EP3144430A1 - Dispositif et procede de surveillance d'une situation de danger entre une machine de travail et un utilisateur de la machine de travail et systeme de surveillance - Google Patents

Dispositif et procede de surveillance d'une situation de danger entre une machine de travail et un utilisateur de la machine de travail et systeme de surveillance Download PDF

Info

Publication number: EP3144430A1
Authority: EP; European Patent Office
Prior art keywords: receiver coil; remote control; work machine; machine; coil assembly
Prior art date: 2015-09-21
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.): Granted

Application number

EP16173449.6A

Other languages

German (de)

English (en)

Other versions

EP3144430B1 (fr

Inventor

Uwe Wissendheit

Christian Popp

Alexander Krichbaum

Andreas LÖFFLER

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.)

Ir-Systeme & CoKg GmbH

Original Assignee

Ir-Systeme & CoKg 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.)

2015-09-21

Filing date

2016-06-08

Publication date

2017-03-22

2016-06-08 Application filed by Ir-Systeme & CoKg GmbH filed Critical Ir-Systeme & CoKg GmbH

2017-03-22 Publication of EP3144430A1 publication Critical patent/EP3144430A1/fr

2018-04-11 Application granted granted Critical

2018-04-11 Publication of EP3144430B1 publication Critical patent/EP3144430B1/fr

Status Active legal-status Critical Current

2036-06-08 Anticipated expiration legal-status Critical

Images

Classifications

- 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
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/90—Additional features
- G08C2201/91—Remote control based on location and proximity

