EP3730451B1 - Access control system of a mobile working machine - Google Patents

Description

The invention relates to an access authorization system for a mobile working machine with a vehicle control device for controlling vehicle functions, the access authorization system being set up to recognize access authorizations from operators and to enable operators with access authorization to access at least one of the vehicle functions, the access authorization system having at least a first one on which mobile work machine arranged transmitter-receiver device and at least one second transmitter-receiver device that can be carried by the operator and is individually assigned to the operator, the first transmitter-receiver device being in operative connection with the vehicle control device, and the access authorization system for this is set up, through data exchange between the first transmitter-receiver device and the second transmitter-receiver device, to identify the operator who is located at a distance from the mobile working machine and to recognize the operator's distance from the mobile working machine, and upon identification an access authorization of the operator to cause the vehicle control device to trigger at least one defined reaction function of the mobile machine depending on the distance of the operator from the mobile machine.

Within the scope of the present invention, mobile working machines are to be understood as meaning industrial trucks, mobile agricultural and forestry equipment and mobile construction machines. Industrial trucks include in particular forklifts, tractors and platform vehicles, as well as warehouse trucks, such as pallet trucks or order pickers.

In the case of industrial trucks in particular, standards (e.g. EN ISO 3691-1: 2017) stipulate that these vehicles must be equipped with a device that prevents the vehicle from being started/used without authorization. The simplest and proven case of an access authorization system is a key with which an ignition lock is switched.

In addition, other access authorization systems have become established, which are primarily chosen when only a defined group of people is to access a vehicle. This includes entering a combination of numbers and/or letters (PIN) on appropriate keyboards, access cards with passive RFID transponders or chips with passive RFID transponders.

RFID (Radio Frequency Identification) describes a technology for the automatic and contactless identification and localization of objects with radio waves. Conventional RFID systems consist of a transponder (also known as a radio tag) and a reader.

The transponder contains an identifying code that can be read by the reader. For this purpose, there is a coupling by magnetic alternating fields generated by the reader within a short range.

In this way, not only data is transmitted with passive RFID transponders, but the transponder is also supplied with energy. The high-frequency energy picked up by the antenna of the passive RFID transponder serves as the power supply for its microchip during the communication process.

The microchip activated in this way decodes the commands sent by the reader. The response is encoded and modulated by the passive RFID transponder in the radiated electromagnetic field through field weakening or anti-phase reflection of the field emitted by the reader. The passive RFID transponder does not generate a field itself, but influences the transmission field of the reader.

All of the access authorization systems mentioned have in common that the key or the corresponding authorization means (access card, chip) and a vehicle interface must be in close proximity of a few centimeters or there must be direct contact in order to gain access to the vehicle. This applies equally to the key/key switch (ignition lock), access card/card reader, chip/card reader and operator finger/keyboard pairings.

As a result, the operator of the mobile work machine is in most cases forced to highlight the key or the corresponding authorization means from clothing pockets and hang up or manipulate it in some other way, for example inserting and turning the key or entering a PIN. This non-value-added activity wastes time.

Due to the short range of the known access authorization systems, the mobile work machine can also only react to the operator when the operator is directly in his normal operating position.

From the U.S. 2017/372188 A1 a generic access authorization system designed as an industrial truck mobile working machine with the features of the preamble of claim 1 is known.

The GB 2 353 180A discloses an access authorization system of a mobile working machine, in which the driver carries an electronic key, with vehicle reactions being triggered depending on the distance of the electronic key, for example the working machine is activated when the key is within a distance of 2 meters from a sensor on the vehicle and the work machine is partially or completely shut down when the key is more than 4 meters away from the sensor on the vehicle.

From the U.S. 8,935,052 B2 an automatic door unlocking of a vehicle is known, in which the movement of a mobile signal generator for unlocking a door lock is evaluated.

The present invention is based on the object of designing an access authorization system of the type mentioned at the outset in such a way that access authorization is also made possible from a greater distance.

