, zunächst verlangsamt wird. Erst, wenn sich die Arbeitsmaschine in vergleichsweise geringer Entfernung zur Empfängerspulenanordnung befindet, stoppt die Arbeitsmaschine.Appropriately, danger zones are defined around the receiver coil assembly at different distances to the receiver coil assembly, wherein the work machine for each of the danger zones is assigned a target speed, so that the speed of the machine decreases with decreasing distance to the receiver coil assembly and the machine is stopped. Ie, that's the speed the work machine, which is located at a comparatively great distance from the receiver coil assembly and approaches, is slowed down first. Only when the work machine is located at a comparatively short distance from the receiver coil arrangement does the work machine stop.
Zweckmäßigerweise ist die Istgeschwindigkeit der Arbeitsmaschine während des Eintritts der Arbeitsmaschine in eine der Gefahrenzonen an die der jeweiligen Gefahrenzone zugewiesene Sollgeschwindigkeit anpassbar, und zwar, durch Ansteuerung der Arbeitsmaschine mittels eines Steuerbefehls. Dahingegen erfolgt der Stopp der Arbeitsmaschine erfindungsgemäß ohne Steuerbefehl seitens der Fernsteuerung durch Unterbrechung der Datenübertragungsverbindung.Appropriately, the actual speed of the work machine during the onset of the machine in one of the danger zones to the respective danger zone assigned target speed is customizable, namely, by driving the machine by means of a control command. In contrast, the stop of the work machine according to the invention is carried out without control command from the remote control by interrupting the data transmission connection.
Zweckmäßigerweise ist die Datenübertragungsverbindung als Infrarot-Verbindung, als Funkverbindung oder anderweitige drahtlose oder drahtgebundene Verbindung (US, CAN, I2C, etc.) ausgebildet. Die Verwendung von Datenübertragungsverbindungen verschiedenster Art erlaubt den Einsatz von Arbeitsmaschinen und Fernsteuerungen unterschiedlicher Hersteller sowie ortsunabhängigen, umgebungsunabhängigen und situationsunabhängigen Einsatz.Expediently, the data transmission connection is in the form of an infrared connection, a radio connection or another wireless or wired connection (US, CAN, I 2 C, etc.). The use of data transmission connections of various kinds allows the use of work machines and remote controls from different manufacturers as well as location-independent, environment-independent and situation-independent use.
Zweckmäßigerweise ist eine an der Fernsteuerung angeordnete Gefahrenanzeige, welche als visuelle, akustische und/oder als Vibrationsanzeige ausgeführt ist, dazu ausgebildet, dem Bediener der Fernsteuerung anzuzeigen, wenn ein Gefahrenbereich erkannt wird. Diese zusätzliche Hinweisgebung gegenüber dem Bediener reduziert die Verletzungswahrscheinlichkeit des Bedieners.Conveniently, a danger indicator located on the remote control, which is implemented as a visual, audible and / or vibration display, is adapted to indicate to the operator of the remote control when a danger zone is detected. This additional warning to the operator reduces the operator's risk of injury.
In zweckmäßiger Weiterbildung ist die an der Fernsteuerung angeordnete Gefahrenanzeige, welche als visuelle, akustische und/oder als Vibrationsanzeige ausgeführt ist, ferner dazu ausgebildet, dem Bediener der Fernsteuerung in Form von Warnstufen anzuzeigen, in welcher der Gefahrenzonen sich die Arbeitsmaschine befindet. D.h., je geringer der Abstand der Arbeitsmaschine zur Fernsteuerung ist, desto höher ist die an der Fernsteuerung aktivierte Warnstufe und andersherum.In an expedient development, the danger display arranged on the remote control, which is designed as a visual, audible and / or vibration display, is furthermore designed to indicate to the operator of the remote control in the form of warning levels in which the danger zone is the working machine. That is, the smaller the distance of the working machine to the remote control, the higher the warning level activated on the remote control and vice versa.
