WO2002082397A1 - Fernsteuerungseinrichtung für selbstfahrende arbeitsgeräte - Google Patents
Fernsteuerungseinrichtung für selbstfahrende arbeitsgeräte Download PDFInfo
- Publication number
- WO2002082397A1 WO2002082397A1 PCT/EP2002/003260 EP0203260W WO02082397A1 WO 2002082397 A1 WO2002082397 A1 WO 2002082397A1 EP 0203260 W EP0203260 W EP 0203260W WO 02082397 A1 WO02082397 A1 WO 02082397A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- radiation
- remote control
- control
- control device
- working device
- Prior art date
Links
- 230000005670 electromagnetic radiation Effects 0.000 claims abstract description 10
- 239000002689 soil Substances 0.000 claims abstract description 7
- 230000005855 radiation Effects 0.000 claims description 58
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005056 compaction Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/60—Security, fault tolerance
- G08C2201/63—Redundant transmissions
Definitions
- the invention relates to a remote control device for self-propelled work equipment, which can be used in particular with soil compaction equipment.
- One way of remote control from z. B. self-propelled work equipment is to provide a cable connection between the implement and a transmitter of a remote control device in which, several wires are included.
- the cable connection serves on the one hand to transmit control commands from the transmitter of the remote control device to the working device.
- the transmitter is supplied with energy by the working device through the cable connection. In this way, permanent working operation can be maintained with the implement.
- a protective bar z. B. can bend or even tear off the implement, whereby the operation of the moving implement can no longer be stopped in the event of a hazard.
- Another disadvantage of remote control using the connec fertilizer is that due to the limited length of the cable, the operator is forced to constantly follow the implement and stay in its vicinity. As a result, the operator is constantly noisy, possible Exhaust gases and / or vibrations of the implement are exposed.
- a remote control device with an infrared system in which a modulated infrared light is sent from a transmitting unit to a receiving unit arranged on the self-propelled working device for transmitting the control commands.
- the operator of such an infrared remote control device is constantly in visual contact with the working device, the transmitting unit being aligned with the receiving unit attached to the working device.
- the reception of the infrared signal and subsequently the operation of the implement is interrupted and the implement is stopped.
- an infrared remote control for self-propelled soil compaction devices which, apart from the infrared control radiation provided for the functional control of the implement, emits an infrared short-range radiation with an intensity which is substantially lower than the control radiation, from a control device carried by the operator. so that this short-range radiation can only be received with sufficient intensity in the vicinity of the transmitter.
- this near-range radiation is received, the generation of electrical signals caused by the control radiation, which otherwise cause the implement to travel, is suppressed in the receiving unit on the implement.
- the working device can be operated as long as it is in the reception range of the control radiation, but outside the range of the near-range radiation. If a predetermined safety distance between the operator and the implement is undershot, d. H. , If the short-range radiation is received by the receiving unit attached to the working device, the working device is stopped.
- a disadvantage of infrared systems is generally that the large beam power required requires high energy consumption by the transmitters. unity caused. If, when using the working device, a battery or a transmitter battery provided for the energy supply of the transmitter unit is empty, this can lead to disadvantageous interruptions in operation. There is also a safety risk in the event that, due to the discharge of the battery or the transmitter battery, the implement may no longer be controllable at an inappropriate time.
- the invention has for its object to provide a remote control device for self-propelled work equipment that is safe and can be operated over longer working periods when sending control signals with high transmission power.
- a remote control device for self-propelled implements, in particular for soil compacting implements, with a transmitter unit that can be operated by an operator for sending out control signals in the form of electromagnetic radiation and a receiver unit arranged on the implement, which outputs the received control signals as electrical control commands to a control of the implement characterized in that the transmitter unit can be connected to an external energy source for energy supply during operation of the implement via a cable.
- the external energy source can be arranged on the working device. It is possible that the external energy source is also powered by the implement, e.g. B. by an alternator of the soil compactor. Alternatively, the external energy source can also be formed from a battery of the working device. In this way, the power supply of the transmitter unit of the remote control device is independent of other energy sources, e.g. B. when used on a construction site.
- the electromagnetic radiation can be generated from radiation in the infrared wavelength range. det be.
- the electromagnetic radiation has a short-range radiation component, and the implement can be brought to a standstill when the receiving unit receives this short-range radiation component. In this way it can be ensured that the operation of the working device is interrupted if a predetermined safety distance between the operator and the working device is not reached.
