EP3444790A1 - Device and method for remote operation of a device - Google Patents

Abstract

A device (1) and a method for operating a device (2) are disclosed. The device (1) for remote operation according to the invention comprises a radio remote control (3) and a controller (6) which can be assigned to the device. Furthermore, a distance monitor (8) is provided, which is set up and suitable for determining a distance D between the radio remote control (3) and the controller (6). The distance monitoring (8) and at least the radio remote control (3) or the controller (6) are communicatively connected and for transmitting the distance D or a distance D corresponding signal from the distance monitoring (8) to at least the radio remote control (3) or Control (6) set up. Furthermore, the controller (6) or the radio remote control (3) is for deriving a release signal for a safety-relevant operation from the corresponding from the radio remote control (3) or the distance monitoring (8) to the controller (6) or the radio remote control (3) transmitted distance D or a signal corresponding to the distance D and a predetermined safety distance D min and corresponding to a transmission of the enable signal to the controller (6). In addition, the controller (6) is arranged to trigger a safety-related operation based on a concern of a user-induced start signal and the enable signal to the controller (6).

Description

The present invention relates to a device for remote operation of a device.

In operations where a user or operator of a facility may be at risk, it is necessary for the user to maintain a safe distance to the facility or to a potentially hazardous area. Such an area may be defined by moving machine parts, e.g. Be given boom. Spatially moving loads can also be dangerous.

On this basis, the present invention has the object to increase the safety of a user or operator of a device.

This object is achieved by a device for remote operation of a device, a device with a device for remote operation and a method for remote operation of a device according to the respective independent claims. The respective dependent claims are directed to advantageous embodiments. It should be noted that the features listed in the dependent claims can be combined with each other in any technologically meaningful manner and define further embodiments of the invention. In addition, features specified in the claims are specified and explained in more detail in the description, wherein further preferred embodiments of the invention are shown.

The device for remote operation of a device according to the invention comprises a radio remote control, which has a first radio transceiver, and a control which can be assigned to the device, which has a second radio transceiver. Furthermore, a distance monitoring is provided, which is set up and suitable for determining a distance D between the radio remote control and the controller.

The first radio transceiver and the second radio transceiver are communicatively connectable to each other and adapted to communicate with each other via radio signals in a connected state. The distance monitor and at least the radio remote control or the controller are communicatively connected and configured to transmit the distance D or a signal D corresponding to the distance D from the distance monitor to at least the radio remote control or the controller.

Furthermore, the controller or the radio remote control is for deriving an enable signal for a safety-relevant operation from the distance D transmitted by the radio remote control or the distance monitoring to the control or the radio remote control or a signal D corresponding to the distance D and a predetermined safety distance D _min as well set up in accordance with a transmission of the enable signal to the controller. In addition, the controller is set up to initiate a safety-related operation based on a concern of a user-initiated start signal and the enable signal on the controller.

The device may be, for example, a stairlift or lifting devices. For example, the device may be part of a complex system. For example, the device may be part of a workstation. The processes or processes to be carried out in the workstation are controlled in such a way that they can only be carried out in a defined area, for example a defined radius, also in the spatial sense. The device according to the invention for remote operation of the device increases the protection of a user of the device.

The control of the device preferably has its own power supply. However, there is also the possibility that the control of the device via the device is supplied with electrical energy. In this case, the device may have a power supply such as a battery, an accumulator or a power supply connected to a power supply. The controller can be connected as a separate module with a device. This opens up the possibility of equipping existing devices with the device according to the invention. Preferably, the controller is an integral part of a device.

If the device has an electrically operated component whose power supply is effected by means of a battery or a rechargeable battery, then the control is preferably configured such that a safety-relevant operation can only be triggered if enough electrical energy is available to carry out a complete safety-relevant operation ,

The radio remote control is preferably powered by its own energy source such as a battery with electrical energy. The electrical energy can be provided with a voltage of 5 V [volts].

The radio remote control and / or the controller may comprise an integrated circuit for signal processing. The integrated circuit may be a microcontroller (μC) or an application-specific-integrated circuit (ASIC) or an application specific standard product (ASSP) or a field programmable logic gate array (field programmable gate array, FPGA) or the like. The integrated circuit may include volatile or non-volatile memory. The volatile memory may be a Random Access Memory (RAM). The non-volatile memory can be a secondary storage such. A hard disk, a CD, a DVD, a floppy disk or a semiconductor memory (eg EPROM or flash memory or the like).

As soon as the radio remote control is communicatively connected to the controller via the first radio transceiver via the second radio transceiver, the user can initiate the safety-relevant procedure. For this purpose, it must first trigger the start signal by making a corresponding input to the radio remote control or the controller. In order for the safety-relevant process to be triggered by the controller, the distance D must also be at least equal to the predetermined safety distance D _min or greater. Only when this condition is met, the controller gives the enable signal off. The safety-relevant process is always triggered by the controller only if both the start signal, which was triggered by the user, and the release signal, which is based on the distance D, are present. Instead of a predefined minimum safety distance D _min , a maximum safety distance D _max can also be defined. This forces a task to be triggered only if the user is within a security area. This would be the case, for example, when the user uses a wheelchair assistance.

The distance monitoring can be an integral part of the control or alternatively the radio remote control. Thus, the distance D between the radio remote control and the controller can either be determined by the controller (by distance monitoring) and used directly in the control for the derivation of the enable signal or determined by the radio remote control (by distance monitoring) and via the first radio transceiver to the second radio transceiver be sent to the controller for the derivation of the enable signal.