Zweckmäßigerweise ist die Empfängerspulenanordnung dazu ausgebildet, Magnetfelder mit Arbeitsmaschinen spezifischer Kennung und mit einer Notfallkennung, welche für alle Arbeitsmaschinen identisch ist, von Sendespulenanordnungen mehrerer Arbeitsmaschinen zu empfangen, wobei die Empfängerauswerteeinheit dazu ausgebildet ist, eine Gefahrensituation bei Annäherung einer beliebigen Arbeitsmaschine durch Detektion der Notfallkennung im Magnetfeld zu erkennen und bei Erkennen der Gefahrensituation die ermittelte magnetische Feldstärke und Frequenzen als Broadcast-Signal an alle Fernbedienungen zu senden, wobei das Broadcast-Signal die Arbeitsmaschinen spezifische Kennung der die Gefahrensituation auslösenden Arbeitsmaschine umfasst. Eine Auswertung des Broadcast-Signals an den Fernbedienungen, welche das Broadcast-Signal empfangen, führt auf Seite derjenigen Fernbedienung, welche die die Gefahrensituation auslösende Arbeitsmaschine ansteuert, zur Abschaltung des Steuersignals zum Stoppen der entsprechenden Arbeitsmaschine. Um zuverlässig zu erkennen, dass es sich bei Annäherung eines Objekts um eine Arbeitsmaschine handelt und, um Störfeldbeeinflussung zu reduzieren, umfasst das Magnetfeld jeder Arbeitsmaschine in zweckmäßigerweise Weiterbildung zusätzlich zur Arbeitsmaschinen spezifischen Kennung die besagte Notfallkennung in Form von Sequenzen bzw. Kodierungen, die wie bei der Arbeitsmaschinen spezifischen Kennung im felderzeugenden Signal aufmoduliert wird.Expediently, the receiver coil arrangement is designed to receive magnetic fields with work machines specific identifier and with an emergency identifier, which is identical for all machines from transmitting coil assemblies of several work machines, wherein the Empfängerauswerteeinheit is adapted to a dangerous situation when approaching any work machine by detection of the emergency identifier in Detecting the magnetic field and to send the detected magnetic field strength and frequencies as a broadcast signal to all remote controls upon detection of the dangerous situation, the broadcast signal includes the machines specific identification of the dangerous situation triggering machine. An evaluation of the broadcast signal to the remote controls, which receive the broadcast signal, leads on the side of that remote control, which controls the dangerous situation triggering machine, for switching off the control signal to stop the corresponding work machine. To reliably detect that it is approaching an object to a work machine and to reduce interference, the magnetic field of each machine includes in appropriate training in addition to the machine-specific identifier the said emergency identifier in the form of sequences or codes, as in the machine-specific identifier is modulated in the field-generating signal.
Zweckmäßigerweise kann das Broadcast-Signal unter Verwendung von drahtlosen Sensorknoten, worüber mehrere Arbeitsmaschinen und mehrere Fernsteuerungen miteinander kommunizieren, an andere Arbeitsmaschinen und Fernsteuerungen weitergegeben werden, um die Daten des Abstands und/oder der Position der Arbeitsmaschine relativ zur Fernsteuerung mehreren Fernsteuerungen bzw. Arbeitsmaschinen zwecks Überwachung von Gefahrensituationen zur Verfügung zu stellen. Auch diese Weiterbildung erlaubt den Einsatz des erfindungsgemäßen Überwachungssystems beispielsweise auf einer größeren Baustelle mit mehreren Arbeitsmaschinen, auch wenn diese Arbeitsmaschinen mittels separater Fernsteuerungen kontrolliert werden und unabhängig voneinander agieren.Conveniently, the broadcast signal may be relayed to other work machines and remote controls using wireless sensor nodes, via which multiple work machines and multiple remote controls communicate with each other, for the purpose of remotely controlling the distance and / or position of the work machine relative to a plurality of remote controls To provide monitoring of dangerous situations. Also, this development allows the use of the monitoring system according to the invention, for example, on a larger construction site with multiple machines, even if these machines are controlled by separate remote controls and act independently.
In zweckmäßiger Weiterbildung ist die Sendespulenanordnung und/oder Empfängerspulenanordnung als 3D-Spulenanordnung mit mehreren Sendespulen bzw. Empfängerspulen ausgebildet, die orthogonal zueinander ausgerichtet sind. Eine 3D-Spulenanordnung dient dem Zweck, Feldlinien aus allen drei Richtungen eines kartesischen Koordinatensystems zu empfangen und Feldstärkemessungen aus besagten Richtungen durchzuführen. Mit der Verwendung von 3D-Spulenanordnungen im Sender sowie im Empfänger wird eine exakte Ausrichtung der Sendespulen in Richtung der Empfängerspulen und anders herum umgangen.In an expedient development, the transmitting coil arrangement and / or receiver coil arrangement is a 3D coil arrangement with a plurality of transmitting coils or receiver coils are formed, which are aligned orthogonal to each other. A 3D coil arrangement serves the purpose of receiving field lines from all three directions of a Cartesian coordinate system and to perform field strength measurements from said directions. With the use of 3D coil arrangements in the transmitter as well as in the receiver, an exact alignment of the transmitter coils in the direction of the receiver coils and vice versa is avoided.