Definitions

the present invention relates to an apparatus and a method for monitoring a hazardous situation between a work machine and an operator of the work machine and a monitoring system with a remote control, a work machine and a device for monitoring hazardous situations.
a system with a work machine and a remote control which controls the work machine or controls.
the connection between the work machine and the remote control can be wired or wireless, for example as a radio link (RF), infrared (IR), etc., be formed.
RF radio link
IR infrared
At the work machine receiving units are provided which receive signals of the remote control and, if necessary, prepare. The signals are evaluated by means of a reception evaluation unit provided on the work machine. Depending on the type of control signal received, the work machine reacts accordingly, for example with stop, turn off, start, etc.
the remote control comprises a transmission module for controlling a transmission unit.
the transmitting unit can send radio or IR signals, etc.
the remote control comprises a control unit and a control unit. The operator of the remote control causes corresponding signals to be generated via the control unit, which reach the work machine via the transmission module and the transmission unit.
RFID technology Other well-known security systems are based on RFID technology.
RFID reader which emits an identifier (ID).
ID identifier
RFID transponder remote control
RFID transponder active radio systems on special radio frequencies (RFID principle).
RFID principle radio frequencies
the application of the RFID principle allows the machine to convey the information that the remote control and thus also the operator of the remote control are in the vicinity of the machine, so there is a dangerous situation and can be responded to accordingly.
the dangerous situation is characterized in that the work machine has come so close to the remote control or continues to approach the remote control that the operator of the remote control is endangered by the working machine.
the invention is based on the object to provide a device and an associated method for monitoring a dangerous situation between a work machine and an operator of the work machine, with detection of the dangerous situation and an adjoining stop the machine work without active feedback to the machine and which can also be used in work machines and remote controls that communicate with each other by means of infrared data connection. Furthermore, the invention is based on the object to provide a monitoring system with a remote control, a working machine and a device for hazardous situation monitoring available.
a device for monitoring a dangerous situation between a work machine and an operator of the work machine, wherein the device comprises a receiver coil arrangement and a transmit coil arrangement, wherein the transmit coil arrangement is arranged on the work machine and designed to generate a magnetic field with a work machine-specific identifier, the receiver coil arrangement arranged on a remote control of the operator for controlling the work machine, on a helmet and / or a warning vest of the operator of the remote control or provided in the immediate vicinity of the remote control and its operator and adapted to receive the magnetic field of the transmitting coil assembly, wherein a receiver evaluation unit provided on the remote control is designed to evaluate the magnetic field of the transmitting coil arrangement in order to determine the distance and / or the position of the working machine relative to the receiverersp be determined and a data transmission connection, which is designed, inter alia, for transmitting control commands for controlling the work machine between a transmitting unit of the remote control and a receiver unit of the working machine, depending on the position of the working machine, the distance of the working machine relative
a method for monitoring a dangerous situation between a work machine and an operator of the work machine using said device according to the invention for monitoring the dangerous situation is further specified, namely, with the method steps: providing the device for monitoring the dangerous situation with a transmitting coil arrangement which is connected to the Working machine is arranged with a receiver coil assembly, which is arranged on the remote control of the operator to control the machine, a helmet and / or a warning vest of the operator of the remote control or provided in close proximity to the remote control and its operator, generating a magnetic field by means of the transmitting coil assembly , Receiving the magnetic field of the transmitting coil assembly by means of the receiver coil assembly and determining the distance and / or the position of the working machine relative to the receiver coil assembly by Auswer between the transmitting unit of the remote control and a receiver unit of the working machine depending on the position of the working machine, the distance of the working machine relative to the remote control and / or one of the Working machine applied control command of the remote control persists, if a dangerous situation, wherein the working
a monitoring system with a working machine, a remote control and a device for monitoring a dangerous situation between the working machine and the operator of the working machine is further specified.
the parameters of the magnetic fields inter alia their frequency, phase, amplitude, are variable.
magnetic fields with different parameters can be superimposed.
danger zones are defined around the receiver coil assembly at different distances to the receiver coil assembly, wherein the work machine for each of the danger zones is assigned a target speed, so that the speed of the machine decreases with decreasing distance to the receiver coil assembly and the machine is stopped. Ie, that's the speed the work machine, which is located at a comparatively great distance from the receiver coil assembly and approaches, is slowed down first. Only when the work machine is located at a comparatively short distance from the receiver coil arrangement does the work machine stop.
the actual speed of the work machine during the onset of the machine in one of the danger zones to the respective danger zone assigned target speed is customizable, namely, by driving the machine by means of a control command.
the stop of the work machine according to the invention is carried out without control command from the remote control by interrupting the data transmission connection.
the data transmission connection is in the form of an infrared connection, a radio connection or another wireless or wired connection (US, CAN, I 2 C, etc.).
USB wireless or wired connection
I 2 C I 2 C
a danger indicator located on the remote control which is implemented as a visual, audible and / or vibration display, is adapted to indicate to the operator of the remote control when a danger zone is detected. This additional warning to the operator reduces the operator's risk of injury.
the danger display arranged on the remote control which is designed as a visual, audible and / or vibration display, is furthermore designed to indicate to the operator of the remote control in the form of warning levels in which the danger zone is the working machine. That is, the smaller the distance of the working machine to the remote control, the higher the warning level activated on the remote control and vice versa.