If the distance monitoring is integrated in the controller, this has the advantage that the distance D does not first have to be sent to the controller, but is present directly for deriving the enable signal in the controller. The derivation of the enable signal from the current distance D between the radio remote control and the controller and the predetermined safety distance D _min can be done with a period of 1 kHz [kilohertz] in the controller. Alternatively, it would also be conceivable that the derivative of the enable signal in the radio remote control takes place and the enable signal is sent to the controller to trigger the safety-related operation.

The first radio transceiver and the second radio transceiver may be operated in an ISM band (Industrial, Scientific and Medical Band) preferably in a frequency band between approximately 2.4 GHz [GHz] - 5 GHz and communicate with each other. An exchange of information between the radio remote control and the controller or the first radio transceiver and the second radio transceiver can take place at defined time intervals, preferably at time intervals of 0.5 s [seconds]. The information exchange is preferably encrypted.

If, during an already running safety-relevant operation, the predetermined safety distance D _{min is} undershot, then an audible and / or visual warning signal can be output for the user. The minimum distance D _min can be set in a setup and adapted to different specifications for different safety-relevant processes and / or situations. It can also be provided to provide a choice between a safety-relevant mode and a normal mode, so that, depending on the current task and / or situation, a safety-relevant procedure or a normal procedure can be carried out.

The device for remote operation of the device provides more secure active monitoring of the distance between the user and the device. The safety for the user is significantly increased by the device according to the invention, since a direct distance measurement takes place and the safety-relevant process is only triggered and carried out when the safety distance is maintained. In addition, can be dispensed with devices with a device according to the invention for remote operation on a wired operation with a length corresponding to the safety distance D _min , since the safety distance D _min between the user and the device is ensured by the device for remote operation.

According to a further advantageous aspect, the distance monitoring is set up and determined for measuring field strengths of the radio signals between the first radio transceiver and the second radio transceiver and deriving the distance D from the measured field strengths.

The radio remote control and the controller send information or data via the radio transceivers. This data can also serve only the purpose of determining the distance D between the radio remote control and the controller and thus the device. The field strength P of the radio signals between the first radio transceiver and the second radio transceiver is substantially inversely proportional to the distance D between source and measuring point in cubic: $$\mathrm{P}~\mathrm{1}/{\mathrm{<figure-callout\; id="3"\; label="D"\; filenames="imgf0001.png,imgf0003.png"\; state="\{\{state\}\}">D</figure-callout>}}^{\mathrm{3}}$$

Here, the first radio transceiver and the second radio transceiver can serve as a source and / or as a measuring point. By way of an amplitude of the radio signals at the receiving transceiver which corresponds to the field strength P, if the original amplitude (transmission power) is known, the distance D between the transmitting transceiver and the receiving transceiver can be determined via the above relationship.

The determination of the distance D over the field strength provides an accurate and robust way to ensure the distance D and thus compliance with the predetermined safety distance D _min .

According to a further aspect, the distance monitoring is for calculating distances of the radio remote control based on measured values of at least one spatial movement unit, in particular acceleration values of an accelerometer arranged on the radio remote control and deriving the distance D from the calculated distances or from the measured field strengths and set up and determined the calculated distances.

The spatial movement unit is preferably formed by an inertial measurement unit. The inertial measuring unit preferably comprises a spatial combination of several inertial sensors such as acceleration sensors, rotary knives, rotation sensors, torque sensors, gyroscopes, electronic compass.

The inertial measuring unit may preferably each comprise an acceleration sensor for three mutually perpendicular directions. From the acceleration values, the distance traveled in each of the three directions can be determined by summing or integration over time. Based on these distances, the distance D can be derived from a starting point and the current position of the radio remote control and thus the user.

By deriving the distance from the paths, for example, a horizontal distance can be derived, thus ensuring compliance with the safety distance in a substantially horizontal plane.

Furthermore, the derivative of the distance D can be carried out both from the measured field strength and from the calculated distances in order to increase the precision, or to be able to carry out a plausibility check of the respectively determined distances.

According to a further aspect, the radio remote control has an input device which is communicatively connected to the first radio transceiver. Furthermore, the radio remote control is set up to send the start signal via the first radio transceiver to an input by means of the input device. Further, the controller is arranged to receive the start signal via the second radio transceiver.

The user can trigger the start signal via the radio remote control. This offers various possibilities for triggering the safety-relevant process. The user can first trigger the start signal on the radio remote control and then move away from the device, so that the safety-relevant process is triggered only when he has reached the predetermined safety distance D _min . Alternatively, the user may also first remove by the safety distance D _min or more and then settle the start signal via the remote control. However, it is not possible to trigger the security-relevant process if the user is initially far enough away and then moves back into an area, having a distance D which is less than the safety distance D _min . For then, although the release signal would be present first, since the safety margin has been maintained, but the release signal falls away immediately, if the user is not far enough away so that even if he triggers the star signal, the safety-relevant operation is not triggered. This would only happen if the user again far enough away and the safety distance D _{min is} reached and gives a start signal again. If the safety distance falls below a warning signal can be generated.

This provides a more variable workflow design for the user without jeopardizing the safety of the user since compliance with the safety margin when triggering the safety-related operation is always ensured.

The radio remote control may be configured to send a reset signal to the controller upon input by the user. This reset signal causes the controller to perform a reset operation to come to a home position.

According to a further aspect, the radio remote control and control each have a unique address. By means of the unique addresses, the radio remote control and the controller are clearly coupled to each other.

When paired, the radio remote control and / or the controller resemble a stored unique address (known from the teach-in process) with the Address of each other. If the stored and the address of the communication partner agree, the connection between the radio remote control and the controller is established and maintained.

