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EP1209641B1 - Method for operating a radio remote control installation - Google Patents

Method for operating a radio remote control installation Download PDF

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Publication number
EP1209641B1
EP1209641B1 EP01126642A EP01126642A EP1209641B1 EP 1209641 B1 EP1209641 B1 EP 1209641B1 EP 01126642 A EP01126642 A EP 01126642A EP 01126642 A EP01126642 A EP 01126642A EP 1209641 B1 EP1209641 B1 EP 1209641B1
Authority
EP
European Patent Office
Prior art keywords
receiver
transmitter
transmitting
effected
transmitting power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01126642A
Other languages
German (de)
French (fr)
Other versions
EP1209641A2 (en
EP1209641A3 (en
Inventor
Wolfgang Bredow
Thomas Burchard
Thomas Haug
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Integrated Electronic Systems !SYS Consulting GmbH
Original Assignee
Integrated Electronic Systems !SYS Consulting GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Integrated Electronic Systems !SYS Consulting GmbH filed Critical Integrated Electronic Systems !SYS Consulting GmbH
Publication of EP1209641A2 publication Critical patent/EP1209641A2/en
Publication of EP1209641A3 publication Critical patent/EP1209641A3/en
Application granted granted Critical
Publication of EP1209641B1 publication Critical patent/EP1209641B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/90—Additional features
    • G08C2201/91—Remote control based on location and proximity

Definitions

  • the invention relates to a method for operating a radio remote control system according to the preamble of patent claim 1.
  • the subject matter relates to the control of industrial equipment, such as cranes, robots, construction machinery or the like, but also of motor vehicles of all kinds, in particular commercial vehicles, e.g. Trucks or agricultural machinery used to carry out certain operations or operations.
  • industrial equipment such as cranes, robots, construction machinery or the like
  • motor vehicles e.g. Trucks or agricultural machinery used to carry out certain operations or operations.
  • commercial vehicles e.g. Trucks or agricultural machinery used to carry out certain operations or operations.
  • the EP 0 930 409 A1 describes a method for operating a radio remote control system with a receiver and a transmitter, in which after completion of a radio link, the response threshold of the receiver is increased so that the reestablishment of a radio link is only possible if the distance between the transmitter and the receiver a predetermined amount does not exceed. After establishing the new radio connection, the response threshold of the receiver is reduced again to a standard value.
  • the object of the invention is to operate a radio remote control system so that a security risk is significantly reduced.
  • the basic idea of the invention is therefore to be seen in the fact that a control can only take place if a minimum distance between transmitter and receiver is maintained during the construction of the radio link.
  • This minimum distance can be adjusted to the particular individual working conditions and types of industrial equipment, for example so that a radio link can only be established if there is a visual distance between the operator and the device to be operated with the receiver.
  • a routine is initiated at the end of which, for example, there is a reduction in the transmission power and / or reception sensitivity of the transmitter and / or receiver, with the consequence that activation of the radio connection can only take place if the received one Signal exceeds a predetermined threshold or otherwise "recognized" by the receiver as a signal.
  • the FIGURE shows a known radio remote control system formed by transmitter 10 and receiver 20, in which the transmission signal containing the control information is transmitted via a transmission antenna 11 to a reception antenna 21 and from there to an RF receiver 24 in the receiver 20.
  • the transmitted information consists of a sequence of telegrams, each of which a first portion transports the useful signal, and having a second portion with a few bits, which usually represent a particular test pattern that the receiver for confirmation and synchronizing purposes is used.
  • a decoding unit 25 After the decoding of the received signal in a decoding unit 25, this is fed to a comparator 26, where the bit pattern of said second portion of each telegram is compared with a predetermined test bit pattern. Only when a predetermined degree of correspondence between received / decoded bit pattern on the one hand and predetermined test bit pattern on the other hand, the generation of a control signal S for the industrial equipment to be controlled, as shown by the arrow is done.
  • the invention utilizes the fact that with decreasing signal strength, the recognition of the bit pattern in the transmission telegram is always unreliable and finally falls below the predetermined "detection rate".
  • the method according to the invention When terminating a radio connection, the method according to the invention initially provides that a switch 23, which bridges an attenuator 22 in front of the RF receiver part 24, is placed in the illustrated open state via a control line 28.
  • the figure thus shows that state which exists prior to the establishment of a new radio connection.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Selective Calling Equipment (AREA)
  • Transmitters (AREA)

Abstract

A method of operating a remote radio control installation having at least one transmitter and one receiver, in which after ending a radio connection of at least one of the transmitter or receiver parameters of the transmitter (10) or the receiver (20), Is are modified relative to its standard value and forming of the new radio link is only possible when the distance between the transmitter and receiver does not exceed a specified amount and that after forming the new radio link, under this condition, the respective parameter is reset to its standard value.