According to the invention, this object is achieved in that the access authorization system is operatively connected to at least one operating device in the vicinity of the mobile working machine and the access authorization system is set up for this, depending on the distance the operator of the mobile working machine to trigger at least one defined reaction function of the operating equipment.

The solution according to the invention is therefore based on equipping both the mobile working machine and the operator with their own transmitter-receiver device. This means that the access authorization system can identify the operator's individual transmitter-receiver device and recognize the distance between the mobile working machine and the operator.

According to the invention, the access authorization system is also used to trigger reactions in the area surrounding the mobile work machine. For this purpose, the access authorization system is operatively connected to at least one operating facility in the vicinity of the mobile working machine. The access authorization system is set up to trigger at least one defined reaction function of the operating device depending on the distance between the operator and the mobile working machine.

The technical realization can take place, for example, by means of active RFID technology. For this purpose, the transmitter-receiver devices are expediently designed as active RFID transmitter-receiver devices. In contrast to the passive RFID transponders used in conventional access authorization systems, the active RFID transmitter-receiver devices have their own power supplies and can themselves generate electromagnetic transmission fields. As a result, the active RFID transmitter-receiver devices offer significantly greater ranges than conventional passive RFID transponders.

Another possibility for technical implementation is a radio link using ultra wide band technology (UWB). Large frequency ranges with a bandwidth of at least 500 MHz or at least 20% of the arithmetic mean of the lower and upper limit frequencies of the frequency band used are used. In this case, the transmitter-receiver devices are expediently designed as ultra-wideband radio transmitter-receiver devices.

The first transceiver device may be mounted in or on the mobile work machine and responsive to the second transceiver device carried by the operator located in the vicinity of the mobile work machine. The first transmitter-receiver device is operatively connected to the vehicle control device of the mobile working machine and can communicate with it. Thus, when an operator with access authorization is identified, different reaction functions can be triggered by the vehicle control device depending on the distance of the operator from the mobile working machine.

It is advantageous if several distance zones can be recognized by the access authorization system. For this purpose, at least one outer and one inner distance zone for the operator are preferably stored in the access authorization system.

When the operator enters the outer distance zone, an approach function is preferably provided as a reaction function, which includes activation of the vehicle control device. If the operator enters the outer distance zone from outside, the mobile working machine can be automatically prepared for operation by the authorized operator by already activating and booting the vehicle control device. Driver-specific parameters can also be loaded.

Additionally or alternatively, when the operator enters the outer distance zone, an approach function is advantageously provided as a reaction function, which includes activation of an access device, in particular a door unlocking device and/or an access light. Thus, when the operator approaches, a comfortable entry situation can be automatically ensured by doors of the mobile working machine being unlocked or entrances to the mobile working machine being illuminated.

When the operator enters the inner distance zone, a start function is preferably provided as a reaction function, which includes activation of a ready-to-drive state of the mobile working machine. So if an authorized operator from outside, for example from the adjacent outside distance zone or an intermediate distance zone, coming into the inner distance zone, the mobile working machine can already be automatically put into a ready-to-drive and/or operational state, for example by starting a drive motor of the working machine, for example an internal combustion engine. The mobile work machine is thus automatically placed in a ready-to-drive state when an authorized operator enters the inner distance zone, without the operator having to carry out further actions, for example operating a key switch and pressing a start button.

In a particularly advantageous embodiment of the invention, the vehicle is also automatically deactivated as soon as the operator moves away from the mobile work machine again. For this purpose, when the operator is removed from the inner and/or outer distance zone, a deactivation function is provided as a reaction function, which includes activation of an idle state of the mobile working machine.

In this case, the deactivation function expediently includes switching off the vehicle control device. All vehicle functions are thus switched off without the operator having to carry out any additional actions. Incorrect operation by unauthorized persons can thus be reliably ruled out.

The access authorization system according to the invention is also used for user identification. By identifying the operator via the transmitter-receiver device worn by the operator and individually assigned to it and comparing it with vehicle information stored in the vehicle control device, it is possible to reliably detect which authorized operator is currently using the respective mobile working machine.