The unambiguous coupling of radio remote control and control increases the security of the device, since it can not lead to false data transmissions and thus unwanted inputs or incorrect distance derivatives by other radios.

In another aspect, the device includes a fall guard that is configured to detect the presence of a fall. Herein, the lintel monitoring is arranged to derive the presence of a lintel based on the acceleration values of the accelerometer or based on angular acceleration values of an angular accelerometer arranged on the radio remote control. Furthermore, the controller or the radio remote control for deriving the release signal is additionally set in consideration of the presence of a fall.

The angular accelerometer may include angular acceleration sensors for three rotations that are perpendicular to each other to determine angular acceleration values in the three perpendicular directions of rotation. By monitoring the acceleration values and / or the angular acceleration values, for example, a fall of a user can be detected, since particularly high acceleration values and angular acceleration values are present. Based on the detection of a fall, the triggering of the safety-related operation can be prevented. For this purpose, the derivation of the enable signal takes into account whether there is a fall. If so, the safety-relevant process is not started even if the safety distance has been maintained, or no enable signal is generated. Higher acceleration values and / or angular acceleration values may be present even when the radio remote control is dropped or thrown.

By the fall monitoring the security in the use of the device is further increased because of the willingness of the user is indirectly monitored. If higher acceleration values and / or angular acceleration values are present, these may be an indication of improper handling in connection with the device.

According to a further aspect, the radio remote control has at least one display device, preferably at least one light-emitting diode or a graphic display as a display device, and particularly preferably at least one status LED and an activity LED and a graphic display as a display device.

The user is provided via the display device of the radio remote control information in connection with the device and / or the security-relevant process. For example, the current status of the device can be displayed to the user by means of the status LED. By means of the activity LED, the user can be notified of the connection status of the radio connection between the radio remote control and the control. In addition, the user can achieve that the predetermined safety distance D _min on the graphical display or other LEDs are displayed.

By providing information about the device and / or the security-related process on the radio remote control, the handling for the user is made easier and more comfortable.

The input device of the radio remote control can be formed by push buttons, knobs, switches and the like. Preferably, a touch-sensitive display can be used as a combined input and display device in the radio remote control.

In another aspect, the radio remote control is configured to display the distance transmitted by the distance monitor or the controller to the radio remote control by the display device.

The current distance D can be displayed to the user, for example via the graphical display.

By providing the current distance, the user can trigger the security-related process even faster because he sees at a glance when he has reached the required safety distance.

According to a further aspect, the controller has at least one display device, preferably at least one light-emitting diode or one graphic display Display as a display device, and more preferably at least one status LED or a graphical display as a display device.

The user is provided with information about the device and / or the security-relevant process via the display device of the controller. For example, the status of the device can be displayed to the user by means of the status LED. The status LED of the radio remote control can reflect the status LED of the controller, so that both status LEDs always provide the same display and thus inform in the same way about the current state of the device. By means of the activity LED, the user can be notified of the connection status of the radio connection between the radio remote control and the control.

By providing information to the device and / or the safety-related process on the controller, the handling is made easier and more comfortable for the user.

According to a further aspect, the controller is connected to at least one sensor of the device and set up for reading out a progress value of the safety-relevant process. In this case, the controller and the radio remote control are set up to transmit the progress value from the controller to the radio remote control. Further, the radio remote control is set to display the progress value by the display device.

The sensor may be, for example, a position sensor, a position sensor and / or a pressure or force sensor whose sensor value provides information about the progress of the safety-relevant process. From the sensor value, a progress value is derived to the safety-relevant process and transmitted by means of radio signals from the second transceiver of the controller to the first transceiver of the radio remote control. The progress value, for example via a progress bar on the graphic display of the display device, is displayed on the radio remote control.

The provision of information on the progress of the security-related process leads to increased comfort and increased safety for the user, since he can follow how the safety-relevant process is progressing and when it has finally been completed and the safe distance can again be safely exceeded.

The present invention further relates to a device with a device for remote operation of the device. The device comprises a radio remote control having a first radio transceiver and a controller arranged on the device comprising a second radio transceiver. Furthermore, a distance monitor, which is set up for determining a distance D between the radio remote control and the controller, is provided.

The first radio transceiver and the second radio transceiver are communicatively connectable with each other and set up and designated for mutual data exchange via radio signals in a connected state.

Furthermore, the distance monitoring and at least the radio remote control or the controller are communicatively connected and configured to transmit the distance D from the distance monitoring according to at least the radio remote control or the controller. Furthermore, the controller or the radio remote control is for deriving a release signal for a safety-relevant operation from the distance D and a predetermined safety distance D _min respectively transmitted by the radio remote control or the distance monitoring to the control or the radio remote control and corresponding to a transmission of the release signal to the Control set up. In addition, the controller is set to start the safety-related operation based on a concern of a user-induced start signal and the enable signal to the controller.

The controller can be connected to a controller of the device directly or via an adapter. Alternatively, the controller may be an integral part of the control of the device.

According to a further aspect, the device has the device for remote operation of the device according to one of the previously described embodiments.

1. a) Ermitteln eines Abstands D zwischen einer Funkfernbedienung und einem zweiten Funktransceiver, der einem sicherheitsrelevanten Bereich der Vorrichtung zugeordnet ist.
2. b) Ableiten eines Freigabesignals für einen Sicherheitsrelevanten Vorgang aus dem ermittelten Abstand D und einem vorbestimmten Sicherheitsabstand D_min.
3. c) Starten des sicherheitsrelevantes Vorgangs basierend auf einem Anliegen eines benutzerinduzierten Startsignals und des Freigabesignals an der Steuerung.