Description

Die Erfindung betrifft ein Verfahren zum Betrieb einer Funkfernsteuerungsanlage gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for operating a radio remote control system according to the preamble of patent claim 1.

Insbesondere betrifft der Gegenstand die Steuerung von industriellen Geräten, wie zum Beispiel Kränen, Robotern, Baumaschinen oder ähnlichem, aber auch von Kraftfahrzeugen aller Art, insbesondere von Nutzfahrzeugen wie z.B. LKW oder landwirtschaftlichen Maschinen, mit deren Hilfe bestimmte Bearbeitungs-oder Arbeitsvorgänge durchgeführt werden. Es handelt sich hierbei oft um Geräte, bei denen sichergestellt werden muss, dass Arbeitsvorgänge nicht irrtümlich oder falsch durchgeführt werden, da hierdurch ein erhebliches Sicherheitsrisiko für Personen entstehen kann. Im hier interessierenden Zusammenhang bedeutet dies, dass sichergestellt sein muss, dass der Sender nicht unbewusst oder irrtümlich aktiviert ist und dem Empfänger Steuerinformationen übermittelt werden, die unter Umständen zu erheblichen Fehlfunktionen und den damit verbundenen Risiken führen.In particular, the subject matter relates to the control of industrial equipment, such as cranes, robots, construction machinery or the like, but also of motor vehicles of all kinds, in particular commercial vehicles, e.g. Trucks or agricultural machinery used to carry out certain operations or operations. These are often devices that need to be sure that operations are not done erroneously or incorrectly because they can cause a significant security risk to people. In the context of interest here, this means that it must be ensured that the transmitter is not unconsciously or erroneously activated and the receiver receives control information that may lead to significant malfunctions and the associated risks.

Die EP 0 930 409 A1 beschreibt ein Verfahren zum Betrieb einer Funkfernsteuerungsanlage mit einem Empfänger und einem Sender, bei der nach Beendigung einer Funkverbindung die Ansprechschwelle des Empfängers so erhöht wird, dass der Neuaufbau einer Funkverbindung nur dann möglich ist, wenn der Abstand zwischen dem Sender und dem Empfänger ein vorgegebenes Maß nicht überschreitet. Nach dem Aufbau der neuen Funkverbindung wird die Ansprechschwelle des Empfängers wieder auf einen Standardwert herabgesetzt.The EP 0 930 409 A1 describes a method for operating a radio remote control system with a receiver and a transmitter, in which after completion of a radio link, the response threshold of the receiver is increased so that the reestablishment of a radio link is only possible if the distance between the transmitter and the receiver a predetermined amount does not exceed. After establishing the new radio connection, the response threshold of the receiver is reduced again to a standard value.

Aufgabe der Erfindung ist es, eine Funkfernsteuerungsanlage so zu betreiben, dass ein Sicherheitsrisiko erheblich reduziert wird.The object of the invention is to operate a radio remote control system so that a security risk is significantly reduced.

Erfindungsgemäß wird diese Aufgabe gemäß dem kennzeichnenden Teil des Patentanspruches 1 gelöst.According to the invention this object is achieved according to the characterizing part of claim 1.

