WO2020087099A1

WO2020087099A1 - Method for operating a machine control system, and corresponding machine control system

Info

Publication number: WO2020087099A1
Application number: PCT/AT2019/060357
Authority: WO
Inventors: Bernhard Lehner
Original assignee: Keba Ag
Priority date: 2018-10-31
Filing date: 2019-10-28
Publication date: 2020-05-07
Also published as: AT521872A1

Abstract

The invention relates to a method for operating a machine control system (1) and to a machine control system (1) having at least one machine controller (3) for carrying out machine operations, comprising at least one mobile hand-held operating device (5) which can be carried by an operator (4) and is intended to functionally influence one of the machine controllers (3). The hand-held operating device (5) comprises at least one operating element (11), a user interface, a display device (13) and at least one wireless transmission interface for establishing or converting a control connection (15) between the hand-held operating device (5) and the machine controller (3) and/or a connection point (16). According to the invention, following a manual input of an allocation question to the hand-held control device (5) by the control person (4), allocation information determines the presence of the active control connection (15) of the hand-held operating device (5) using a machine (2) and/or a connection point (16) of a machine controller (3), and activates a signal device (19) on the respective machine (2) and/or on the respective connection point (16) or the respective machine controller (3) on which the hand-held control device (5) is attached in a controlled manner.

Description

Method for operating a machine control system and corresponding machine control system

The invention relates to a method for the safe operation of a machine control system with at least one machine control for executing machine operations, and a machine control system for executing the specified method, an operator being able to influence the control processes by means of a hand-held control device to take.

Mobile handheld devices, in particular wireless data-coupled handheld devices, are suitable for controlling and visualizing a wide variety of highly automated processes and machines, or generally for controllable technical devices. Mobile handheld devices are used, for example, to read out operating data, to set operating parameters and for programming, service, diagnosis or maintenance work.

From the prior art it is known to design machine controls in which an operator is able to influence the control engineering processes by means of a portable hand-held operating device. In order to enable a selective assignment or a clear pairing, specific registration procedures for a handheld device against a machine control have been proposed. Such registration or assignment methods are proposed, for example, in EP 1866712 B1, EP 1554637 B1 or WO 2007025879 A1. Operator misunderstandings or misassignments should be prevented with the appropriate registration or assignment procedures.

A plurality of machines, such as machine tools or robots, can be arranged in a production-technical system, it being possible for a mobile hand-held device to be connected to each machine. This wireless operative connection of the hand-held device can also be established with its own connection point / base station of the machine. EP 1899770 B1 can be cited as an example of this, in which an operator alternately controls the manipulators and systems with the mobile hand-held operating device. gene parts in different processing cells. The mobile operating device is preferably connected wirelessly, for example via an integrated radio interface, to a data transmission partner on a machine.

Furthermore, it is apparent from DE 10110776 A1 that a reassignment or a first-time connection establishment of the handheld device is signaled on the machine immediately after the connection establishment.

EP 0310958 A1 can be mentioned as an example of a handheld operating device, in which a portable handheld operating device is shown, which has a display, a keyboard and an emergency stop actuating element.

Furthermore, different input and display devices for mobile handheld devices such as touch screens, buttons, sliders, light indicators, and much more are known from the prior art. known. As an alternative to a visual display, an acoustic feedback in the form of an alarm signal or a voice message can also take place. Alternatively, operating devices can also be operated via voice control.

In the embodiments known from the prior art, the overall achievable level of system security in connection with hand-held operating devices which can be connected wirelessly to a machine control is only conditionally satisfactory.

The object of the present invention was to overcome the disadvantages of the prior art and to provide a method for a device by means of which the greatest possible ease of control and operating convenience can be achieved, while still being able to ensure a high level of safety .

The object of the present invention was to overcome the disadvantages of the prior art and to provide a method and a suitable device for carrying out this method, with which the availability of a machine control system is improved without increasing safety risks.

This object is achieved by a device and a method according to the claims. According to the invention, a method for operating a machine control system with at least one machine control for executing machine operations, with at least one mobile handheld device that can be carried by an operator, is provided for the functional influencing of at least one of the machine controls.

The handheld control device comprises at least one control element and / or at least one user interface for manually influencing machine operations by the operator, at least one display device for visualizing processes on the machine control, which display device is suitable for outputting information to the operator.

In addition, the handheld control device has at least one wireless transmission interface, the at least one wireless transmission interface being set up to set up or implement a control-related operative connection between the handheld control device and the machine control and / or a connection point of the machine control.

The method for operating a machine control system is further characterized by the following method steps:

- Manual input of an assignment request on the handheld terminal by the operator;

- Determining an assignment information with respect to the presence of an active control-technical active connection of the hand-held operating device with a machine and / or connection point of a machine control;

- Activation of a signal device on the respective machine and / or on the respective connection point of the respective machine control to which the manual control device is connected in terms of control technology, based on the assignment information of the manual control device.

The method according to the invention has the advantage that the mobile or portable handheld operating device can be coupled completely wirelessly to a selected machine control, as a result of which a high degree of freedom of movement for the operator can be achieved and thus optimum visibility or controllability of manually controlled ones to be programmed and can also be achieved by automatic machine operations. Likewise, the use of a mobile, wirelessly connected handheld device is advantageous when controlling, teaching, programming or for maintenance work, after free access to all areas of a machine or an industrial robot is made possible.

In a machine control system with several machines and / or industrial robots, exactly one manual operating device can advantageously be uniquely assigned to each machine and / or each industrial robot. Between the hand-held operating device and the machine control of the connected machine and / or the connection point of a machine control, there can thus be an active control-technical connection with which all control, programming and / or maintenance activities can be carried out on the machine. On a display device of the hand-held device, the operator can receive visual feedback or feedback as to whether, for example, a control command has been successfully issued. Furthermore, the operator can receive a confirmation from the machine control system that a control command has been successfully coupled into the machine control system. It is also conceivable to issue error messages on the display device.