Zweckmäßigerweise ist die Arbeitsmaschine ein Erdverdichter bzw. eine Grabenwalze. Dieser Art von Arbeitsmaschinen sind vergleichsweise häufig fahrerlos ausgeführt, werden mittels Fernsteuerungen kontrolliert und erfordern das erfindungsgemäße Überwachungssystem für Gefahrensituationen.Conveniently, the working machine is a soil compactor or a trench roller. This type of work machines are comparatively often run without a driver, are controlled by remote controls and require the monitoring system according to the invention for dangerous situations.
Zweckmäßigerweise wird die Datenübertragungsverbindung zwischen der Fernsteuerung und der Arbeitsmaschine, wenn eine Gefahrensituation erkennbar ist und der Abstand und/oder die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung nicht verschärfend ist, d.h., sich die Arbeitsmaschine von der Empfängerspulenanordnung entfernt, modifiziert und/oder ein zusätzlicher Steuerbefehl versendet.Conveniently, when a hazardous situation is apparent and the distance and / or position of the work machine relative to the receiver coil assembly is not exacerbated, ie, the work machine is moving away from the receiver coil assembly, the data transmission connection is modified and / or an additional control command sent.
Zweckmäßigerweise wird mittels der Fernsteuerung über eine Infrarot-Verbindung ein Stopp-Befehl an die Arbeitsmaschine gesendet, wenn eine Gefahrensituation erkennbar ist und der Abstand und/oder die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung verschärfend ist, d.h., sich die Arbeitsmaschine auf die Empfängerspulenanordnung zubewegt, bzw. wenn eine Situation vorliegt, wobei der Abstand bzw. die Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung unbekannt ist.Conveniently, a stop command is sent to the work machine by means of the remote control via an infrared connection, if a dangerous situation is recognizable and the distance and / or the position of the work machine relative to the receiver coil arrangement is exacerbating, ie, the work machine moves towards the receiver coil arrangement, or when there is a situation wherein the distance or position of the work machine relative to the receiver coil assembly is unknown.
Zweckmäßigerweise wird für die Ermittlung des Abstands und/oder der Position der Arbeitsmaschine relativ zur Empfängerspulenanordnung die Intensität und/oder die Frequenz des bzw. der Magnetfelder gemessen. Dies dient auch der Zuordnung der Arbeitsmaschine zur Fernsteuerung, um beide Komponenten zu koppeln.Appropriately, the intensity and / or the frequency of the magnetic field (s) is / are measured for the determination of the distance and / or the position of the work machine relative to the receiver coil arrangement. This also serves to assign the work machine to the remote control to couple both components.
Die Erfindung weist insbesondere die folgenden Vorteile auf, dass die Unterbrechung der Datenübertragungsverbindung bei Erkennung einer Gefahrensituation ein äußerst sicheres Mittel ist, um ein Stehenbleiben bzw. einen Stopp der Arbeitsmaschine mangels Befehlssignal der Fernsteuerung besonders zuverlässig zu bewirken. Zudem ist die Erfindung bei jeder Art von Datenübertragungsverbindung einsetzbar, auch bei drahtgebundenen Datenübertragungsverbindungen. Ferner wird mittels der Erfindung bei Erkennung einer sich verschärfenden Gefahrensituation die Zeitdauer bis zum Stopp der Arbeitsmaschine besonders stark verkürzt, da der Aufwand zur Erzeugung und Übermittlung eines Rückmeldesignals zum Stoppen der Arbeitsmaschine entfällt. D.h., mit der Erfindung werden der Ansteuer- und Kontrollaufwand auf Seiten der Fernsteuerung und insbesondere der Schaltungsaufwand und die Schaltungskomplexität auf Seiten der Arbeitsmaschine verringert. Damit verringern sich auch der Schaltungsaufwand und -komplexität bei Arbeitsmaschine und Fernsteuerung. Darüber hinaus ist das erfindungsgemäße Überwachungssystem mit Fernsteuerung und Arbeitsmaschine aufgrund reduziertem Kommunikationsaufwand bzw. mangels Kommunikationserfordernis wegen Wegfall der Rückmeldung bei einer Gefahrensituation besonders wirksam gegen Datenübertragungsfehler geschützt.In particular, the invention has the following advantages that the interruption of the data transmission connection upon detection of a Hazard situation is an extremely safe means to cause a stoppage or a stop of the machine due to lack of command signal of the remote control particularly reliable. In addition, the invention can be used with any type of data transmission connection, even with wired data transmission connections. Furthermore, by means of the invention, upon detection of a worsening dangerous situation, the time duration until the stop of the working machine is particularly shortened, since the expense of generating and transmitting a feedback signal for stopping the working machine is eliminated. That is, with the invention, the driving and control effort on the part of the remote control and in particular the circuit complexity and the circuit complexity are reduced on the part of the working machine. This also reduces the circuit complexity and complexity in the work machine and remote control. In addition, the monitoring system according to the invention with remote control and work machine due to reduced communication effort or lack of communication requirement because of the elimination of feedback in a dangerous situation is particularly effective against data transmission errors protected.