- a particularly advantageous embodiment of the remote control device is characterized in that the electromagnetic radiation further comprises a control radiation which is modulated or coded in accordance with the control commands to be output to the control of the implement, and in that the receiving unit has means for distinguishing the control radiation from the short-range radiation component and means for blocking the formation or output of the control commands to be output to the control when the short-range radiation component is received.
- the solution according to the invention has the advantage that the advantages of an infrared remote control are combined with those of a cable remote control.
- the control signals are always sent by infrared from the transmitting unit to the receiving unit arranged on the working device, as a result of which all of the aforementioned infrared-related advantages are effective at all times.
- the abovementioned near-field switching off of the travel movements of the working device by means of the near-range radiation component ensures adequate safety for the operator. Since the implement is only controlled by the directed infrared radiation, the data flow is automatically interrupted if the operator falls and the implement is stopped, which means that the operator is not at risk of being rolled over, crushed, etc.
- Another advantage of the remote control device according to the invention is that the operator can control the implement from any location, provided that there is a sufficient safety distance from the implement. Regarding the length of the There is no restriction on the cable between the transmitter unit and the external energy source. By providing an infrared remote control can also vulnerable safety devices on the implement, such. B. in the form of a protective bar can be dispensed with, which improves the tool reliability and additionally saves costs.
- control radiation has a substantially higher intensity than the short-range radiation component. Accordingly, the control radiation has a greater range than the short-range radiation component, so that the implement can be operated outside the reception range for the short-range radiation component only by receiving the control radiation emitted by the transmitter unit.
- the receiving unit is assigned a signal processing which is suitable for interrupting the operation of the working device if the control radiation received does not correspond to a predetermined condition.
- This predetermined condition can e.g. B. be formed by a lower limit for the intensity of the control radiation.
- a surface of the receiver unit can easily become dirty, which leads to a general weakening of the received electromagnetic radiation which is emitted by the transmitter unit.
- the security of the operator to be guaranteed is subject to a restriction due to the soiling of the receiving unit insofar as the near-range radiation component, which may have a lower intensity than the control radiation, may no longer be able to be received by the receiving unit, as a result of which the working device cannot be stopped longer possible.
- This impairment of the operation of the working device and the associated danger to the operator is compensated for in that the operation of the working device is correspondingly interrupted by the signal processing when receiving control radiation with reduced intensity, which is due to the contamination of the receiving unit. If this occurs, the receiving unit must be cleaned accordingly by the operator, after which the operation of the working device in can continue normally.
- the transmission unit alternately transmits the control radiation and the short-range radiation component.
- the transmission unit can also transmit the control radiation and the short-range radiation component simultaneously, the short-range radiation component being coded differently from the control radiation.
- a further advantageous embodiment of the invention is characterized in that the transmitter unit is electrically connected to a transmitter battery that can be recharged by the external energy source.
- the transmitter battery is preferably attached to the transmitter unit. If the freedom of movement for the operator is restricted by the cable that connects the transmitter unit to the external energy source, the cable can easily be removed from the transmitter unit for a certain time without the control of the implement failing to ensure that the power supply is insufficient Sending unit must be interrupted.
- the figure shows a basic illustration of a remote control device according to the invention for operating an implement.
- a remote control device for remote control of a self-propelled and remotely controllable implement 1, not to be explained in more detail, such as. B. a soil compaction roller or a vibration plate, has a transmitter unit 2 and a receiver unit 3.
- the receiving unit 3 is arranged on the implement 1 and connected to a controller (not shown) of the implement 1.
- the transmission unit 2 is arranged on a hand-held device 2 a which can be operated by an operator in order to be able to enter corresponding control commands for the working device.
- the transmission unit 2 emits a modulated or coded control radiation in the infrared wavelength range, which is directed in such a way that it is transmitted from the reception unit 3 attached to the implement 1, e.g. B. an infrared eye is received.
- the received control signals are output by the receiving unit 3 as electrical control commands to the control of the working device 1, whereby the working device 1 is controlled and set in motion accordingly.
- the external energy source 4 can e.g. B. consist of a separate battery, which is fed by an alternator of the implement 1.
- the external ; Energy source 4 can also be formed from the battery of the implement 1.
- One end of a cable 5 (for example a two-pole cable) is attached to the external energy source 4, the cable 5 being guided in the direction of the transmission unit 2.
- Another end of the cable 5 can be connected to the handheld device 2a via a connection point 6 in order to supply the transmitter unit 2 with energy from the external energy source 4. Since the general safety regulations for infrared remote controls are observed in the remote control device shown here, the cable 5 can be of any length, since it is provided exclusively for the power supply of the transmitter unit 2.