The control-technical active connection can be implemented directly on the machine between a wireless transmission interface of the hand-held device and a wireless transmission interface, an active connection between the hand-held device and the machine control being realized.

Alternatively, a separate connection point or connection box can be provided on the machine, which can be coupled into the machine control. The control-technical active connection can be implemented in this case between a wireless transmission interface of the handheld device and a wireless transmission interface of the connection point. Using the connection box described, simple retrofitting of machines or robots is possible, which extends the range of functions, for example, or allows further control elements to be attached to a machine.

Are now in a machine control system with several machines and / or industrial robots several handhelds in use, each handheld one has a clear assignment to a machine control or connection point of a machine control, it has turned out to be advantageous if a deliberately placed command or a deliberately placed request to a hand control device enables signaling on the machine or connection point to which the hand control device is connected is.

Often there are several handheld devices in circulation in more complex industrial plants with several machines and / or industrial robots, whereby there are no permanently defined storage spaces that allow a clear assignment to the connected machine. Handheld devices can also be passed on and exchanged between individual operators, which is necessary, for example, when changing shifts. If a hand-held device is now received by an operator, it is essential for the operator to know which machine has an active control connection of the hand-held device in order to be able to carry out pending activities such as programming or maintenance work, thereby avoiding misunderstandings or . Surprising situations on the part of the operator should be held back or largely excluded.

It is advantageous in the method according to the invention that the operator can make an assignment request on the manual control device and receives feedback via a signal device on the machine and / or the connection point of the machine control as to which machine the manual control device is connected to. The assignment request is advantageously carried out manually, by means of an input deliberately carried out by the operator on the handheld operating device, whereupon an assignment information can be determined in relation to the presence of an active control-related active connection of the handheld operating device with a machine and / or connection point of a machine control.

On the basis of this information, a signal device can now be actuated on the machine assigned to the hand-held operating device and / or connection point of the machine control, as a result of which the operator receives the desired information regarding an active control-technical connection of the hand-held operating device. Furthermore, it may be expedient for the operator to be able to manually enter the assignment request after the operator has been successfully authorized on an authorization device on the handheld terminal.

To prevent unauthorized or unauthorized persons from carrying out an assignment request on the handheld terminal, it may be advisable to request authorization from the operator before issuing the assignment request. In order to prevent safety-critical situations, for example, an operator can be prevented from logging on to the handheld terminal and issuing the assignment which is not authorized to carry out control or programming work on a specific machine.

It can further be provided that the manual input of the assignment request on the handheld operating device can be carried out by the operator by actuating a request button arranged on the handheld operating device or assigned to the handheld operating device.

Advantageously, a request button is provided on the hand-held control device for stopping the assignment to request, which can be specially marked. A special marking of the inquiry button can be realized by certain marking elements such as lettering, lighting elements, shapes and / or colors or by haptic elements. An operator can thus be made more aware that an assignment request is issued when the request button is pressed.

In addition, it can be provided that the manual input of the assignment request on the handheld operating device can be carried out by interaction of the operator on the control element of the handheld operating device and / or interaction of the operator on the at least one user interface of the handheld operating device.

In an alternative embodiment, the assignment request can be entered on a user interface of the handheld device. For reasons of space, this embodiment makes it possible to dispense with providing a separate request button on the hand-held operating device. A user interface on the handheld operating device can all input and display devices known from the prior art, such as keyboards, switching elements, displays, touch screens, devices for voice input, and much more. include. Advantageously, an assignment request can be issued on the handheld device by means of a guided user dialog, in which an operator receives a request to confirm the assignment request. As a result, the operator's awareness of the upcoming process can be further increased. It is also conceivable for an operator to select a preferred signal device in the course of the user dialog. Advantageously, an operator can select optical signals on the machine or connection point, for example by means of a rotating light, in a very noisy working environment.

Also advantageous is a version according to which it can be provided that the manual entry of the assignment request on the handheld operating device can be carried out by a combined interaction of the operator on the request button and on the control element and / or the at least one user interface.

In order to ensure that the assignment is deliberately carried out by the operator, it can be advantageous for the operator to request confirmation after the actuation of the inquiry button via a user dialog on the user interface. As already mentioned, it is also possible here for the operator to be able to select which type of signaling is to take place at the machine or at the connection point of the machine control system after the assignment request has been made at the request button on the user interface.

According to a development, it is possible that after the operator manually enters the assignment request, a clear identification of the hand-held device is transmitted to the at least one machine control via the wireless transmission interface of the hand-held device and / or is called up by the at least one machine control. Each hand control device is advantageously assigned a unique identification, for example in the form of a numeric or alphanumeric code, with which each hand control device can be uniquely identified. With the assignment request, the unique identification of the handheld control device can now be transmitted via the wireless transmission interface of the handheld control device, which means that a comparison can be made on the machine or connection point of the machine control with which handheld control device the machine or connection point is connected.

Furthermore, it can be expedient if the operator enters the assignment request manually on the hand-held operating device via a fail-safe switching command detection and / or the assignment request is carried out by a safety controller in the hand-held operating device.

An advantageous form of the safety controller can consist of two controllers that process an application program in parallel, both controllers using the same process image of the inputs / outputs and constantly aligning themselves. The safety controller distinguishes from a standard controller in particular the necessary cross-comparisons, tests of the input / output level, determination of a common valid result, etc. These processes are complex, complex processes that represent such systems internally in a complex manner. Except for specific features such as B. the use of clock signals for cross-circuit detection, modern safety controls behave like other programmable logic controllers. The construction of a safe control system can include the following components:

- two separate channels

- Diversified structure with different hardware

- constant testing of inputs and outputs

- constant comparison of user data

- Voltage, current and time monitoring

- Safe shutdown in the event of an error / danger.