Der Grundgedanke der Erfindung ist also darin zu sehen, dass eine Steuerung nur dann erfolgen kann, wenn beim Aufbau der Funkverbindung ein Mindestabstand zwischen Sender und Empfänger eingehalten wird. Dieser Mindestabstand kann auf die jeweiligen individuellen Arbeitsbedingungen und Typen von Industriegeräten eingestellt werden, beispielsweise so, dass eine Funkverbindung nur hergestellt werden kann, wenn Sichtabstand zwischen der Bedienungsperson und dem zu bedienenden Gerät mit dem Empfänger besteht. Bei jedem Ausschalten des Senders wird eine Routine in Gang gesetzt, an deren Ende bspw. eine Reduzierung der Sendeleistung und/oder der Empfangsempfindlichkeit von Sender und/oder Empfänger steht, mit der Konsequenz, dass eine Aktivierung der Funkverbindung nur erfolgen kann, wenn das empfangene Signal eine vorgegebene Schwelle überschreitet oder auf andere Art und Weise vom Empfänger überhaupt als Signal "erkannt" wird. Dies wird nur dann der Fall sein, wenn der Abstand zwischen Sender und Empfänger das gewünschte Mindestmaß erreicht oder unterschreitet, womit dann im Einzelfall beispielsweise der Blickkontakt zwischen Bedienperson und zu steuerndem Gerät gewährleistet ist. Ist diese Erkennung erfolgt, werden die modifizierten Parameter (bspw. Empfindlichkeit/Verstärkungsfaktoren) im Sender und/oder Empfänger wieder auf ihren Normalwert gesetzt, so dass von hier aus dann die übliche Auswertung der empfangenen Signale in Steuerinformationen des zu steuernden Gerätes erfolgen kann.The basic idea of the invention is therefore to be seen in the fact that a control can only take place if a minimum distance between transmitter and receiver is maintained during the construction of the radio link. This minimum distance can be adjusted to the particular individual working conditions and types of industrial equipment, for example so that a radio link can only be established if there is a visual distance between the operator and the device to be operated with the receiver. Each time the transmitter is switched off, a routine is initiated at the end of which, for example, there is a reduction in the transmission power and / or reception sensitivity of the transmitter and / or receiver, with the consequence that activation of the radio connection can only take place if the received one Signal exceeds a predetermined threshold or otherwise "recognized" by the receiver as a signal. This will only be the case if the distance between the transmitter and receiver reaches or falls below the desired minimum, which then results in the For example, eye contact between the operator and the device to be controlled is guaranteed. If this recognition has taken place, the modified parameters (for example sensitivity / amplification factors) in the transmitter and / or receiver are reset to their normal value, so that the usual evaluation of the received signals in control information of the device to be controlled can take place from here.

Ausgestaltungen dieses Verfahrens sind den Unteransprüchen zu entnehmen.Embodiments of this method can be found in the dependent claims.

Ein bevorzugtes Ausführungsbeispiel einer Vorrichtung zur Durchführung des erfindungsgemässen Verfahrens ist in der Zeichnung erläutert:A preferred embodiment of an apparatus for carrying out the method according to the invention is explained in the drawing:

Die Figur zeigt eine bekannte, aus Sender 10 und Empfänger 20 gebildete Funkfemsteueranlage, bei der das die Steuerinformation enthaltende Sendesignal über eine Sendeantenne 11 an eine Empfangsantenne 21 übermittelt wird und von dort zu einem HF-Empfänger 24 im Empfänger 20 gelangt.The FIGURE shows a known radio remote control system formed by transmitter 10 and receiver 20, in which the transmission signal containing the control information is transmitted via a transmission antenna 11 to a reception antenna 21 and from there to an RF receiver 24 in the receiver 20.

Bei einer Vielzahl von Funkfemsteuerverfahren besteht die übersandte Information aus einer Folge von Telegrammen, von dem jeweils ein erster Abschnitt das Nutzsignal transportiert, und das einen zweiten Abschnitt mit einigen Bits aufweist, die in der Regel ein bestimmtes Prüfmuster darstellen, das beim Empfänger für Bestätigungs- und Synchronisierzwecke benutzt wird. Nach der Dekodierung des empfangenen Signals in einer Dekodiereinheit 25 wird dieses einem Komparator 26 zugeleitet, wo das Bitmuster des genannten zweiten Abschnitts jedes Telegramms mit einem vorgegebenen Prüf-Bitmuster verglichen wird. Nur, wenn ein vorgegebener Grad der Übereinstimmung zwischen empfangenem/dekodiertem Bitmuster einerseits und vorgegebenem Prüf-Bitmuster andererseits festgestellt wird, erfolgt die Generierung eines Steuersignals S für das zu steuernde Industriegerät, wie dies durch den Pfeil dargestellt sein soll.In a variety of Funkfemsteuerverfahren the transmitted information consists of a sequence of telegrams, each of which a first portion transports the useful signal, and having a second portion with a few bits, which usually represent a particular test pattern that the receiver for confirmation and synchronizing purposes is used. After the decoding of the received signal in a decoding unit 25, this is fed to a comparator 26, where the bit pattern of said second portion of each telegram is compared with a predetermined test bit pattern. Only when a predetermined degree of correspondence between received / decoded bit pattern on the one hand and predetermined test bit pattern on the other hand, the generation of a control signal S for the industrial equipment to be controlled, as shown by the arrow is done.