- the infrared radiation emitted by the transmitter unit 2 is composed of a short-range radiation component with a range I and a control radiation with a range II, the control radiation having a correspondingly greater intensity compared to the short-range radiation component.
- the infrared radiation is emitted in the form of a directed beam in such a way that the receiving unit 3 is in the radiation range of the infrared beam and accordingly receives the infrared radiation.
- the received control signals are output as electrical control commands to the control of the working device 1. If the operator moves in the direction of the implement 1, or if the implement 1 moves towards the operator during operation, If a predetermined safety distance between the implement 1 and the operator is received by the receiving unit 3, the short-range radiation component with the range I is also received. As a result of this, corresponding means, which are not explained in greater detail and which are connected to the receiving unit 3, prevent control commands from being issued to the control of the implement 1, as a result of which the implement 1 is stopped. Since the operation of the working device 1 is thus suspended in the vicinity of the operator, the safety of the operator is ensured to a sufficient degree without other safety devices having to be provided on the working device 1.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
- Selective Calling Equipment (AREA)
- Soil Working Implements (AREA)
- Agricultural Machines (AREA)
- Catching Or Destruction (AREA)
- Road Paving Machines (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02704766A EP1374199B1 (de) | 2001-04-03 | 2002-03-22 | Fernsteuerungseinrichtung für selbstfahrende arbeitsgeräte |
DE50212474T DE50212474D1 (de) | 2001-04-03 | 2002-03-22 | Fernsteuerungseinrichtung für selbstfahrende arbeitsgeräte |
JP2002580285A JP4109120B2 (ja) | 2001-04-03 | 2002-03-22 | 自走式制御機械のための遠隔制御装置 |
US10/473,843 US6997648B2 (en) | 2001-04-03 | 2002-03-22 | Remote control device for automotive working devices |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10116526A DE10116526B4 (de) | 2001-04-03 | 2001-04-03 | Fernsteuerungseinrichtung für selbstfahrende Arbeitsgeräte |
DE10116526.9 | 2001-04-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002082397A1 true WO2002082397A1 (de) | 2002-10-17 |
Family
ID=7680178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2002/003260 WO2002082397A1 (de) | 2001-04-03 | 2002-03-22 | Fernsteuerungseinrichtung für selbstfahrende arbeitsgeräte |
Country Status (5)
Country | Link |
---|---|
US (1) | US6997648B2 (de) |
EP (1) | EP1374199B1 (de) |
JP (1) | JP4109120B2 (de) |
DE (2) | DE10116526B4 (de) |
WO (1) | WO2002082397A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL2007541C2 (nl) * | 2011-10-05 | 2013-04-08 | Kroezen | Verdeel- en rij-inrichting voor het afwerken van een dekvloer en werkwijze daarvoor. |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10317160A1 (de) * | 2003-04-14 | 2004-11-18 | Wacker Construction Equipment Ag | System und Verfahren zur automatisierten Bodenverdichtung |
DE102004048459A1 (de) * | 2004-10-05 | 2006-04-13 | Wacker Construction Equipment Ag | Vibrationsplatte mit in Deichsel integrierbarer Fernsteuerung |
DE102005030860A1 (de) * | 2005-07-01 | 2007-01-25 | Wacker Construction Equipment Ag | Vibrationsplattensystem |
DE202006020680U1 (de) * | 2006-10-25 | 2009-09-03 | Wacker Neuson Se | Bodenverdichtungssystem mit positionsbezogener Dokumentation von Maschinen- und Verdichtungsdaten |
DE102010014902B4 (de) * | 2009-04-23 | 2019-02-07 | Bomag Gmbh | Mehrzweckverdichter und Verfahren zum Betreiben des Mehrzweckverdichters |
DE202011110667U1 (de) | 2011-07-11 | 2015-07-14 | Wacker Neuson Produktion GmbH & Co. KG | Fernsteuerung mit Rundum-Bedienerschutz |