In order to keep a safety hazard to an operator, or to exclude it as far as possible, it is advantageous to provide a safe switching command detection. So that a single error in the switching command acquisition cannot lead to, for example, a If the assignment question is not submitted, or incorrect information from the handheld device, such as incorrect, unambiguous identification of the handheld device, is transmitted, it is advantageous to carry out the switching command detection in a fail-safe manner. In order to meet fail-safe requirements, the request button is advantageously coupled in two or more channels in the hand-held operating device in terms of control technology, or a safety controller is provided. A two- or multi-channel control-technical coupling in the hand-held operating device, or the provision of a safety control, is also advantageous with regard to all operating elements, display and / or input devices, so that the safety for an operator can be further increased.

The definition of "single fault safety" according to EN 13849-1 is "A single fault must not lead to the loss of safety functions". This means that all possible faults in a system must be considered individually to determine whether there is a loss of security if an error occurs - that is, an error at the same time. There is no need to consider several errors at the same time.

In addition, it can be provided that the assignment request is transmitted in a fail-safe manner and / or evaluated in a fail-safe manner via a two-channel or multichannel wireless transmission interface of the hand-held operating device.

It is also advantageous to design the wireless transmission interface of the handheld device in two or more channels in order to ensure a fail-safe transmission and / or evaluation of an assignment request. The wireless transmission interface can include all transmission standards known from the prior art, such as Bluetooth, WLAN, NFC, ZigBee, etc. To ensure transmission security, for example, on the one hand, a Bluetooth connection and, in addition, a WLAN connection between the handheld terminal and the machine or connection point of the machine controller can be implemented.

In the machine or connection point of the machine control, the assignment request, which was transmitted via the first channel, is advantageously compared with the assignment request, which was transmitted via a further channel. Only in the event that If the assignment requests received or the contents of the assignment requests transmitted via the individual channels match, a subsequent activation of a signal device can take place. If no match can be found, it is advantageous if the operator receives an error message.

If an LED / loudspeaker / siren is defective and therefore cannot have an effect of the emergency stop on the area assigned to you, this does not result in a loss of security.

According to a special version, it is possible for the assignment request to be transmitted via a secured transmission protocol.

When transmitting the assignment request via a secure transmission protocol, it is advantageous that the integrity of the transmission can be ensured. For this purpose, a safe (field) bus protocol can be provided, or the black channel technology or a "gray channel" can be used, by means of which a "non-safe" transmission channel is continuously monitored for its integrity via a higher-level "safe" protocol.

For example, this safety bus protocol can be implemented in accordance with the FSoE standard, in accordance with PROFIsafe, in accordance with SaftetyBUS or in accordance with SafetyNET. Typically, there is therefore only a single, physical control network on which both the control-relevant and the safety-relevant data, such as, for example, the actuation states of the at least one emergency stop actuating element, are transmitted or exchanged. Alternatively, the safety bus system can also be designed as a physically independent data or control network. In order to increase the reliability or function availability of the safety bus system, this can also be implemented in a ring topology.

Furthermore, it can be provided that the activation of the signal device on the machine and / or connection point of the machine control is carried out in a fail-safe manner by controlling the signal device in two or more channels. If it has been determined in the machine or connection point of the machine control system that an assignment was correctly transmitted, then the signaling device is advantageously also fail-safe. The signaling device can also be activated via two or more channels in order to activate the signaling device after a positive comparison of the control signals received.

No signaling at all, or signaling on the wrong machine or connection point of the machine control could put an operator in a safety-critical situation. If, for example, the wrong machine is signaled, the operator could approach it, even though machine operations that are critical to safety are currently underway.

In the case of the embodiments according to the invention with regard to single-fault safety, safety risks for the operator can thus be prevented or largely excluded by all safety-relevant control circuits being designed with two or more channels, ie redundant.

According to an advantageous development, it can be provided that the activation of the signal device on the machine and / or connection point of the machine control is carried out by a safety controller.

Advantageously, with a safety controller, which comprises at least two programmable logic controllers, in particular the necessary cross-comparisons, tests of the input / output level, determination of a common valid result, etc. can be carried out.

Incorrect signaling or missing signaling could cause safety and / or process-critical situations for the operator. In order to prevent errors in the activation of the signal device, or to rule them out as far as possible, a safety control is provided according to the invention.

In particular, it can be advantageous that the activation of the signaling device on the machine and or connection point of the machine control by single-channel control of the Signal device and monitoring of the signal device by a sensor device is performed fail-safe.

In order to check whether signaling has actually occurred on the signaling device, a sensor device can be provided according to the invention on the signaling device and / or the connection point or the machine. Depending on the embodiment of the signal device, electrical, optical or acoustic sensors, in particular a current measurement, can be used here. This, in turn, guarantees the system's single-fault security and prevents process and safety-critical situations for an operator.

It is important that an LED / loudspeaker / siren is not activated, even though the emergency stop does not work there. It is therefore extremely important to monitor the function of the LED / loudspeaker / siren by means of a sensor, for example a sensor which is designed for current measurement. Any incorrect activation of the LED / loudspeaker / siren must be recognized and reacted to here. If the safety controller cannot deactivate the LED, an emergency stop must be triggered for the entire system.

Furthermore, it can be provided that the signal device on the machine and / or connection point of the machine control comprises a display device which is designed to include status information selected from the group

- The handheld terminal is connected to the connection point;

- The handheld terminal is connected and in an effective area of the connection point;

- The handheld terminal is connected and outside the effective range of the connection point;

- The handheld terminal is connected and in a warning area of the connection point;

- The handheld terminal is connected and outside the warning area of the connection point;

- The handheld terminal is connected and an emergency stop is activated;

- the handheld terminal is connected and the emergency stop is deactivated;

- The handheld terminal is connected and an enable button on the handheld terminal is activated;

- The handheld terminal is connected and the enabling button on the handheld terminal is deactivated;

- The handheld terminal is connected and the enabling button m handheld terminal in one Panic mode;

to spend.

In addition to signaling the operator via the signaling device, it can be advantageous if the operator receives additional status information on a display device of the signaling device, which allows a statement as to whether a handheld operating device is connected and which additional states are present.