Zur Umsetzung des erfindungsgemäßen Verfahrens nutzt die Erfindung die Tatsache aus, dass mit abnehmender Signalstärke die Erkennung des Bitmusters im Sendetelegramm immer unzuverlässiger wird und schließlich unter die vorgegebene "Erkennungsrate" fällt.To implement the method according to the invention, the invention utilizes the fact that with decreasing signal strength, the recognition of the bit pattern in the transmission telegram is always unreliable and finally falls below the predetermined "detection rate".

Bei der Beendigung einer Funkverbindung sieht das erfindungsgemäße Verfahren zunächst vor, dass über eine Steuerleitung 28 ein Schalter 23, der ein Dämpfungsglied 22 vor dem HF-Empfangsteil 24 überbrückt, in den dargestellten Offen-Zustand gelegt wird.When terminating a radio connection, the method according to the invention initially provides that a switch 23, which bridges an attenuator 22 in front of the RF receiver part 24, is placed in the illustrated open state via a control line 28.

In der Figur ist somit derjenige Zustand dargestellt, der vor dem Aufbau einer neuen Funkverbindung besteht.The figure thus shows that state which exists prior to the establishment of a new radio connection.

Werden nun vom Sender 10 nach Einschalten der dort vorgesehenen Bauteile neue Telegramme zum Empfänger 20 gesendet, so wird deren Qualität durch die einstellbare Dämpfung des Dämpfungsglieds 22 so "verschlechtert", dass beim nachfolgenden Vergleich des erhaltenen Bitmusters mit dem vorgegebenen Bitmuster die Erkennungsrate nicht mehr erreicht wird und folglich das Telegramm als nicht gültig verworfen wird und demnach auch kein Steuersignal S für das zu steuernde Industriegerät generiert wird. Erst, wenn der Abstand A zwischen den beiden Antennen 11 und 21 ein bestimmtes Maß unterschreitet, ist die Empfangsamplitude des gesendeten Signals so stark, dass trotz der Dämpfung durch das Dämpfungsglied 22 das empfangene Bitmuster der Telegramme in den vorgegebenen Grenzen mit dem Prüf-Bitmuster übereinstimmt und somit als gültig erkannt wird. Nach einer vorgebbaren Anzahl von derart als gültig erkannten Telegrammen wird der Schalter 23 über die Steuerleitung 28 geschlossen, wodurch das Dämpfungsglied 22 überbrückt und deaktiviert wird, und der normale Sendebetrieb etabliert wird.If new telegrams are now sent to the receiver 20 by the transmitter 10 after switching on the components provided therein, their quality is so "degraded" by the adjustable attenuation of the attenuator 22 that the recognition rate no longer reaches the subsequent comparison of the obtained bit pattern with the predetermined bit pattern and consequently the telegram is rejected as invalid and accordingly no control signal S is generated for the industrial device to be controlled. Only when the distance A between the two antennas 11 and 21 falls below a certain level, the reception amplitude of the transmitted signal is so strong that despite the attenuation by the attenuator 22, the received bit pattern of the telegrams in the predetermined limits matches the test bit pattern and thus recognized as valid. After a predeterminable number of messages thus recognized as valid, the switch 23 is closed via the control line 28, whereby the attenuator 22 is bypassed and deactivated, and the normal transmission mode is established.

Nach Beendigung der Funkverbindung, sei es durch Abschalten des Senders oder durch zu geringe Sendeleistung, wird die fehlende Bitmusterübereinstimmung im Komparator 26 wieder erkannt, über die Steuerleitung 28 der Schalter 23 wieder geöffnet und das Dämpfungsglied 22 aktiviert, womit ein Funkverbindungszyklus abgelaufen ist.After completion of the radio connection, either by switching off the transmitter or too low transmission power, the missing bit pattern match is detected again in the comparator 26, the switch 23 is opened again via the control line 28 and the attenuator 22 is activated, whereby a radio link cycle has expired.

Die in der Figur dargestellten Bauteile dienen lediglich zur Veranschaulichung des erfindungsgemäßen Verfahrens und können hardwaremäßig und softwaremäßig auf verschiedene Weise umgesetzt werden.The components shown in the figure are merely illustrative of the method according to the invention and can be implemented in terms of hardware and software in various ways.