For example, the operating facility can be designed as a door, in particular a roller door, for example in a warehouse. In this case, an opening or closing of the door is provided as a reaction function of the operating device. Thus, an operator can already automatically open a door by approaching the mobile working machine. This is ensures that the gate is already open when the operator sets off with the mobile work machine. Unnecessary waiting times when passing through gates can thus be avoided.

The operating device can also be designed as a lighting device. In this case, switching the lighting device on or off is preferably provided as a reaction function of the operating device. Thus, for example, when the operator approaches the mobile working machine, hall lighting in the vicinity of the mobile working machine can be switched on automatically.

1. 1. Erhöhter Nutzerkomfort:
   Die Bedienperson muss nicht mit Berechtigungsmitteln wie Schlüsseln, Chipkarten etc. hantieren. Die Bedienperson muss nichts aus Taschen hervorholen und einstecken oder anderweitig bedienen.
2. 2. Schnellere Verfügbarkeit: Die mobile Arbeitsmaschine ist schnell für den autorisierten Bedienperson verfügbar, weil die mobile Arbeitsmaschine schon bei Annäherungen der autorisierten Bedienperson aktiviert wurde. Die autorisierte Bedienperson kann sofort anfangen mit der mobilen Arbeitsmaschine zu arbeiten und verschwendet keine Zeit, den Zugang manuell zu ermöglichen, beispielsweise Zündschlüssel einstecken und drehen, PIN-Code eingeben etc., und auf das Hochfahren der Fahrzeugsteuerungseinrichtung zu warten. Damit kann der Betreiber der mobilen Arbeitsmaschine die Effizienz erhöhen und Geld sparen.
3. 3. Annäherungsfunktion:
   Komfort und Sicherheit können durch die Annäherungsfunktionen gesteigert werden.
4. 4. Erhöhte Sicherheit gegenüber unberechtigter Nutzung:
   Die aus dem Stand der Technik bekannten Zugriffberechtigungssysteme haben jeweils spezifische Nachteile gegenüber dem erfindungsgemäßen Zugriffberechtigungssystem:
   1. a) Der klassische Schlüsselschalter wird in der Praxis häufig in der mobilen Arbeitsmaschine stecken gelassen, obwohl die mobile Arbeitsmaschine damit von jeder beliebigen Person genutzt werden kann. Selbst wenn eine autorisierte Bedienperson den Schlüssel vorschriftsgemäß abzieht, sind die Schlüssel innerhalb der Fahrzeugklassen heute austauschbar, so dass ein Schlüssel in vielen mobilen Arbeitsmaschinen passt und damit keinen zuverlässigen Schutz gegenüber nicht autorisierter Nutzung und/oder Diebstahl bietet. Karten und Chips, die per Kartenleser eingelesen werden, werden häufig auf den Kartenlesern liegen gelassen oder verbleiben in der mobilen Arbeitsmaschine. Das erfindungsgemäße Zugriffberechtigungssystem bietet eine 1:1 Verbindung zwischen der die Funktion eines "Schlüssel" aufweisenden zweiten Sender-Empfänger-Einrichtung und der die Funktion eines "Schloss" aufweisenden ersten Sender-Empfänger-Einrichtung und die zweite Sender-Empfänger-Einrichtung verbleibt an der autorisierten Bedienperson. Damit ist die Wahrscheinlichkeit geringer, dass der Schlüssel in der mobilen Arbeitsmaschine verbleibt.
   2. b) Bei Lösungen, bei denen ein PIN-Code eingegeben werden muss, kann der PIN-Code ohne Nachverfolgbarkeit an unberechtigte Dritte weitergegeben werden. In der Praxis wird der PIN-Code auch häufig in der mobilen Arbeitsmaschine notiert. Beide Schwächen hat das erfindungsgemäße Zugriffberechtigungssystem nicht.
   3. c) Die bekannten Zugangsberechtigungssysteme mit PIN, Karte oder Chip haben den Nachteil, dass diese Zugangsberechtigungssysteme die mobile Arbeitsmaschine nicht detektieren, wann eine autorisierte Bedienperson die Arbeitsmaschine wieder verlässt. In der Praxis verlassen autorisierte Bedienpersonen jedoch während des Betriebes häufig kurzzeitig die mobile Arbeitsmaschine, beispielsweise um Ware zu prüfen oder um zu kommissionieren. Um in diesen Situationen zu verhindern, dass die mobile Arbeitsmaschine sofort in den gesperrten Zustand geht, und die autorisierte Bedienperson sich erneut anmelden müsste, werden die Arbeitsmaschinen in der Praxis häufig auch dann in einem fahrbereiten Zustand belassen, wenn die autorisierte Bedienperson die Arbeitsmaschine verlässt. In diesem Fall können auch unbefugte Personen die mobile Arbeitsmaschine bewegen und Unfälle verursachen oder die mobile Arbeitsmaschine entwenden. Bei dem erfindungsgemäßen Zugriffberechtigungssystem erkennt die mobile Arbeitsmaschine jedoch, ob sich die autorisierte Bedienperson entfernt, und kann dann die mobile Arbeitsmaschine wegschalten und bei erneuter Annäherung zügig wieder einen fahrbereiten Zustand herstellen. Eine Nutzung durch Unbefugte ist damit weitestgehend ausgeschlossen.