According to a special embodiment, it is possible for information to be output on the hand-held operating device as to which machine and / or connection point of a machine controller there is an upright control-related operative connection.

In addition to a signaling directly on a machine or connection point of a machine control, it can be advantageous if the operator receives feedback on the hand control device about which machine or connection point of a machine control the hand control device is connected to. This ensures that the respective machine can be found quickly and that process reliability is high.

According to an advantageous development, provision can be made for information selected from the group to be included on the manual control device

- a designation of the machine;

- a location of the machine;

- an indication of the direction of the machine's location;

- a distance to the machine;

- an overview plan of the machine hall;

- a three-dimensional map of the machine shop;

is issued.

Advantageously, the feedback or information on the manual control device, which is output in addition to the signaling at the assigned machine or connection point, contains a description of the machine, a location of the machine, a direction to the location of the machine, a distance from the machine. This advanced information ons enable an operator to find an assigned machine quickly and easily, or to get to it quickly, in order to start working on the machine.

In addition, it can be provided that an error message is selected from the group comprising on the handheld operating device

- An assignment on the handheld terminal was not carried out correctly;

- an assignment was not transferred correctly;

- An assignment information could not be determined;

- There is a malfunction of the signaling device

is issued.

The advantage of this is that, in addition to the information that an assignment request could not be carried out correctly, the operator also receives information about what was the reason for this. Subsequently, there is the possibility, after the elimination of a possible error, to carry out the assignment request again on the handheld terminal.

The object of the invention is further achieved by a machine control system according to at least one of the claims, wherein the machine control system according to the invention has at least one machine control for carrying out machine operations, with at least one mobile handheld device portable by an operator for the functional influencing of at least one of the machine controls includes.

The hand-held control device comprises at least one control element and / or at least one user interface for manually influencing machine operations by an operator, at least one display device for visualizing processes on the machine control, which display device is suitable for outputting information to the operator.

In addition, the hand-held operating device has at least one wireless transmission interface, the at least one wireless transmission interface being set up to set up or implement an active control connection between the hand-held operating device and the machine control and / or a connection point of the machine control. Furthermore, the machine and / or connection point of the machine control has at least one wireless transmission interface.

The machine control system is further characterized in that

- The handheld control device comprises an input device for manually initiating an assignment request; and that

- The machine and / or the connection point of the machine control comprises a signaling device which is set up to signal an active control-related operative connection with the hand-held operating device.

Advantageously, the operator is able to consciously initiate an assignment request using the input device on the handheld operating device, as a result of which a high degree of security can be achieved. By signaling an active connection of a hand-held operating device to a machine or connection point of a machine control, safety-critical situations for an operator can be delayed or largely ruled out after the operator is clearly signaled with which machine there is an active connection, and thus subsequently to consciously intervene in the machine control.

In particular, it can be advantageous for the handheld control device to include an inquiry button, which is set up to execute an assignment inquiry.

A special marking of the request button can be realized by certain marking elements such as lettering, lighting elements, shapes and / or colors or by haptic elements. An operator can thus be made more aware that an assignment request is made when the request button is pressed. Also, while an operator has not looked at the handheld device, it can be ensured that by providing certain haptic elements on the inquiry button, the operator deliberately actuates the inquiry button.

Furthermore, it can be provided that the handheld control device comprises an authorization device for the operator. Before an assignment request can be made, it can be advantageous for an operator to have to authorize himself on the hand-held operating device in order to prevent possible misuse by outside or non-responsible persons, or to largely exclude it. An authorization device on the handheld control device can include the following devices known from the prior art:

- a key switch;

- a PIN entry field;

- a fingerprint sensor;

- A sensor for visual field or iris detection.

Alternatively, the authorization of a user can also be carried out on the user interface of the handheld device.

Also advantageous is a version according to which it can be provided that the hand-held operating device comprises a safety control which contributes or is designed for the fail-safe implementation of an assignment request.

In order to further increase process and personal safety, a safety controller can be provided in the hand-held device, which comprises at least two programmable logic controllers, or has at least two processors. This creates the possibility of comparing evaluation results within the control and thus reliably recognizing errors or deviations and / or performing the necessary cross-comparisons, tests of the input / output level, determination of a common valid result, etc.

According to a further development, it is possible for the machine and / or the connection point of the machine control to comprise a safety control which contributes or is designed for the fail-safe implementation of an assignment request.

In order to increase process and personal safety, the machine and / or the connection point can also have a safety controller, which comprises at least two programmable logic controllers, which in particular include the necessary cross-comparisons, tests of the input / output level, determination of a common valid result, etc. carry out. This in turn creates the possibility of comparing evaluation results within the control and thus reliably detecting errors or deviations.

In addition, it can be provided that the signaling device of the machine and / or the connection point of the machine control comprises an acoustic and / or optical signaling device.

Different signaling devices offer different advantages in different work environments. If, for example, signaling is required in a very noisy working environment, there is a risk that an operator will not perceive the acoustic signaling sufficiently. The provision of rotating lights, turn signals, LED bars, or similar lighting elements for optical or visual signaling are in preferred in such environments.

However, if there is no line of sight between the operator and the machine or connection point, acoustic signaling is preferred. For this purpose loudspeakers, mega phones, sirens or similar acoustic output devices can be provided on the individual machines or connection points of a machine control system with several machines or industrial robots.

It can also be advantageous to actuate an acoustic and optical signaling device at the same time in order to ensure that an operator perceives the signaling. Different combinations between optical and acoustic signaling devices are conceivable, such as a rotating light and a siren.

Furthermore, it can be expedient if the signaling device of the machine and / or the connection point of the machine control comprises a sensor device and / or a display device for checking and / or displaying a signaling that has taken place.

It is possible to monitor the correct output of a signal by means of the sensor device. Incorrect or completely missing signal outputs can lead to safety- or process-critical situations for the operator, since these are incorrect or not at all is informed that there is an upright operative connection of the hand-held device to a machine. By monitoring the sensor device and optionally outputting an error message on a display device, critical situations can thus be stopped further.