Claims (6)

  1. Method for operating a radio remote control unit having at least one transmitter (10) and at least one receiver (20), in particular for transmitting control signals to industrial appliances, at least one of the transmitting or receiving parameters of the transmitter (10) or of the receiver (20), after termination of a radio connection, being modified relative to the standard value thereof such that establishing a new radio connection is only possible if the distance between transmitter (10) and receiver (20) does not exceed a prescribed value and, after establishing the new radio connection under this condition, the respective parameter(s) is/are reset again to the standard value thereof, characterised in that the transmitted information comprises a sequence of telegrams which have a portion with a specific bit sequence for testing purposes and in that the modification/resetting of a transmitting or receiving parameter is effected as a function of whether there is non-correspondence/correspondence of the received bit pattern with a prescribed test bit pattern (27).
  2. Method according to claim 1, characterised in that the transmitting power of the transmitter (10) or the receiving sensitivity of the receiver (20) is chosen as modifiable transmitting or receiving parameter.
  3. Method according to claim 2, characterised in that a reduction in the transmitting power is effected by reducing the amplification of the amplification stage of the transmitter (10) to a settable value.
  4. Method according to claim 2, characterised in that a reduction in the receiving sensitivity of the receiver (20) is effected by switchable activation of an attenuator (22) or by reducing the amplification factor in the input stage of the receiver (20).
  5. Method according to claim 3 or 4, characterised in that the reduction in the transmitting power or in the receiving sensitivity is effected if the transmitting power of an existing radio connection falls below a first switching threshold (S1) over a prescribable period of time.
  6. Method according to claim 3 or 4, characterised in that a resetting of transmitting power or receiving sensitivity to the standard value is effected if the received transmitting power exceeds a second switching threshold (S2).
EP01126642A 2000-11-25 2001-11-08 Method for operating a radio remote control installation Expired - Lifetime EP1209641B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10058678A DE10058678C2 (en) 2000-11-25 2000-11-25 Method for operating a radio remote control system
DE10058678 2000-11-25

Publications (3)

Publication Number Publication Date
EP1209641A2 EP1209641A2 (en) 2002-05-29
EP1209641A3 EP1209641A3 (en) 2006-12-20
EP1209641B1 true EP1209641B1 (en) 2008-04-16

Family

ID=7664723

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01126642A Expired - Lifetime EP1209641B1 (en) 2000-11-25 2001-11-08 Method for operating a radio remote control installation

Country Status (6)

Country Link
US (1) US6980121B2 (en)
EP (1) EP1209641B1 (en)
AT (1) ATE392688T1 (en)
DE (2) DE10058678C2 (en)
DK (1) DK1209641T3 (en)
ES (1) ES2303824T3 (en)

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DE10311836B4 (en) * 2003-03-18 2006-10-05 Integrated Electronic Systems !Sys Consulting Gmbh Remote controlled industrial device
US7519400B2 (en) * 2005-05-27 2009-04-14 Dei Headquarters, Inc. Multi-modulation remote control communication system
KR101360250B1 (en) * 2007-03-06 2014-02-10 삼성전자 주식회사 Apparatus and method for reporting and perceiving a neighborhood object
FR2976275B1 (en) * 2011-06-09 2014-04-11 Schneider Electric Ind Sas INTUITIVE ROTATING BRIDGE SYSTEM
US20130079951A1 (en) * 2011-09-22 2013-03-28 Alcatel-Lucent Usa Inc. Vehicle Device
FR2997071B1 (en) * 2012-10-23 2014-11-21 Schneider Electric Ind Sas PILOTAGE SYSTEM OF A ROLLING BRIDGE WITH A LEARNING PROCEDURE
JP7029724B2 (en) * 2017-12-29 2022-03-04 ユニパルス株式会社 Cargo handling assistance device

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US3263141A (en) * 1963-02-26 1966-07-26 Kaman Aircraft Corp Radio controlled plural motor crane control system
US3774217A (en) * 1973-02-21 1973-11-20 Tele E Lect Inc Radio control system for mobile aerial platforms
EP0472528B1 (en) * 1989-05-18 1994-02-09 Siemens Aktiengesellschaft Transmission and receiving system
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JP2700710B2 (en) * 1990-06-21 1998-01-21 新キャタピラー三菱株式会社 Warning device for construction machinery
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US6472999B1 (en) * 1999-03-08 2002-10-29 Trw Inc. Apparatus and method for remote convenience message reception with signal strength determination

Also Published As

Publication number Publication date
DK1209641T3 (en) 2008-07-28
DE10058678C2 (en) 2002-11-14
DE10058678A1 (en) 2002-07-11
US6980121B2 (en) 2005-12-27
EP1209641A2 (en) 2002-05-29
EP1209641A3 (en) 2006-12-20
ATE392688T1 (en) 2008-05-15
US20020063634A1 (en) 2002-05-30
ES2303824T3 (en) 2008-09-01
DE50113856D1 (en) 2008-05-29

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