Im folgenden wird die Erfindung anhand eines Ausführungsbeispiels näher erläutert.In the following the invention will be explained in more detail with reference to an embodiment.
Die Arbeitsmaschine 6 umfasst Empfangseinheiten 4, welche die Signale, insbesondere Steuersignale, der Fernsteuerung 14 empfangen und aufbereiten. Die Signale werden in einer Empfängerauswerteeinheit 5 der Arbeitsmaschine 6 ausgewertet. Die Arbeitsmaschine 6 reagiert entsprechend der Information, welche mittels der Steuersignale übertragen wird, mit einer Reaktion, beispielsweise mit Stopp, Abbiegen, Anfahren, etc.The
Des Weiteren ist an der Arbeitmaschine 6 eine Sendespulenanordnung 1 mit mindestens einer beispielsweise einen Ferritkern aufweisenden Sendespule vorgesehen, welche ein um die Arbeitsmaschine 6 gleichmäßig verteiltes magnetisches Feld 3 erzeugt. Das Magnetfeld umfasst im vorliegenden Ausführungsbeispiel mehrere Einzelfelder. Zur Erzeugung der Magnetfelder wird die Sendespulenanordnung 1 von einer Sendeeinheit 2 in der Arbeitsmaschine 6 entsprechend angesteuert. Die erzeugten magnetischen Felder umfassen beispielsweise reine Sinussignale, welche nicht notwendigerweise auf der gleichen Frequenz liegen müssen, aber auch modulierte Daten, wie beispielsweise die Arbeitsmaschinen spezifische Kennung und/oder die Notfallkennung. Die magnetischen Felder können weitere Eigenschaften aufweisen, beispielsweise Wobbelfrequenzen, wodurch sie von anderen magnetischen Feldern eindeutig unterschieden werden können.Furthermore, a transmitting coil arrangement 1 with at least one, for example, a ferrite core having a transmitting coil is provided on the working
Die Frequenz der an der Arbeitsmaschine 6 erzeugten Magnetfelder wird unter Berücksichtigung von Störeinflüssen, insbesondere durch andere Kommunikationsmittel, an der Arbeitsmaschine 6 festgelegt. Mit Hilfe der Frequenz des Magnetfelds erfolgt auch die Zuordnung der Arbeitsmaschine 6 zur Fernsteuerung 14. Die Frequenzfestlegung erfolgt in einer Kopplungsphase von Arbeitsmaschine 6 und Fernsteuerung 14.The frequency of the magnetic fields generated at the working
Auf der Seite der Fernsteuerung 14 dient eine Empfängerspulenanordnung 11 mit mindestens einer Empfängerspule zum Empfang des an der Arbeitsmaschine 6 erzeugten magnetischen Feldes. Im Ausführungsbeispiel ist die Empfängerspulenanordnung 11 direkt an der Fernsteuerung 14 vorgesehen. Sie kann aber auch separat zur Fernsteuerung, beispielsweise im Helm und/oder in der Warnweste des Bedieners der Fernsteuerung, vorgesehen sein. Die Empfängerspulenanordnung 11 ist so ausgestaltet, dass das Magnetfeld aus allen Raumrichtungen empfangen werden kann. Die Empfängerspulenanordnung 11 ist beispielsweise als 3D-Spulenanordnung ausgeführt. Eine Empfängerauswerteeinheit 10, welche mit einer Steuereinheit 12 und einem Sendemodul 9 der Fernsteuerung 14 verbunden ist, an der Fernsteuerung 14 wertet das Magnetfeld aus. Mittels der Empfängerauswerteeinheit 10 werden Feldstärke, Intensität, Frequenz, Phase, Amplitude und weitere Parameter des Magnetfelds (z. B. Wobbelfrequenzen) ausgewertet. Die Auswertung der Frequenzen des Magnetfelds dient unter anderem der Zuordnung der Arbeitsmaschine zur Fernsteuerung. Die Magnetfeldauswertung kann auch die Differenzbildung von Magnetfeldparametern umfassen.On the side of the