A variant is also advantageous, according to which it can be provided that the input device for manual initiation of the assignment request and / or the request buttons are coupled in two or more channels in the control device in terms of control technology.

In order to create redundancy with regard to single-fault safety, it is advantageous to couple the input device for manual initiation of the assignment request or the request button in two or more channels in the control device in terms of control technology. With this, on the one hand, the transmission security of an assignment request can be ensured and it is possible to carry out a comparison to match the control signals transmitted over a channel. If a missing match is detected here, an error message can be output to the operator.

According to a further development, it is possible for the at least one wireless transmission interface of the hand-held operating device to be designed with two or more channels and for the transmission interface to be set up to transmit an assignment request in a fail-safe manner.

Advantageously, after the fail-safe input of an assignment request has been ensured, it is also transmitted fail-safe via the wireless transmission interface of the handheld device. For this purpose, it is advantageous if the transmission interface is designed with two or more channels. Different transmission standards such as WLAN, Bluetooth, NFC or ZigBee can be used to transmit an assignment request. A combination of different transmission technologies, such as WLAN and Bluetooth, can be used to ensure the single-fault security of the transmission.

Furthermore, it can be expedient for the at least one wireless transmission interface of the machine and / or the connection point of the machine control to have two or more channels which transmission interface is set up to reliably receive an assignment request and / or to reliably evaluate an error.

It is advantageous here to also design the transmission interface of the machine and / or the connection point of the machine control system to have two or more channels, in order to be able to ensure error-free reception and subsequent evaluation of an assignment. If a deviation between the assignment received via the different channels is detected here, an error message can be output to the operator, with which the operator is made aware that there is an error situation.

In addition, it can be provided that the signaling device of the machine and / or connection point of the machine control is designed in two or more channels and which signaling device is designed to be controlled in a fail-safe manner.

If the assignment request has now been successfully received and evaluated at the machine or connection point of the machine control system, it is furthermore also advantageous to control the signaling device on the machine or connection point in two or more channels, thus ensuring that the entire request is error-free -, transmission, and control process can be achieved. The fact that the two-channel or multi-channel control of the signal device can in turn result in a comparison of the individual control signals can ensure that the correct signal device is actuated. Safety-critical situations caused by incorrect signaling to an operator can be largely avoided.

Furthermore, it can be provided that the transmission, reception and / or evaluation of data and / or control signals via the at least one wireless transmission interface of the handheld device takes place via a secured transmission protocol.

Advantageously, the transmission of data and / or control signals between the handheld terminal and the machine or connection point takes place via a secure transmission protocol in order to transmit data or control signals in a way that is secure against eavesdropping and thus to ensure the confidentiality and integrity of the transmission. This can ensure that manipulative interventions on data or control signals from outside are largely prevented. For example, a safe bus interface or a safe bus system can be provided on the handheld terminal for this purpose.

In addition, it is conceivable that for the transmission of data and / or control signals in the safety-related system according to the invention, communication components are used which do not correspond to the requirements of a secure transmission protocol. As an alternative, the black channel principle can be used, for example, or a “gray channel” can be used, whereby the integrity of the “non-secure” transmission channel is continuously monitored by a higher-level “secure” protocol.

In addition, it can be provided that the transmission, reception and / or evaluation of data and / or control signals via the at least one wireless transmission interface of the machine and / or connection point of the machine control takes place via a secure transmission protocol.

In order to transmit data or control signals securely and thus to ensure the confidentiality and integrity of the transmission, it is advantageously also provided on the machine and / or the connection point of the machine control that the transmission of data and / or control signals takes place via a secure transmission protocol. For example, a safe bus interface or a safe bus system can again be provided on the machine or the connection point for this purpose. The Black Chanel principle can also be used here if communication components are used which do not meet the requirements of a secure transmission protocol.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

Each show in a highly simplified, schematic representation:

1 shows a diagram of an exemplary machine control system comprising machines, in particular industrial robots, which can optionally be controlled manually and can also be controlled automatically; Figure 2 is a portable handheld device, comprising means with which an assignment request can be placed by an operator.

3 shows a machine or connection point of a machine control comprising a signaling device for signaling an active control-technical active connection with a hand-held operating device;

Fig. 4 is a handheld device, on which an overview of a machine hall is Darge.

In the introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, and the disclosures contained in the entire description can be analogously applied to the same parts with the same reference numerals or the same component designations. The location information selected in the description, e.g. above, below, laterally, etc. based on the immediately described and illustrated figure and this position information is to be transferred to the new position in the event of a change of position.

Fig. 1 shows an embodiment of an electronic machine control system 1 for manual, partially automatic and fully automated execution of production or machining processes. Here, the corresponding machines 2 are formed by a group of industrial robots. The machines 2 controlled by control technology can also be formed by other processing machines or by machine tools.

The corresponding machines 2 each comprise at least one electronic machine control 3, via which the respective actuators or drives of the assigned machine 2 can be controlled or activated, and which machine controls 3 with a plurality of sensors or sensors for detecting or monitoring the respective Operating or machine states are connected. The known Maschinensteuerun gene 3 are preferably program-controlled, in particular software be driven. In the machine control system 1, at least one mobile, in particular one handheld device 5 that can be carried by an operator 4 is integrated or can be integrated into the control system. For data or control-related communication with at least one of the local machine controls 3, at least one wireless transmission interface 6 is formed on the hand-held control device 5 or is coupled to its control device 7. The Handbe operating device 5 is preferably carried out completely wireless, ie operable without any Kabelverbin extension. For the electrical energy supply of the electrotechnical components of the handheld control device 5, it comprises at least one battery or at least one rechargeable battery 8.