The access authorization system according to the invention has a number of advantages:

1. 1. Increased user comfort:
   The operator does not have to handle means of authorization such as keys, chip cards, etc. The operator does not have to take anything out of pockets and put it in or otherwise operate it.
2. 2. Faster availability: The mobile working machine is quickly available for the authorized operator because the mobile working machine has already been activated when the authorized operator approaches. The authorized operator can start working with the mobile work machine immediately and does not waste time manually enabling access, e.g. inserting and turning the ignition key, entering a PIN code, etc., and waiting for the vehicle controller to boot up. This allows the operator of the mobile work machine to increase efficiency and save money.
3. 3. Approximation function:
   Comfort and safety can be increased by the proximity functions.
4. 4. Increased security against unauthorized use:
   The access authorization systems known from the prior art each have specific disadvantages compared to the access authorization system according to the invention:
   1. a) In practice, the classic key switch is often left in the mobile working machine, although the mobile working machine can be used by any person with it. Today, even if an authorized operator properly removes the key, keys are interchangeable within vehicle classes, so that one key fits into many mobile work machines and thus does not offer reliable protection against unauthorized use and/or theft. Cards and chips that are read in by card readers are often left on the card readers or remain in the mobile work machine. The access authorization system according to the invention offers a 1:1 connection between the second transmitter-receiver device having the function of a "key" and the first transmitter-receiver device having the function of a "lock" and the second transmitter-receiver device remains on the authorized operator. This reduces the likelihood that the key will remain in the mobile working machine.
   2. b) In the case of solutions in which a PIN code must be entered, the PIN code can be passed on to unauthorized third parties without traceability. In practice, the PIN code is also often noted in the mobile working machine. The access authorization system according to the invention does not have either of these weaknesses.
   3. c) The known access authorization systems with PIN, card or chip have the disadvantage that these access authorization systems do not detect the mobile working machine when an authorized operator leaves the working machine again. In practice, however, authorized operators often leave the mobile working machine for a short time during operation, for example to check goods or to pick goods. In order to prevent the mobile working machine from immediately going into the locked state in these situations and the authorized operator having to log in again, in practice the working machines are often left in a ready-to-drive state even when the authorized operator leaves the working machine. In this case, unauthorized persons can also move the mobile working machine and cause accidents or steal the mobile working machine. With the access authorization system according to the invention, however, the mobile working machine recognizes whether the authorized operator is moving away and can then switch off the mobile working machine and quickly restore a ready-to-drive state when it approaches again. Use by unauthorized persons is thus largely ruled out.

Figur

einen prinzipiellen Aufbau des erfindungsgemäßen Zugriffberechtigungssystems.