The present invention further relates to a method for remote operation of a device. The method comprises the following steps:

1. a) determining a distance D between a radio remote control and a second radio transceiver, which is assigned to a safety-relevant area of the device.
2. b) deriving a release signal for a safety-relevant operation from the determined distance D and a predetermined safety distance D _min .
3. c) starting the safety-related operation based on a request of a user-initiated start signal and the enable signal to the controller.

In step a) it is determined how far away the radio remote control and thus the user is from a security-relevant area of the device. As soon as the distance D is at least equal to the predetermined safety distance D _min , an enable signal is output. Only when the enable signal and a user-induced star signal are present, the safety-relevant process is started.

The direct monitoring of the distance D significantly increases the safety of devices since the safety-relevant process can only be started if the safety distance is at least maintained.

• a1.1) Messen von Feldstärken von Funksignalen zwischen einem ersten Funktransceiver der Funkfernbedienung und einem zweiten Funktransceiver
• a1.2) Ableiten des Abstands D aus den gemessenen Feldstärken.

In another aspect, determining the distance D includes the following steps:

• a1.1) Measuring field strengths of radio signals between a first radio transceiver of the radio remote control and a second radio transceiver
• a1.2) Derive the distance D from the measured field strengths.

kann eine Amplitude der Funksignale am empfangenden Transceiver, die der Feldstärke P entspricht, wenn die ursprüngliche Amplitude (Sendeleistung) bekannt ist, der Abstand D zwischen dem sendenden Transceiver und dem empfangenden Transceiver und somit zwischen Funkfernbedienung und Steuerung oder umgekehrt ermittelt werden.About the relationship $$\mathrm{P}~\mathrm{1}/{\mathrm{<figure-callout\; id="3"\; label="D"\; filenames="imgf0001.png,imgf0003.png"\; state="\{\{state\}\}">D</figure-callout>}}^{\mathrm{3}}$$

For example, an amplitude of the radio signals at the receiving transceiver corresponding to the field strength P when the original amplitude (transmit power) is known, the distance D between the transmitting transceiver and the receiving transceiver and thus between radio remote control and control or vice versa can be determined.

The determination of the distance D over the field strength provides an accurate and robust way to ensure the distance D and thus compliance with the predetermined safety distance D _min .

• a2.1) Berechnen von Wegstrecken der Funkfernbedienung basierend auf Beschleunigungswerten aus einem Beschleunigungsmesser, der an der Funkfernbedienung angeordnet ist.
• a2.2) Ableiten des Abstands D aus den berechneten Wegstrecken oder aus den gemessenen Feldstärken und den berechneten Wegstrecken.

In another aspect, determining the distance D comprises the following steps:

• a2.1) Calculating distances of the radio remote control based on acceleration values from an accelerometer, which is arranged on the radio remote control.
• a2.2) deriving the distance D from the calculated distances or from the measured field strengths and the calculated distances.

From the acceleration values obtained in three mutually perpendicular directions, the distance traveled in each of the three directions can be calculated by summing over time. Based on these distances, the distance D can be derived from a starting point, here the device and the current position of the radio remote control and thus of the user.

Since the safety distance must be maintained in many cases in a horizontal planes, the derivation of the distance from the distances a purely horizontal distance can be derived and thus ensure compliance with the safety distance in the horizontal plane.

Furthermore, the derivation of the distance D can be carried out both from the measured field strength and from the calculated distances. This increases the accuracy of the derived distance. In addition, a plausibility check of the distances determined on the two types can take place. This further increases the security of the process.

According to a further aspect, in step c), a transmission of the start signal from the radio remote control to the controller is made in response to an input by means of an input device of the radio remote control.

The user can trigger the start signal via the radio remote control. This offers various possibilities to start the security-relevant process. The user can first trigger the start signal on the radio remote control and then move away from the device, so that the safety-relevant operation is only started when it has reached the predetermined safety distance D _min . Alternatively, the user may also first remove by the safety distance D _min or more and then settle the start signal via the remote control.

This provides a more variable design of the workflow for the user, without jeopardizing its safety, as the compliance with the safety margin is always guaranteed when starting the safety-relevant operation.

• i1) Aufbauen einer Funkverbindung zwischen dem ersten Funktransceiver der Funkfernbedienung und dem zweiten Funktransceiver der Steuerung.
• i2) Eindeutiges Koppeln der Funkfernbedienung und der Steuerung über jeweils der Funkfernbedienung und der Steuerung zugeordnete eindeutige Adressen.

According to a further aspect, the method comprises at least one of the following initialization steps before step a):

• i1) establishing a radio link between the first radio transceiver of the radio remote control and the second radio transceiver of the controller.
• i2) unambiguous coupling of the radio remote control and the controller via each of the radio remote control and the controller associated unique addresses.

Before the procedure can start a safety-related process, the radio remote control must be connected to the controller.

In addition or alternatively, initial coupling can take place. The radio remote control and / or the controller compensate a stored unique address with the address of the other one. If the stored and the address of the communication partner agree, the connection between the radio remote control and the controller is established and maintained.

Uniquely coupling the first radio transceiver and the second radio transceiver via addresses respectively unique to the first radio transceiver and the second radio transceiver. increases the security of the device, as it does not cause false data transfers and thus unwanted Inputs or incorrect distance derivatives can come through other radios.

According to a further aspect, the addresses uniquely assigned to each of the first radio transceiver and the second radio transceiver are respectively announced to one another in a learning process. The first radio transceiver is part of the radio remote control. The second radio transceiver is a component of a controller. The controller and the radio remote control are made known to each other before using the device in the teach-in process. The controller and / or the radio remote control store a corresponding unique address of the other and communicate from now on only with this one communication partner. Thus, the controller and the radio remote control are clearly coupled together. The coupling of the same controller with the same radio remote control can be done again and again without re-learning.