Furthermore, the hand-held control unit 5 has an emergency stop actuating element 9, which enables an operator 4 to avert or immediately end potentially dangerous situations in the course of automated or partially automated machine operations. The emergency stop actuating element 9 is wirelessly integrated into the machine control system 1 via the at least one wireless transmission interface 6 of the hand-held operating device 5 or is functionally connected in terms of radio technology with the respectively selected and actively connected machine control 3, in particular with the respective emergency stop safety circuit 10, or functionally coupled to an emergency stop safety bus, not shown.

The hand-held control device 5 further comprises at least one control element 11, for example a joystick, a rotary actuator or the like, and / or a user interface 12 for manually influencing machine operations by the operator 4. In particular, the at least one control element 11 or Via the at least one user interface 12, potentially dangerous machine operations, for example motion control commands, activations of machine processes and the like, can be carried out or initiated by an operator.

The term user interface 12 includes all input and display devices 13, with which a user input can be carried out and a visualization of the user input and / or processes based on the display device takes place. From the prior art are input devices such as actuators, buttons, keyboards, sliders, buttons, touch screens, touch sensitive Sections on a touch-sensitive display, devices for inputting voice commands, etc. are known. As display devices, displays, luminous elements, acoustic outputs such as warning tones or voice outputs, etc. are known to the person skilled in the art.

In order to issue an assignment request according to the invention, a request button 14 is provided on the handheld operating device 5 in an advantageous embodiment.

In order to be able to set up a control-technical active connection 15 or a data-technical interaction between the wireless handheld operating device 5 and one of the machine controls 3, a connection point 16 is provided on the respective machine control 3. For example, at the junction 16, a transmission interface 6 is provided for the establishment of an expensive technical connection 15 with a handheld operating device 5. The connection point 16 is out with a control electronics 17, which control electronics 17 is connected to the primary control core 18 of the machine 2 or the machine control 3 in an effective or line manner.

The design of the connection point 16 as a structurally independent connection box or base station offers the advantage that existing machine systems can be retrofitted or an optional extension to a wireless communication system is available.

It is also possible to design the connection point 16 as an integral or directly assigned component of the control core 18 and thus to integrate it structurally into the machine 2.

The connection point 16 of the machine control or the machine have a signal device 19 with which the assignment information according to the invention of a handheld operating device 5 can be output. In order to allow safe access for an operator 4 to the signaling device, in the exemplary embodiment shown it is arranged outside of a danger zone 20.

In order to issue an assignment request on the handheld operating device 5, manual input by the operator 4 is preferably required. The assignment request can be done by the operator 4 can be removed by pressing the request button 14. Alternatively, the assignment request can be initiated by interaction of the operator 4 on the control element 11 or the user interface 12. It is possible for the operator 4 to submit the assignment request in the course of a guided user dialog on the handheld terminal 5.

Subsequently, assignment information is determined in relation to the presence of a control-technical active connection 15 of the hand-held operating device 5 with a machine 2 or a connection point 16 of a machine control 3, and the signal device 19 on the respective machine 2 or the respective connection point 16 of the respective one Machine control 3 to which the hand control device 5 is connected for control purposes is activated. The activation of the signaling device 19 takes place based on the assignment information of the handheld device 5.

1 also shows the effective area 26, which is characterized in that in this area there can be an active control-related connection 15 between the handheld operating device 5 and the machine 2 or connection point 16. If an operator 4 moves away from the effective area 26 with the handheld control device 5, a connection breakdown can occur. To this end, an additional warning area 27 is advantageously provided, and when an operator 4 enters the hand control device 5, the operator 4 can be signaled that this may leave the effective area 26 of the control-technical active connection 15.

In Fig. 2, the portable handheld control device 5, comprising means with which an assignment request can be made by an operator 4, is shown in a more detailed embodiment. In addition to the wireless transmission interface 6, which can be formed by a transmission standard such as NFC, WLAN, Bluetooth or ZigBee, the manual control device 5 comprises a control device 7, an accumulator 8 for energy-technical supply, an emergency stop actuating element 9, an operating element 11 , A user interface 12 with a display device 13 and an inquiry button 14. The hand-held operating device 5 shown in FIG. 2 is in an operative control connection 15 with a machine 2 or a connection point 16 of a machine controller 3. If an assignment request according to the invention has been successfully set by the handheld operating device 5, a signal is output on that machine 2 or connection point 16 of that machine control 3 with which there is an active control-technical connection 15.

A signaling on a machine 2 or connection point 16 can in turn result in an output on the handheld operating device in order to inform the operator 4 whether a signal output on a machine 2 or connection point 16 was successful. It is also important that an operator 4 is also informed if a signal output was not possible due to an error or if there is no active control connection 15 of the handheld device at all.

The operator 4 is informed that signals have been output on a machine 2 or connection point 16, either on a display device 13 or a signal device 19 of the handheld device 5. The signaling device 19 can comprise an optical 21 and / or acoustic signaling device 22.

In addition, the handheld control device can include an authorization device 23 in order to ensure that control commands to a machine control 3 and also assignment requests are only issued by authorized operators 4. The authorization device 23 can be designed, for example, as a key switch.

In order to ensure, according to an advantageous embodiment, a fail-safe input and transmission of an assignment request, all control circuits or control channels of the control device 7, as well as the wireless transmission interface 6, are designed with two or more channels. The redundancy of the control channels achieved in this way serves to prevent inconsistent system states or to avoid them as far as possible.

3a also shows a preferred embodiment of a connection point 16 of a machine control 3 or in FIG. 3b a preferred embodiment of a machine 2, each comprising a signal device 19 for signaling an active control-technical active connection 15 with a handheld operating device 5. The signaling device 19 in turn comprises an optical 21 and / or acoustic signaling device 22 which are designed to signal an active control-technical active connection 15 as a result of an assignment.

In order to ensure, according to an advantageous embodiment, the fail-safe reception and evaluation of the assignment request and the subsequent fail-safe activation of the signaling device 19, all control circuits or control channels of the control device 7, as well as the wireless transmission interface 6, are designed with two or more channels. The redundancy of the control channels achieved in this way is also used in the connection point 16 or the machine 2 to prevent inconsistent system states or to avoid them as far as possible.