Zur Ausführung des Verfahrens zur Überwachung der Gefahrensituation zwischen der Arbeitsmaschine 6 und einem Bediener (in
Bei Detektion einer Gefahrensituation, wobei der Abstand und/oder die Position der Arbeitsmaschine 6 in Bezug auf die Empfängerspulenanordnung 11 an der Fernsteuerung 14 verschärfend ist, muss die Information zum Stopp der Arbeitsmaschine 6 zur derselben gelangen. Dies erfolgt erfindungsgemäß im Wege der Unterbrechung der Datenübertragungsverbindung 7, worüber die Arbeitsmaschine 6 im Normabetrieb Informationen zur Steuerung derselben von der Fernsteuerung 14 erhält. D.h., das Steuersignal (IR, Funk, US, etc.) wird auf Seiten der Fernsteuerung abgeschaltet.Upon detection of a hazardous situation wherein the distance and / or the position of the
Für den Fall, dass mehrere Fernbedienungen und/oder Arbeitsmaschinen in einer Umgebung - beispielsweise auf einer größeren Baustelle - betrieben werden, sind die Magnetfelder jeder Arbeitsmaschine mit einer für alle Arbeitsmaschinen identischen Notfallkennung versehen. Die Notfallkennung im Magnetfeld dient der Unterscheidung der Arbeitsmaschinen von anderen Quellen. Des weiteren ist die Fernbedienung dazu ausgebildet, bei Erkennung einer Gefahrensituation durch Annäherung einer beliebigen Arbeitsmaschine auf der Baustelle die ermittelte magnetische Feldstärke und Frequenzen als Broadcast-Signal an alle Fernbedienungen zu senden, wobei das Broadcast-Signal die Kennung der die Gefahrensituation auslösenden Arbeitsmaschine umfasst. Eine Auswertung des Broadcast-Signals an den Fernbedienungen, welche das Broadcast-Signal empfangen, führt auf Seite derjenigen Fernbedienung, welche die die Gefahrensituation auslösende Arbeitsmaschine ansteuert, zur Abschaltung des Steuersignals und somit zum Stopp des betreffenden Arbeitsmaschine.In the event that several remote controls and / or work machines are operated in an environment - for example, on a larger construction site - are the magnetic fields of each work machine provided with an identical for all machines emergency detection. The emergency identification in the magnetic field serves to distinguish the machines from other sources. Furthermore, the remote control is designed to send the detected magnetic field strength and frequencies as a broadcast signal to all remote controls upon detection of a dangerous situation by approaching any machine on the site, the broadcast signal includes the identifier of the dangerous situation triggering machine. An evaluation of the broadcast signal to the remote controls, which receive the broadcast signal, leads on the side of that remote control, which controls the dangerous situation triggering machine, for switching off the control signal and thus to stop the machine in question.