Further advantages and details of the invention are explained in more detail with reference to the embodiment shown in the schematic figure. Here shows the

figure

a basic structure of the access authorization system according to the invention.

A mobile work machine A is shown in the figure. In the exemplary embodiment shown, the mobile work machine A is designed as an industrial truck, for example a forklift.

A first transmitter-receiver device SE1 is mounted on the mobile working machine A, which is individually assigned to the mobile working machine A and is operatively connected to the central vehicle control device MCU of the mobile working machine A and communicates with it. The first transmitter-receiver device SE1 can recognize a second transmitter-receiver device SE2, which is carried by an operator P who is authorized to operate the mobile working machine A and is therefore authorized to access it, and who is assigned to this operator P individually. The two transmitter-receiver devices SE1 and SE2 together with the vehicle control device MCU form the access authorization system Z according to the invention.

The two transmitter-receiver devices SE1, SE2 can be in the form of active RFID transmitter-receiver devices. Alternatively, the two transmitter-receiver devices SE1, SE2 can be in the form of ultra-wideband radio transmitter-receiver devices.

The first transmitter-receiver device SE1 can identify the operator P by exchanging data with the second transmitter-receiver device SE2. In this way it can be determined whether the operator P authorized to operate the mobile working machine A is involved. In addition, the distance d of the operator P from the mobile work machine A can be determined in this way.

In the exemplary embodiment shown, two distance zones are stored in the vehicle control device MCU belonging to the access authorization system Z. An inner zone D1 extends from mobile work machine A to a distance d1, while an outer zone D2 extends from mobile work machine A to a distance d2. In the representation of the figure, the operator P is at a distance d from the mobile working machine A within the outer zone D2.

• Annäherungsfunktionen:
  Die Fahrzeugsteuerungseinrichtung MCU der mobilen Arbeitsmaschine A kann Annäherungsfunktionen initiieren, wenn die autorisierte Bedienperson P in die äußere Entfernungszone D2 eintritt. So können beispielsweise Fahrzeugfunktionen aktiviert werden, fahrerindividuelle Parameter geladen werden oder die Einstiegssituation verbessert werden, indem Türen entriegelt oder Zutritte beleuchtet werden.
• Zugangsberechtigung:
  Dadurch, dass es individuelle identifizierbare Sender-Empfänger-Einrichtungen SE1 und SE2 auf Fahrzeug- und Nutzerseite gibt, können nur dadurch autorisierte Bedienpersonen P die Fahrzeugsteuerungseinrichtung MCU der mobilen Arbeitsmaschine A aktivieren.
• Fahrzeugaktivierung:
  Wenn die autorisierte Bedienperson P in die innere Entfernungszone D1 eintritt, kann die mobile Arbeitsmaschine A in einen fahrbereiten Zustand versetzt werden, ohne dass die Bedienperson P zusätzliche Aktionen, beispielsweise einen Schlüsselschalter und/oder einen Starttaster betätigen, ausführen muss.
• Fahrzeugdeaktivierung:
  Bei Verlassen der inneren Zone D1 oder der äußeren Zone D2 durch die autorisierte Bedienperson P können die Fahrzeugfunktionen in der Fahrzeugsteuerungseinrichtung MCU wieder abgeschaltet werden, ohne dass die Bedienperson P zusätzliche Aktionen ausführt.
• Nutzeridentifikation:
  Durch Identifizieren der Sender-Empfänger-Einrichtung SE2, die der Bedienperson P individuell zugeordnet ist, und durch Vergleich mit Fahrzeuginformationen durch die Fahrzeugsteuerungseinrichtung MCU kann zuverlässig detektiert werden, welche Bedienperson P die mobile Arbeitsmaschine A aktuell nutzt.