Furthermore, the connection point 16 or the machine 2 can comprise a display device 13 on which additional information on a status or state of the manual control device 5 can be output. Status information can be information selected from the group comprising

- The handheld terminal 5 is connected to the connection point 16;

- The manual control device 5 is connected and in an effective area 26 of the connection point 16;

- The handheld control unit 5 is connected and outside the effective area 26 of the connection point 16;

- The hand control device 5 is connected and in a wam area 27 of the junction 16;

- The handheld device 5 is connected and outside the warning area 27 of the connection point 16;

- The hand control device 5 is connected and an emergency stop is activated;

- The hand control device 5 is connected and the emergency stop is deactivated;

- The handheld terminal 5 is connected and an enabling button on the handheld terminal 5 is activated;

- The handheld terminal 5 is connected and the enabling button on the handheld terminal 5 is de-activated;

- The handheld terminal 5 is connected and the enabling button on the handheld terminal 5 is in a panic mode;

act. As an alternative to the two-channel or multi-channel versions, a safety controller 24 can also be assigned to the handheld operating device 5, the connection point 16 and / or the machine 2 or the machine control system 1. A safety controller 24 can consist of two controllers that process an application program in parallel, wherein both controllers use the same process image of the inputs / outputs and are constantly aligned.

Finally, FIGS. 4a and 4b each show an overview plan 25 of the machine hall, which is displayed on the hand-held control device 5 and the operator 4 to find a machine 2 with which there is an active control connection 15, easier. 4a, a three-dimensional overview plan 25 is shown in FIG. 4b, from which also the spatial conditions of a machine hall, or the spatial conditions of the machines 2 located therein, result.

In addition, information such as

- a designation of the machine 2;

- a location of the machine 2;

- an indication of the direction of the location of machine 2;

a distance to the machine 2;

are output on the display device 13 of the machine control 3 in order to output valuable additional information about the respectively connected machine 2 to the operator 4.

The exemplary embodiments show possible design variants, it being noted at this point that the invention is not limited to the specially illustrated design variants of the same, but rather also various combinations of the individual design variants with one another are possible and this variation possibility is due to the lack of technical action The present invention lies in the ability of the person skilled in the art in this technical field.

The scope of protection is determined by the claims. However, the description and drawings are to be used to interpret the claims. Finzelmerkmale or feature combinations from the shown and described different Ausführungsbeispie len can represent independent inventive solutions. The independent task underlying inventive solutions can be found in the description of who.

For the sake of order, it should finally be pointed out that, for a better understanding of the structure, elements have been shown sometimes to scale and / or enlarged and / or reduced.

Machine control system

machine

Machine control

Operator

Handheld

wireless transmission cut

Job

Control device

accumulator

Emergency stop actuator

Emergency stop safety circuit

Control element

User interface

Display device

Inquiry button

control-technical connection

dung

Junction

Control electronics

S coreing

Signaling device

Danger zone

optical signaling device

acoustic signaling device

Authorization device

Safety control

General plan

Effective range

Warning area

Claims

Patent claims

1. Method for operating a machine control system (1) with at least one machine control (3) for performing machine operations, with at least one mobile handheld device (5) that can be carried by an operator (4) for the functional influencing of at least one of the machine controls (3 ),

which hand control device (5) has at least one control element (11) and / or at least one user interface (12) for manually influencing machine operations by the operator (4), and

which hand control device (5) has at least one display device (13) for visualizing processes on the machine control (3) and / or which display device (13) is suitable for outputting information to the operator (4); and

which hand control device (5) has at least one wireless transmission interface (6), and

wherein the at least one wireless transmission interface (6) is set up to set up or implement a control-technical connection (15) between the hand-held device (5) and the machine control (3) and / or a connection point (16) of the machine control (3);

marked by

- Manual input of an assignment request on the handheld terminal (5) by the operator (4);

- Determining an assignment information in relation to the presence of an active control-technical active connection (15) of the hand-held device (5) with a machine (2) and / or connection point (16) of a machine control (3);

- Activation of a signal device (19) on the respective machine (2) and / or at the respective connection point (16) of the respective machine control (3) to which the handheld operating device (5) is connected in terms of control technology, based on the assignment information of the handheld operating device ( 5).

2. The method according to claim 1, characterized in that the manual input of the assignment request by the operator (4) after successful authorization of the operator (4) on an authorization device (23) on the handheld terminal (5) can be carried out.

3. The method according to claim 1 or 2, characterized in that the manual entry of the assignment request on the handheld control unit (5) by the operator (4) by actuating an arranged on the handheld control unit (5), or the handheld control unit (5) assigned request Push button (14) can be carried out.

4. The method according to any one of the preceding claims, characterized in that the manual input of the assignment request on the handheld control unit (5) by interaction of the operator (4) on the control element (11) of the handheld control unit (5) and / or interaction of the operator ( 4) on the at least one user interface (12) of the hand-held device (5).

5. The method according to any one of the preceding claims, characterized in that the manual input of the assignment request on the handheld terminal (5) by a combined interaction of the operator (4) on the request button (14) and on the operating element (11) and / or the at least one user interface (12) can be carried out.

6. The method according to any one of the preceding claims, characterized in that after the manual input of the assignment request by the operator (4) a unique identification of the handheld device (5) via the wireless transmission interface (6) of the handheld device (5) to the at least a machine controller (3) is transmitted and / or called up by the at least one machine controller (3).

7. The method according to any one of the preceding claims, characterized in that the manual input of the assignment request on the handheld terminal (5) by the operator (4) via a fail-safe switching command detection and / or the assignment request by a safety controller (24) in the handheld unit is performed.

8. The method according to any one of the preceding claims, characterized in that the assignment request via a two- or multi-channel wireless transmission interface (6) of the handheld device (5) is transmitted fail-safe and / or evaluated fail-safe.

9. The method according to any one of the preceding claims, characterized in that the assignment of the request is carried out via a secured transmission protocol.