Claims (15)
- Device for monitoring a dangerous situation between a work machine (6) and an operator of the work machine (6), characterized by
a transmitting coil arrangement (1), which is arranged on the work machine (6) and adapted to generate a magnetic field with work machine (6) specific identification, a receiver coil arrangement (11), which is arranged on a remote control (14) of the operator for controlling the work machine (6), on a helmet and/or a warning vest of the operator of the remote control (14), or which is provided in the immediate vicinity of the remote control (14) and its operator and is adapted to receive the magnetic field of the transmitting coil arrangement (1),
wherein a receiver evaluation unit (10) downstream of the receiver coil arrangement (11) is adapted to evaluate the magnetic field of the transmitting coil arrangement (1) to determine the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11), and
wherein a data transmission link (7), which is, among other things, adapted for the transmission of control commands for controlling the work machine (6), between a transmitting unit (8) of the remote control (14) and a receiver unit of the work machine (6) is adapted, depending on the position of the work machine (6), the distance of the work machine (6) relative to the receiver coil arrangement (11) and/or a control command of the remote control (14) applied to the work machine (6):- to persist if a dangerous situation, wherein the work machine (6) has a distance to the receiver coil arrangement (11) endangering the operator of the remote control (14), is not recognizable,- to persist if such a dangerous situation is recognizable and the distance or the position of the work machine (6) relative to the receiver coil arrangement (11) is not aggravating, i.e., the work machine (6) moves away from the receiver coil arrangement (11), or- to be interrupted if such a dangerous situation is recognizable and the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11) is aggravating, i.e., the work machine (6) moves towards the receiver coil arrangement (11), or if there is a situation, wherein the distance or the position of the work machine (6) relative to the receiver coil arrangement (11) is unknown. - Device according to claim 1, wherein at different distances to the receiver coil arrangement (11) danger zones are defined around the receiver coil arrangement (11), for each one of the danger zones a target speed is assigned to the work machine (6) to reduce the speed of the work machine (6) with decreasing distance to the receiver coil arrangement (11) or to stop the work machine (6).
- Device according to claim 2, wherein the actual speed of the work machine (6) at entry of the work machine (6) into one of the danger zones is adaptable to the assigned target speed of the respective danger zone by controlling the work machine (6) with a control command.
- Device according to one of claims 2 or 3, wherein a danger indicator, which is configured as a visual, audible and/or vibration display, arranged on the remote control (14) is configured to indicate to the operator of the remote control (14) in the form of warning levels in which one of the danger zones the work machine (6) is located.
- Device according to one of claims 1 to 4, wherein a danger indicator, which is configured as a visual, audible and/or vibration display, arranged on the remote control (14) is configured to indicate to the operator of the remote control (14) when a dangerous situation is detected.
- Device according to one of claims 1 to 5, wherein the data transmission link (7) is configured as an infrared link, as a radio link or other wireless or wired link (US, CAN, I2C, etc.).
- Device according to one of claims 1 to 6, wherein the receiver coil arrangement (11) is adapted to receive magnetic fields with work machine (6) specific identification and with an emergency identification, which is identical for all work machines (6), from transmitting coil arrangement (1) of several work machines (6), wherein the receiver evaluation unit (10) is adapted to recognize a dangerous situation through any approaching work machine (6) by detecting the emergency identification in the magnetic field and, upon recognition of the danger situation, to send the determined magnetic field strength and frequencies as a broadcast signal to all remote controls, wherein the broadcast signal includes the work machine (6) specific identification of the dangerous situation triggering work machine (6), wherein an evaluation of the broadcast signal at the remote controls, which receive the broadcast signal, leads on the side of the remote control (14), which controls the dangerous situation triggering work machine (6), to the deactivation of the control signal.
- Device according to claim 7, wherein the broadcast signal is relayed using wireless sensor nodes through which multiple work machines (6) and multiple remote controls (14) communicate with each other.
- Device according to one of claims 1 to 8, wherein the transmitting coil arrangement (1) and/or the receiver coil arrangement (11) are configured as a 3D-coil arrangement with a plurality of transmitting coils or receiver coils, which are aligned orthogonal to each other.
- Device according to one of claims 1 to 9, wherein the work machine (6) is a soil compactor or a trench roller.
- Method for monitoring a dangerous situation between a work machine (6) and an operator of the work machine (6) characterized by the use of a device for monitoring the dangerous situation according to one of claims 1 to 10, comprising the method steps:- providing the device for monitoring the dangerous situation with a transmitting coil arrangement (1), which is arranged on the work machine (6), with a receiver coil arrangement (11), which is arranged on the remote control (14) of the operator for controlling the work machine (6), a helmet and/or a warning vest of the operator, or provided in the immediate vicinity of the remote control (14) and its operator,- generating a magnetic field with work machine (6) specific identification by means of the transmitting coil arrangement (11),- receiving the magnetic field of the transmitting coil arrangement (1) by means of the receiver coil arrangement (11),- determining the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11) by evaluating the magnetic field of the transmitting coil arrangement (1),- wherein a data transmission link (7), which, among other things, transmits control commands of the remote control (14) for controlling the work machine (6) between a transmitting unit of the remote control and a receiver unit of the work machine (6) depending on the position of the work machine (6), the distance of the work machine (6) relative to the receiver coil arrangement (11) and/or a control command of the remote control (1) applied to the work machine (6):- persists if a dangerous situation, wherein the work machine (6) has a distance to the receiver coil arrangement (11) endangering the operator of the remote control (14), is not recognizable,- persists if such a dangerous situation is recognizable and the distance or the position of the work machine (6) relative to the receiver coil arrangement (11) is not aggravating, i.e., the work machine (6) moves away from the receiver coil arrangement (11), or- is interrupted if such a dangerous situation is recognizable and the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11) is aggravating, i.e., the work machine (6) moves towards the receiver coil arrangement (11), or if there is a situation, wherein the distance or position of the work machine (6) relative to the receiver coil arrangement (11) is unknown.