The teach-in process always gives only one valid pairing of radio remote control and control. this increases the security of the method, since no connection between an unknown radio remote control and a controller can be established.

• d) Ableiten eines Vorliegens eines Sturzes basierend auf den Beschleunigungswerten des Beschleunigungsmessers oder auf Winkelbeschleunigungswerten eines Winkelbeschleunigungsmessers, der an der Funkfernbedienung angeordnet ist, wobei in Schritt b) das Ableiten des Freigabesignals zusätzlich auf dem Vorliegen eines Sturzes basiert;
• e) Übermitteln des Abstands D an die Funkfernbedienung und Darstellen des Abstands D auf einer grafischen Anzeige der Funkfernbedienung;
• f) Übermitteln eines Fortschrittswerts des sicherheitsrelevantes Vorgangs an die Funkfernbedienung und Darstellen des Fortschrittswerts auf der grafischen Anzeige der Funkfernbedienung;
• g) kontinuierliches Aufzeichnen und Überprüfen eines Bewegungsablaufs der Funkfernbedienung.

According to another aspect, the method further comprises at least one of the following steps:

• d) deriving a presence of a fall based on the acceleration values of the accelerometer or on angular acceleration values of an angular accelerometer, the the radio remote control is arranged, wherein in step b) deriving the release signal is additionally based on the presence of a fall;
• e) transmitting the distance D to the radio remote control and displaying the distance D on a graphical display of the radio remote control;
• f) transmitting a progress value of the security relevant operation to the radio remote control and displaying the progress value on the graphic display of the radio remote control;
• g) continuously recording and checking a movement sequence of the radio remote control.

The angular accelerometer may include angular acceleration sensors for three rotations that are perpendicular to each other to determine angular acceleration values in the three perpendicular directions of rotation. By monitoring the acceleration values and / or the angular acceleration values, a fall can be detected, since particularly high acceleration values and angular acceleration values are present. Based on the detection of a fall, the triggering of the safety-related operation can be prevented. For this purpose, the derivation of the enable signal takes into account whether there is a fall. If so, the safety-relevant process is not started even if the safety distance has been maintained, or no enable signal is generated.

By the fall monitoring the security in the use of the device is further increased, as is indirectly monitored by the readiness of the user.

The instantaneous distance D can be transmitted to the radio remote control directly or via the controller by the situation monitor and can be displayed to the user via a graphic display, for example.

By providing the instantaneous distance, the user can initiate the safety-relevant process even faster, because he sees at a glance when he has reached the required safety distance.

From the sensor value e.g. a position, a position sensor and / or a pressure or force sensor pressure sensor of the device, a progress value on the safety-relevant process can be derived and transmitted to the radio remote control. The progress value, for example via a progress bar on the graphic display of the display device, is displayed on the radio remote control.

The presentation of the progress value of the safety-relevant process leads to increased comfort and increased safety for the user since he can follow live how the safety-relevant process proceeds and when it has finally been completed and the safe distance can again be safely exceeded.

The distance D can be continuously recorded and stored so that the movement of the radio remote control and thus the user can be checked.

This can be helpful in diagnosing faults or in the reconstruction of accidents.

By restricting the validity of the enable signal, for example, an unwanted restarting of a security-relevant process is avoided.

• p1) kontinuierliches Überprüfen eines flüchtigen Speichers der Steuerung, bevorzugt mittels Prüfsummenverfahren;
• p2) kontinuierliches Überprüfen eines nicht-flüchtigen Speichers der Steuerung, bevorzugt mittels Prüfsummenverfahren;
• p3) kontinuierliches Überprüfen einer Betriebsspannung und eines Prozessors der Steuerung, bevorzugt mittels eines Watchdog;
• p4) kontinuierliches Überprüfen einer integrierten Schaltung der Steuerung, bevorzugt mittels Plausibilitätsüberprüfungsverfahren.

In another aspect, the method further includes at least one of the following verification steps:

• p1) continuously checking a volatile memory of the controller, preferably by checksum method;
• p2) continuously checking a non-volatile memory of the controller, preferably by checksum method;
• p3) continuously checking an operating voltage and a processor of the controller, preferably by means of a watchdog;
• p4) continuously checking an integrated circuit of the controller, preferably by means of plausibility check methods.

The integration of automatic system verification mechanisms further increases the security of the process. Preferably, the plausibility check also includes the operator input signals.

Fig. 1

eine schematische Darstellung einer Einrichtung zum entfernten Bedienen einer Vorrichtung;

Fig. 2

eine schematische Darstellung einer Funkfernbedienung der Einrichtung aus Fig. 1;

Fig. 3

eine schematische Darstellung eines Verfahrens zum entfernten Bedienen einer Einrichtung;

Fig. 4

ein beispielhaftes Ablaufdiagramm des Verfahrens aus Fig. 3;

Fig. 5

eine schematische Darstellung einer mobilen Vorrichtung.

The invention and the technical environment are explained in more detail by way of example with reference to the figures. It should be noted that the figures show a particularly preferred embodiment of the invention, but this is not limited thereto. Show it:

Fig. 1

a schematic representation of a device for remote operation of a device;

Fig. 2

a schematic representation of a radio remote control of the device Fig. 1 ;

Fig. 3

a schematic representation of a method for remote operation of a device;

Fig. 4

an exemplary flowchart of the method Fig. 3 ;

Fig. 5

a schematic representation of a mobile device.