10. The method according to any one of the preceding claims, characterized in that the activation of the signal device (19) on the machine (2) and / or connection point (16) of the machine control (3) by two- or multi-channel control of the signal device (19) failsafe.

11. The method according to any one of the preceding claims, characterized in that the activation of the signal device (19) on the machine (2) and / or connection point (16) of the machine controller (3) is carried out by a safety controller (24).

12. The method according to any one of the preceding claims, characterized in that the activation of the signal device (19) on the machine (2) and or connection point (16) of the machine controller (3) by single-channel control of the signal device (19) and monitoring of the signal device ( 19) is executed fail-safe by a sensor device.

13. The method according to any one of the preceding claims, characterized in that the signal device (19) on the machine (2) and / or connection point (16) of the machine control (3) comprises a display device (13) which is designed to a Status information selected from the group comprising

- The hand control device (5) is connected to the connection point (16);

- The manual control device (5) is connected and in an effective range (26) of the connection point (16);

- The manual control device (5) is connected and outside the effective range (26) of the connection point (16);

- The manual control device (5) is connected and in a wam area (27) of the connection point (16);

- The manual control device (5) is connected and outside the warning area (27) of the connection point (16);

- The handheld terminal (5) is connected and an emergency stop is activated; - The handheld terminal (5) is connected and the emergency stop is deactivated;

- The handheld terminal (5) is connected and an enabling button on the handheld terminal (5) is activated;

- The hand-held control unit (5) is connected and the enabling button on the hand-held control unit (5) is deactivated;

- The handheld terminal (5) is connected and the enabling button on the handheld terminal (5) is in a panic mode;

to spend.

14. The method according to any one of the preceding claims, characterized in that information is output on the hand-held control device (5) as to which machine (2) and / or connection point (16) of a machine control (3) an upright active control connection (15 ) consists.

15. The method according to claim 14, characterized in that the hand-operated device (5) comprises information selected from the group

- a designation of the machine (2);

- a location of the machine (2);

- an indication of the direction of the location of the machine (2);

- a distance to the machine (2);

- an overview plan (25) of the machine hall;

- A three-dimensional overview plan (25) of the machine hall;

is issued.

16. The method according to any one of the preceding claims, characterized in that on the handheld control device (5) an error message selected from the group comprising

- An assignment on the handheld terminal (5) was not carried out correctly;

- an assignment was not transferred correctly;

- An assignment information could not be determined;

- The signal device (19) is malfunctioning

is issued.

17. Machine control system (1), in particular for carrying out the method according to one or more of the preceding claims, with at least one machine control (3) for performing machine operations, with at least one mobile handheld device (5) portable by an operator (4) functional influencing of at least one of the machine controls (3),

which hand control device (5) has at least one control element (11) and / or at least one user interface (12) for manually influencing machine operations by an operator (4), and

wherein the at least one wireless transmission interface (6) is set up to set up or implement a control-technical connection (15) between the hand-held device (5) and the machine control (3) and / or a connection point (16) of the machine control (3); and

which machine (2) and / or connection point (16) of the machine control (3) has at least one wireless transmission interface (6),

characterized in that

- The handheld terminal (5) comprises an input device for manually initiating an assignment request; and that

- The machine (2) and / or the connection point (16) of the machine control (3) comprises a signal device (19) which is set up to signal an active control-technical active connection (15) with the hand-held control device (5).

18. Machine control system (1) according to claim 17, characterized in that the manual control device (5) comprises an inquiry button (14) which is set up to execute an assignment inquiry.

19. Machine control system (1) according to claim 17 or 18, characterized in that the manual control device (5) comprises an authorization device (23) for the operator (4).

20. Machine control system (1) according to one of claims 17 to 19, characterized in that the manual control device (5) comprises a safety controller (24) which contributes or is designed for the fail-safe implementation of an assignment request.

21. Machine control system (1) according to one of claims 17 to 20, characterized in that the machine (2) and / or the connection point (16) of the machine control (3) comprises a safety controller (24) which is used for the fail-safe implementation of an assignment contributes or is trained.

22. Machine control system (1) according to one of claims 17 to 21, characterized in that the signaling device (19) of the machine (2) and / or the connection point (16) of the machine control (3) is an acoustic and / or optical signaling device ( 19) includes.

23. Machine control system (1) according to one of claims 17 to 22, characterized in that the signal device (19) of the machine (2) and / or the connection point (16) of the machine control (3), a sensor device and / or a display device (13) includes, for checking and / or displaying a signaling that has taken place.

24. Machine control system (1) according to one of claims 17 to 23, characterized in that the input device for manual initiation of the assignment request and / or the request button (14) are coupled in two or more channels in terms of control technology in the hand-held device.

25. Machine control system (1) according to one of claims 17 to 24, characterized in that the at least one wireless transmission interface (6) of the handheld operating device (5) is designed with two or more channels and the transmission interface (6) is set up for this purpose to transmit the request in a failsafe manner.

26. Machine control system (1) according to one of claims 17 to 25, characterized in that the at least one wireless transmission interface (6) of the machine The machine (2) and / or the connection point (16) of the machine control (3) is designed with two or more channels, which transmission interface (6) is set up to receive an assignment request in a fail-safe manner and / or to evaluate it in a fail-safe manner.

27. Machine control system (1) according to one of claims 17 to 26, characterized in that the signaling device (19) of the machine (2) and / or connection point (16) of the machine control (3) is designed in two or more channels and which Signalein direction (19) is designed to be controlled in a fail-safe manner.

28. Machine control system (1) according to one of claims 17 to 27, characterized in that the transmission, reception and / or evaluation of data and / or control signals via the at least one wireless transmission interface (6) of the handheld device (5) via secured transmission protocol takes place.

29. Machine control system (1) according to one of claims 17 to 28, characterized in that the transmission, reception and / or evaluation of data and / or control signals via the at least one wireless transmission interface (6) of the machine (2) and / or connection point (16) of the machine control (3) via a secured transmission protocol.