- Method according to claim 11, wherein, when a danger situation is recognizable and the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11) is not aggravating, i.e., the work machine (6) moves away from the receiver coil arrangement (11), the data transmission link (7) between the remote control (14) and the work machine (6) is modified and/or an additional control command is sent.
- Method according to claim 11, wherein, when a danger situation is recognizable and the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11) is aggravating, i.e., the work machine (6) moves towards the receiver coil arrangement (11), or if there is a situation where the distance or the position of the work machine (6) relative to the receiver coil arrangement (11) is unknown, a stop command is transmitted to the work machine by the remote control (14) via an infrared link.
- Method according to one of claims 11 to 13, wherein for calculating the distance and/or the position of the work machine (6) relative to the receiver coil arrangement (11) the intensity, frequency, phase, amplitude and other parameters of the magnetic field are determined, and/or a difference of magnetic field parameters is determined.
- Monitoring system comprising a work machine (6), a remote control (14) and a device for monitoring a dangerous situation between the work machine (6) and an operator of the work machine (6) according to one of claims 1 to 10.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015115938.4A DE102015115938A1 (en) | 2015-09-21 | 2015-09-21 | Device and method with a working machine, a remote control and an automatic security system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3144430A1 EP3144430A1 (en) | 2017-03-22 |
| EP3144430B1 true EP3144430B1 (en) | 2018-04-11 |
Family
ID=56686616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP16173449.6A Active EP3144430B1 (en) | 2015-09-21 | 2016-06-08 | Device and method for monitoring a dangerous situation between a working machine and an operator of the working machine and monitoring system |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP3144430B1 (en) |
| DE (1) | DE102015115938A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017118891A1 (en) | 2017-08-18 | 2019-02-21 | Intercable Gmbh | Device and method for remote operation of a safety processing system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4221793C1 (en) * | 1992-07-03 | 1994-02-03 | Wacker Werke Kg | Infrared remote control for soil compaction equipment |
| US5939986A (en) | 1996-10-18 | 1999-08-17 | The United States Of America As Represented By The United States Department Of Energy | Mobile machine hazardous working zone warning system |
| US6686881B1 (en) | 1999-11-30 | 2004-02-03 | International Business Machines Corporation | Wireless identification and tracking using magnetic fields |
| US20020082212A1 (en) * | 2000-07-20 | 2002-06-27 | Millennium Pharmaceuticals, Inc. | 7716, a novel human ATPase and uses therefor |
| US6810353B2 (en) | 2000-10-26 | 2004-10-26 | The United States Of America As Represented By The Secretary Of The Department Of Health And Human Services, Centers For Disease Control | Non-directional magnet field based proximity receiver with multiple warning and machine shutdown capability |
| US7420471B2 (en) | 2004-09-24 | 2008-09-02 | Geosteering Mining Services Llc | Safety system for mining equipment |
| DE102011107091A1 (en) * | 2011-07-11 | 2013-01-17 | Wacker Neuson Produktion GmbH & Co. KG | Remote control with all-round operator protection |
| US9650062B2 (en) * | 2013-08-26 | 2017-05-16 | Wacker Neuson Production Americas Llc | System for controlling remote operation of ground working devices |
-
2015
- 2015-09-21 DE DE102015115938.4A patent/DE102015115938A1/en not_active Withdrawn
-
2016
- 2016-06-08 EP EP16173449.6A patent/EP3144430B1/en active Active
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| Title |
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| None * |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3144430A1 (en) | 2017-03-22 |
| DE102015115938A1 (en) | 2017-03-23 |
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