Fig. 1 schematically shows a device 1 for remote operation of a device. 2

A radio remote control 3 of the device 1 comprises an input device 4 and a first radio transceiver 5. A controller 6 of the device 1 comprises a second radio transceiver 7. The control 6 is arranged on the device 2 and connected to the device 2 via an adapter (not shown). The first radio transceiver 5 and the second radio transceiver 7 are communicatively connected. A distance monitoring 8 is integrated in the controller 6 and connected to this communicatively. Alternatively, the distance monitoring 8 could also be integrated in the radio remote control 3 and be communicatively connected to it (dashed arrow).

The distance monitoring 8 continuously determines a decency D between the radio remote control 3 and the controller 6. For this purpose, on the one hand, the field strength P or the amplitude of radio signals that are sent from the radio remote control 3 to the controller 6 and analyzed together with a known transmission power the radio remote control 3, a first distance D ₁ determined. On the other hand, distances in a horizontal x-direction and a vertical y-direction perpendicular thereto from acceleration values of the radio remote control are calculated by time summation or integration, and the distances also determine the distance D ₂ in the horizontal xy plane. The two distances D ₁ and D ₂ are combined to a distance D. There may also be a direct derivation of the distance D from the measured field strengths and the calculated distances. As soon as the distance D is greater than or equal to a predetermined safety distance D _min , the controller 6 generates an enable signal. The user can trigger a start signal via the input device 4. As soon as the release signal and the start signal are present, the safety-relevant process is started by the controller 6. The controller 6 is signal technically connected to the system control of the device 2. If the enable signal and the start signal of the controller 6 are present, this generates a signal to the system controller so that the system controller can trigger a safety-related operation of the device.

Fig. 2 shows the radio remote control 3 with the input device 4 and the first radio transceiver 5. Further, the radio remote control 3 comprises an accelerometer 9 and an angular accelerometer 10. Der The accelerometer includes three accelerometers, one each measuring the acceleration in the x, y, and z directions. From the acceleration values in the three directions, the distances in the x-direction and in the y-direction are calculated. Similarly, the angular accelerometer 10 includes three angular acceleration sensors, one each measuring the angular acceleration about the x-direction, the y-direction, and the z-direction. With the aid of the acceleration values and the angular acceleration values, the distance D2 in the xy plane can be determined with high precision even if the radio remote control 3 is not kept stable in position but is tipped or tilted back and forth during movement away from the device. From the acceleration values and the angular acceleration values, a fall detection (not explicitly shown) can also be used to derive a fall. If a fall has been detected by the fall monitoring, the safety-relevant process is not triggered, or the release signal is not generated, even if the safety distance D _{min is} reached.

Optionally, it is also possible to carry out a distance measurement via an optical method, wherein a marker 11 is attached to the radio remote control 3. On the controller 6 to a marker is also attached (not shown). The position of the radio remote control 3 relative to the controller 6 can be determined via an optical 3D camera (eg in the infrared range) and a distance D ₃ can be determined therefrom.

A display device 12 of the radio remote control 3 consists of a status LED 13, an activity LED 14 and a graphic display 15.

The status LED 13 indicates the current state of the device 2. The activity LED 14 indicates whether the radio remote control 3 is connected to the controller 6. The graphical display 15 may display the distance D and / or progress of the safety-related operation.

Fig. 3 schematically shows a method for remote operation of a device 2 according to Fig. 1 , In an initialization step i1), a radio connection is established between the first radio transceiver 5 of the radio remote control 3 and the second radio transceiver 7 of the control 6. Data is transmitted by radio, the communication being carried out according to a standardized protocol (eg Bluetooth, WLAN / WiFi, ZigBee, etc.). As soon as the radio connection is established, an unambiguous coupling of the radio remote control 3 and the controller 6 or the first radio transceiver 5 and the second radio transceiver 7 takes place in an initialization step i2). For this purpose, the radio remote control 3 and / or the controller 6 send their unique addresses to the radio remote control each other. The radio remote control 3 and / or the controller 6 compare the sent address of the communication partner each with a stored address that has been stored in a teach-in process. If the sent and the stored address match, the communication partner is accepted and the radio remote control 3 and the controller 6 are clearly coupled together.

In a step a), a distance D between the radio remote control 3 and the controller 6 is determined. For this purpose, field strengths P of radio signals between the first radio transceiver 5 and the second radio transceiver 6 are measured in a step a1.1. in a step a2.1) For example, distances of the radio remote control 3 are calculated based on acceleration values from the accelerometer 9. Subsequently, in a step a2.2), the distance D is derived from the measured field strengths P via the relationship P -1 / D ³ and the calculated distances by temporal integration of the acceleration values in the xy plane. In a step d), the presence of a fall is derived based on the acceleration values of the accelerometer 9 or on angular acceleration values of the angular acceleration meter 10. Subsequently, in step b), the safety-relevant operation release signal is derived from the determined distance D and the predetermined safety distance D _min , wherein the derivation of the enable signal is additionally based on the presence of the fall, so that if a fall was detected, the safety-relevant operation is not started or the release signal is not generated. Finally, in step c), the safety-relevant process is started based on a request of a user-induced start signal and the release signal at the controller 6, the start signal being sent from the radio remote control 3 to the controller 6 upon an input by means of the input device 4. The release signal is only valid for a single security-relevant process. In addition, in a step f), a progress value of the safety-relevant process, which is determined from sensor values of a position sensor and / or a pressure sensor, is sent to the radio remote control 3 and displayed on the graphic display 15.

Furthermore, in a step e), the distance D is transmitted to the radio remote control 3, wherein the distance D is displayed on the graphic display 15. In addition, in a step g) continuously a movement sequence the radio remote control based on the distances recorded and checked.