US9650062B2 (en) | 2013-08-26 | 2017-05-16 | Wacker Neuson Production Americas Llc | System for controlling remote operation of ground working devices |
US10047500B2 (en) | 2014-11-07 | 2018-08-14 | Wacker Neuson Production Americas Llc | Remote controlled compaction machine |
CN109477720A (zh) | 2016-06-14 | 2019-03-15 | 维米尔制造公司 | 用于确定操作员位置以确保工作机器的核准的操作的系统和方法 |
DE102017118891A1 (de) * | 2017-08-18 | 2019-02-21 | Intercable Gmbh | Vorrichtung und Verfahren zum entfernten Bedienen einer Sicherheitsbearbeitungsanlage |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4621375A (en) * | 1983-01-08 | 1986-11-04 | Friedrich Wilh. Schwing Gmbh | Remote control system for constructional machinery |
DE4139041A1 (de) * | 1990-11-29 | 1992-06-04 | Caterpillar Mitsubishi Ltd | Fernsteuerungsvorrichtung |
US5450068A (en) * | 1992-07-03 | 1995-09-12 | Wacker Werke Gmbh & Co. Kg | Infrared remote control for soil compacting devices |
DE19618033A1 (de) * | 1996-05-04 | 1997-11-06 | Franz Schrattenecker | Fernbedienung zur drahtlosen Übermittlung von Steuerbefehlen in selbstfahrenden Landmaschinen |
EP0869221A1 (de) * | 1997-04-03 | 1998-10-07 | Ingersoll-Rand Company | Fernbedienung eines Verdichtungsgerät, dessen Benützer hinterher laüft |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04332295A (ja) * | 1991-05-08 | 1992-11-19 | Shin Caterpillar Mitsubishi Ltd | 有線・無線両用遠隔操縦装置 |
AUPO241496A0 (en) * | 1996-09-18 | 1996-10-10 | Pioneer Road Services Pty. Ltd. | Method and apparatus for asphalt compaction |
DE19746700C2 (de) * | 1997-10-22 | 2000-01-13 | Wacker Werke Kg | Verfahren und Sicherheitseinrichtung zum Fernsteuern von selbstfahrenden Arbeitsgeräten |
DE29910418U1 (de) * | 1999-06-15 | 1999-08-05 | Rammax Maschinenbau | Walzenfahrzeug zur Erdverdichtung |
DE10053446B4 (de) * | 2000-10-27 | 2006-03-02 | Wacker Construction Equipment Ag | Lenkbare Vibrationsplatte und fahrbares Vibrationsplattensystem |
-
2001
- 2001-04-03 DE DE10116526A patent/DE10116526B4/de not_active Expired - Fee Related
-
2002
- 2002-03-22 US US10/473,843 patent/US6997648B2/en not_active Expired - Fee Related
- 2002-03-22 WO PCT/EP2002/003260 patent/WO2002082397A1/de active IP Right Grant
- 2002-03-22 DE DE50212474T patent/DE50212474D1/de not_active Expired - Lifetime
- 2002-03-22 EP EP02704766A patent/EP1374199B1/de not_active Expired - Lifetime
- 2002-03-22 JP JP2002580285A patent/JP4109120B2/ja not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4621375A (en) * | 1983-01-08 | 1986-11-04 | Friedrich Wilh. Schwing Gmbh | Remote control system for constructional machinery |
DE4139041A1 (de) * | 1990-11-29 | 1992-06-04 | Caterpillar Mitsubishi Ltd | Fernsteuerungsvorrichtung |
US5450068A (en) * | 1992-07-03 | 1995-09-12 | Wacker Werke Gmbh & Co. Kg | Infrared remote control for soil compacting devices |
DE19618033A1 (de) * | 1996-05-04 | 1997-11-06 | Franz Schrattenecker | Fernbedienung zur drahtlosen Übermittlung von Steuerbefehlen in selbstfahrenden Landmaschinen |
EP0869221A1 (de) * | 1997-04-03 | 1998-10-07 | Ingersoll-Rand Company | Fernbedienung eines Verdichtungsgerät, dessen Benützer hinterher laüft |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL2007541C2 (nl) * | 2011-10-05 | 2013-04-08 | Kroezen | Verdeel- en rij-inrichting voor het afwerken van een dekvloer en werkwijze daarvoor. |
EP2584115A3 (de) * | 2011-10-05 | 2017-07-19 | Harm Kroezen | Verteil- und Abziehvorrichtung zur Endbearbeitung eines Estrichbodens und Verfahren dafür |
Also Published As
Publication number | Publication date |
---|---|
DE10116526A1 (de) | 2002-11-07 |
EP1374199B1 (de) | 2008-07-09 |
US20040146303A1 (en) | 2004-07-29 |
DE50212474D1 (de) | 2008-08-21 |
JP4109120B2 (ja) | 2008-07-02 |
JP2005504195A (ja) | 2005-02-10 |
EP1374199A1 (de) | 2004-01-02 |
US6997648B2 (en) | 2006-02-14 |
DE10116526B4 (de) | 2004-04-01 |
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