The following functions can be implemented using the access authorization system Z according to the invention:

• approximation functions:
  The vehicle controller MCU of the mobile work machine A may initiate proximity functions when the authorized operator P enters the outer distance zone D2. For example, vehicle functions can be activated, driver-specific parameters can be loaded or the entry situation can be improved by unlocking doors or illuminating entrances.
• Access authorization:
  Due to the fact that there are individually identifiable transmitter-receiver devices SE1 and SE2 on the vehicle and user side, only operators P authorized by this can activate the vehicle control device MCU of the mobile work machine A.
• Vehicle activation:
  If the authorized operator P enters the inner distance zone D1, the mobile working machine A can be put into a state ready to drive without the operator P having to perform additional actions, for example a key switch and/or a start button.
• Vehicle deactivation:
  When the authorized operator P leaves the inner zone D1 or the outer zone D2, the vehicle functions can be switched off again in the vehicle control device MCU without the operator P performing additional actions.
• User identification:
  By identifying the transmitter-receiver device SE2, which is individually assigned to the operator P, and by comparing it with vehicle information by the vehicle control device MCU, it can be reliably detected which operator P is currently using the mobile work machine A.

Claims (11)

1. Access authorization system (Z) for a mobile work machine (A) having a vehicle control device (MCU) for controlling vehicle functions, wherein the access authorization system (Z) is configured to detect access authorizations of operators (P) and to make it possible for operators (P) with access authorization to access at least one of the vehicle functions, wherein the access authorization system (Z) comprises at least one first transceiver device (SE1) arranged on the mobile work machine (A) and at least one second transceiver device (SE2) which can be carried by the operator (P) and is individually assigned to the operator (P), wherein the first transceiver device (SE1) is operatively connected to the vehicle control device (MCU), and the access authorization system (Z) is configured, by virtue of the first transceiver device (SE1) interchanging data with the second transceiver device (SE2), to identify the operator (P) at a distance from the mobile work machine (A) and to detect the distance (d) of the operator (P) from the mobile work machine (A) and, if an access authorization of the operator (P) is identified, to cause the vehicle control device (MCU) to trigger at least one defined reaction function of the mobile work machine (A) on the basis of the distance of the operator (P) from the mobile work machine (A), characterized in that the access authorization system (Z) is operatively connected to at least one operating device in the environment of the mobile work machine (A), and the access authorization system (Z) is configured to trigger at least one defined reaction function of the operating device on the basis of the distance (d) of the operator (P) from the mobile work machine (A).
2. Access authorization system according to Claim 1, characterized in that at least one outer distance zone (D2) and one inner distance zone (D1) are stored for the operator (P) in the access authorization system (Z).
3. Access authorization system according to Claim 2, characterized in that, when the operator (P) enters the outer distance zone (D2), an approach function which comprises activating the vehicle control device (MCU) is provided as the reaction function.
4. Access authorization system according to Claim 2 or 3, characterized in that, when the operator (P) enters the outer distance zone (D2), an approach function which comprises activating an entry device, in particular a door release and/or entry lighting, is provided as the reaction function.
5. Access authorization system according to one of Claims 2 to 4, characterized in that, when the operator (P) enters the inner distance zone (D1), a starting function which comprises activating a ready-for-driving state of the mobile work machine (A) is provided as the reaction function.
6. Access authorization system according to one of Claims 2 to 5, characterized in that, when the operator (P) moves away from the inner distance zone (D1) and/or outer distance zone (D2), a deactivation function which comprises activating an idle state of the mobile work machine (A) is provided as the reaction function.
7. Access authorization system according to Claim 6, characterized in that the deactivation function comprises switching off the vehicle control device (MCU).
8. Access authorization system according to one of Claims 1 to 7, characterized in that the operating device is in the form of a gate and opening or closing of the gate is provided as the reaction function of the operating device.
9. Access authorization system according to one of Claims 1 to 7, characterized in that the operating device is in the form of a lighting device and switching-on or switching-off of the lighting device is provided as the reaction function of the operating device.
10. Access authorization system according to one of Claims 1 to 9, characterized in that the transceiver devices (SE1, SE2) are each in the form of active RFID transceiver devices.
11. Access authorization system according to one of Claims 1 to 9, characterized in that the transceiver devices (SE1, SE2) are each in the form of ultrawideband radio transceiver devices.

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