Through various checking steps, the device 1, on which the method is carried out, is continuously checked for its operational readiness. These checks are optional, but add to the safety of the user. For this purpose, in a checking step p1), a continuous checking of a volatile memory of the controller 6 takes place, preferably by means of checksum methods. Furthermore, in a checking step p2), a non-volatile memory of the controller 6 is checked continuously, preferably by means of checksum methods. Furthermore, in a checking step p3), a continuous checking of an operating voltage and of a processor of the controller 6 takes place, preferably by means of a watchdog. In addition, in a checking step p4), an integrated circuit of the controller 6 is checked continuously, preferably by means of a plausibility checking method.

Fig. 4 schematically shows a possible temporal sequence of the individual steps of the method Fig. 3 , After the initial setup of the radio link between controller 6 and radio remote control 3 in initialization step i1) and the unique coupling in initialization step i2), the distance D between the radio remote control 3 and the controller 6 is determined continuously in step a). For this purpose, the field strength P is determined in step a1.1) and the distances in the xy plane from the acceleration values of the accelerometer 9 are determined in step a2.1). in step a2.2), the distance D is then derived from the field strength P and the distances. Parallel to step a), the determination takes place in step d) a fall over the acceleration values and the angular acceleration values of the angular accelerometer 10. In step b), the release signal is then derived based on the distance D and the predetermined safety distance D _min taking into account the presence of a fall. Furthermore, in step g), the movement sequence of the radio remote control 3 is recorded and checked continuously. Furthermore, in step e), the distance D is continuously transmitted to the radio remote control 3, so that the distance D can be displayed to the user via the graphic display 15 of the display device 12. In step c), the safety-relevant process is started as soon as the release signal and the start signal, which is given by the user via the input device 4 of the radio remote control 3, abut the controller 6. In step f), the progress of the safety-related operation based on the sensor value of the device 2 is continuously displayed to the user by means of the graphic display 15 of the display device 12.

In the Fig. 4 not shown checking steps p1) to p4) can be performed directly after switching on the controller 6 and the radio remote control 3 and / or after the initialization steps i1) and i2) and / or at predetermined times during operation.

Fig. 5 schematically shows a mobile device 16 with a device 1 for remote operation of the device 16. The device 16 may be, for example, a crane.

The mobile device 16 has a controller 6 of the device 1. The controller 6 is preferably a component of a control, not shown, of the device 16.

A radio remote control 3 of the device 1 comprises an input device 4 and a first radio transceiver 5. A controller 6 of the device 1 comprises a second radio transceiver 7. The first radio transceiver 5 and the second radio transceiver 7 are communicatively connected. A distance monitoring 8 is integrated in the controller 6 and connected to this communicatively. Alternatively, the distance monitoring 8 could also be integrated in the radio remote control 3 and be communicatively connected to it (dashed arrow).

The distance monitoring 8 continuously determines a decency D between the radio remote control 3 and the controller 6. For this purpose, on the one hand, the field strength P or the amplitude of radio signals that are sent from the radio remote control 3 to the controller 6 and analyzed together with a known transmission power the radio remote control 3, a first distance D ₁ determined. On the other hand, distances in a horizontal x-direction and a vertical y-direction perpendicular thereto from acceleration values of the radio remote control are calculated by time summation or integration, and the distances also determine the distance D ₂ in the horizontal xy plane. The two distances D ₁ and D ₂ are combined to a distance D. It can also be a direct derivative of the distance D from the measured field strengths and the calculated routes. As soon as the distance D is greater than or equal to a predetermined safety distance D _min , the controller 6 generates an enable signal. The user can trigger a start signal via the input device 4. As soon as the enable signal and the start signal are present, a safety-relevant process can be started. The controller 6 is signal technically connected to the system control of the device 16. If the enable signal and the start signal of the controller 6 are present, this generates a signal to the system controller so that the system controller can trigger a safety-related operation of the device.

LIST OF REFERENCE NUMBERS

1

Device for remote operation

2

device

3

radio remote control

4

input device

5

first radio transceiver

6

control

7

second radio transceiver

8th

distance monitoring

9

accelerometer

10

Angular accelerometer

11

marker

12

display

13

Status LED

14

Activity LED

15

graphic display

16

Mobile device

Claims (17)

Device (1) for remote operation of a device (2) comprising: a radio remote control (3) having a first radio transceiver (5); a controller (6) assignable to the device (2) and having a second radio transceiver (7); and a distance monitor (8) arranged to determine a distance D between the radio remote control (3) and the controller (6), wherein the first radio transceiver (5) and the second radio transceiver (7) are communicably connectable to each other and adapted to communicate with each other via radio signals in a connected state, wherein the distance monitoring (8) and at least the radio remote control (3) or the controller (6) are communicatively connected and corresponding to at least one of the distance D or a distance D signal from the distance monitoring (8) to at least the radio remote control (3 ) or the controller (6) are set up and wherein the controller (6) or the radio remote control (3) for deriving a release signal for a safety-relevant operation from the corresponding from the radio remote control (3) or the distance monitoring (8) distance D transmitted to the control (6) or the radio remote control (3) or a signal corresponding to the distance D and a predetermined safety distance D _min and corresponding to a transmission of the enable signal to the control (6), wherein the controller is adapted to activate the device based on a concern of a user-initiated start signal and the enable signal on the controller (6). The device (1) according to claim 1, wherein the distance monitor (8) is arranged to: measuring field strengths of the radio signals between the first radio transceiver (5) and the second radio transceiver (7) and deriving the distance D from the measured field strengths. Device (1) according to claim 1 or 2, wherein the distance monitor (8) is set up to: calculating distances of the radio remote control (3) based on acceleration values of an accelerometer (9) which is arranged on the radio remote control (3) and deriving the distance D from the calculated distances or from the measured field strengths and the calculated distances. Device (1) according to claim 1, 2 or 3, wherein the radio remote control (3) has an input device (4) which is communicatively connected to the first radio transceiver (5) and to a transmission of the start signal via the first radio transceiver (5). is set to an input by means of the input device (4) out and wherein the controller (6) is arranged to receive the start signal via the second radio transceiver (7). Device (1) according to one of the preceding claims, wherein the radio remote control (3) and control (6) each have a unique address and can be uniquely coupled to each other by means of the unique addresses. Device (1) according to one of the preceding claims, comprising a fall guard, which is set up to detect the presence of a fall,
wherein the fall monitoring is arranged to derive the presence of a fall based on the acceleration values of the accelerometer or to angular acceleration values of an angular accelerometer (10) disposed on the radio remote control (3), and
wherein the controller (6) or the radio remote control (3) for deriving the release signal is additionally set in consideration of the presence of a fall. Device (1) according to one of the preceding claims, wherein the controller (6) can be connected to at least one sensor of the device (2) and is set up for reading out a progress value of a safety-relevant process,
wherein the controller (6) and the radio remote control (3) are arranged to transmit the progress value from the controller (6) to the radio remote control (3), and
wherein the radio remote control (3) is arranged to display the progress value by the display device (12). Device (2), in particular moving mobile transport and lifting devices with a device (1) for remote operation of the device (2) comprising: a radio remote control (3) having a first radio transceiver (5); a controller (6) having a second radio transceiver (7), the controller (6) being disposed on the device (2); and a distance monitor (8) arranged to determine a distance D between the radio remote control (3) and the controller (6), wherein the first radio transceiver (5) and the second radio transceiver (7) are communicably connectable with each other are and are set up for a mutual exchange of data via radio signals in a connected state, wherein the distance monitoring (8) and at least the radio remote control (3) or the controller (6) are communicatively connected and corresponding to transmitting the distance D or a distance D corresponding signal from the distance monitoring (8) to at least the radio remote control (3) or the controller (6) are set up and wherein the controller (6) or the radio remote control (3) for deriving a release signal for a safety-relevant operation from the corresponding from the radio remote control (3) or the distance monitoring (8) to the controller (6) or the radio remote control (3) transmitted Distance D or a signal corresponding to the distance D and a predetermined safety distance D _min and corresponding to a transmission of the enable signal to the controller (6), wherein the controller is configured to start the safety-related operation based on a concern of a user-initiated start signal and the enable signal to the controller (6). Device (2) according to claim 8, wherein the device (1) is designed for remote operation of the device (2) according to one of claims 2 to 7. A method for remotely operating a device (2) comprising the following steps: a) determining a distance D between a first radio transceiver (5) of a radio remote control (3) and a second radio transceiver (7) is associated with a safety-relevant area of the device (2); b) deriving a release signal for a safety-relevant operation from the determined distance D and a predetermined safety distance D _min ; c) starting the safety-related operation based on a concern of a user-induced start signal and the enable signal to a controller (6). The method of claim 10, wherein determining the distance D comprises the steps of: a1.1) Measuring field strengths of radio signals between the first radio transceiver (5) of the radio remote control (3) and the second radio transceiver (7) and a1.2) Derive the distance D from the measured field strengths. Method according to one of claims 10 or 11, wherein the determination of the distance D comprises the following steps: a2.1) calculating distances of the radio remote control (3) based on acceleration values from an accelerometer (9), which is arranged on the radio remote control (3), and a2.2) deriving the distance D from the calculated distances or from the measured field strengths and the calculated distances. Method according to one of claims 10, 11 or 12, wherein in step c) a transmission of the start signal from the radio remote control (3) to a controller (6) of the device (2) to an input by means of an input device (4) of the radio remote control (3 ) takes place. Method according to one of claims 10 to 13, further comprising at least one of the following initialization steps before step a): i1) establishing a radio link between the first radio transceiver (5) of the radio remote control (3) and the second radio transceiver (7) and i2) unambiguously coupling the first radio transceiver (5) and the second radio transceiver (7) via addresses respectively uniquely assigned to the first radio transceiver (5) and the second radio transceiver (7). A method according to claim 16, wherein the respective ones associated with the first radio transceiver (5) and the second radio transceiver (7) unique addresses are made known to each other in a learning process. Method according to one of claims 10 to 15, further comprising at least one of the following steps: d) deriving the presence of a fall based on the acceleration values of the accelerometer (9) or on angular acceleration values of an angular accelerometer (10) arranged on the radio remote control (3), wherein in step b) deriving the release signal additionally on the presence of a fall based; e) transmitting the distance D to the radio remote control (6) and representing the distance D on a graphic display (15) of the radio remote control (3); f) transmitting a progress value of the security relevant operation to the radio remote control (3) and displaying the progress value on the graphic display (15) of the radio remote control (3); g) continuously recording and checking a movement sequence of the radio remote control (3). The method of any one of claims 10 to 16, further comprising at least one of the following verification steps: p1) continuously checking a volatile memory of a controller (6), preferably by means of checksum methods; p2) continuously checking a non-volatile memory of a controller (6), preferably by checksum method; p3) continuously checking an operating voltage and a processor of a controller (6), preferably by means of a watchdog; p4) continuously checking an integrated circuit of a controller (6), preferably by means of plausibility checking methods.

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