the receiver coil arrangement is designed to receive magnetic fields with work machines specific identifier and with an emergency identifier, which is identical for all machines from transmitting coil assemblies of several work machines, wherein the specgorince is adapted to a dangerous situation when approaching any work machine by detection of the emergency identifier in Detecting the magnetic field and to send the detected magnetic field strength and frequencies as a broadcast signal to all remote controls upon detection of the dangerous situation, the broadcast signal includes the machines specific identification of the dangerous situation triggering machine.
An evaluation of the broadcast signal to the remote controls, which receive the broadcast signal leads on the side of that remote control, which controls the dangerous situation triggering machine, for switching off the control signal to stop the corresponding work machine.
the magnetic field of each machine includes in appropriate training in addition to the machine-specific identifier the said emergency identifier in the form of sequences or codes, as in the machine-specific identifier is modulated in the field-generating signal.
the broadcast signal may be relayed to other work machines and remote controls using wireless sensor nodes, via which multiple work machines and multiple remote controls communicate with each other, for the purpose of remotely controlling the distance and / or position of the work machine relative to a plurality of remote controls To provide monitoring of dangerous situations. Also, this development allows the use of the monitoring system according to the invention, for example, on a larger construction site with multiple machines, even if these machines are controlled by separate remote controls and act independently.
the transmitting coil arrangement and / or receiver coil arrangement is a 3D coil arrangement with a plurality of transmitting coils or receiver coils are formed, which are aligned orthogonal to each other.
a 3D coil arrangement serves the purpose of receiving field lines from all three directions of a Cartesian coordinate system and to perform field strength measurements from said directions.
the working machine is a soil compactor or a trench roller.
This type of work machines are comparatively often run without a driver, are controlled by remote controls and require the monitoring system according to the invention for dangerous situations.
a stop command is sent to the work machine by means of the remote control via an infrared connection, if a dangerous situation is recognizable and the distance and / or the position of the work machine relative to the receiver coil arrangement is exacerbating, ie, the work machine moves towards the receiver coil arrangement, or when there is a situation wherein the distance or position of the work machine relative to the receiver coil assembly is unknown.
the intensity and / or the frequency of the magnetic field (s) is / are measured for the determination of the distance and / or the position of the work machine relative to the receiver coil arrangement. This also serves to assign the work machine to the remote control to couple both components.
the invention has the following advantages that the interruption of the data transmission connection upon detection of a Hazard situation is an extremely safe means to cause a stoppage or a stop of the machine due to lack of command signal of the remote control particularly reliable.
the invention can be used with any type of data transmission connection, even with wired data transmission connections.
the time duration until the stop of the working machine is particularly shortened, since the expense of generating and transmitting a feedback signal for stopping the working machine is eliminated. That is, with the invention, the driving and control effort on the part of the remote control and in particular the circuit complexity and the circuit complexity are reduced on the part of the working machine. This also reduces the circuit complexity and complexity in the work machine and remote control.
the monitoring system according to the invention with remote control and work machine due to reduced communication effort or lack of communication requirement because of the elimination of feedback in a dangerous situation is particularly effective against data transmission errors protected.
Fig. 1 shows a monitoring system with the components work machine 6 and remote control 14, which controls the machine.
the work machine 6 and the remote control 14 communicate via the data transmission connection 7, which in the exemplary embodiment is a wireless data transmission connection (for example a radio connection (RF) and / or infrared connection (IR)).
RF radio connection
IR infrared connection
the work machine 6 comprises receiving units 4 which receive and process the signals, in particular control signals, of the remote control 14. The signals are evaluated in a receiver evaluation unit 5 of the work machine 6. The work machine 6 responds according to the information transmitted by the control signals with a response such as stop, turn, start, etc.
a transmitting coil arrangement 1 with at least one, for example, a ferrite core having a transmitting coil is provided on the working machine 6, which generates a uniformly distributed around the working machine 6 magnetic field 3.
the magnetic field comprises several individual fields in the present exemplary embodiment.
the transmitting coil arrangement 1 is controlled accordingly by a transmitting unit 2 in the working machine 6.
the generated magnetic fields include, for example, pure sinusoidal signals, which need not necessarily be at the same frequency, but also modulated data, such as the work machine specific identifier and / or the emergency identifier.
the magnetic fields may have other properties, such as sweep frequencies, allowing them to be clearly distinguished from other magnetic fields.
the frequency of the magnetic fields generated at the working machine 6 is determined taking into account disturbing influences, in particular by other means of communication, on the working machine 6. With the aid of the frequency of the magnetic field, the assignment of the working machine 6 to the remote control 14 takes place. The frequency is determined in a coupling phase of the working machine 6 and the remote control 14.
a receiver coil assembly 11 having at least one receiver coil for receiving the magnetic field generated at the working machine 6.
the receiver coil assembly 11 is provided directly to the remote control 14. But it can also be provided separately for remote control, for example in the helmet and / or in the safety vest of the operator of the remote control.
the receiver coil assembly 11 is configured so that the magnetic field can be received from all spatial directions.
the receiver coil arrangement 11 is designed, for example, as a 3D coil arrangement.
a receiver evaluation unit 10 which is connected to a control unit 12 and a transmission module 9 of the remote control 14, on the remote control 14 evaluates the magnetic field. By means of the receiver evaluation unit 10, field strength, intensity, frequency, phase, amplitude and other parameters of the magnetic field (eg sweep frequencies) are determined. evaluated. The evaluation of the frequencies of the magnetic field serves inter alia the assignment of the working machine to the remote control.
the magnetic field evaluation can also include the difference of magnetic field parameters.
the position and / or the distance and also the direction of movement and speed of the working machine 6 in relation to the receiver coil assembly 11 to the remote control 14 and the voltage applied to the work machine 6 Control command of the remote control 14 evaluate.
the detection of the distance is performed by measuring the magnetic flux. This measurement takes place in the low-frequency range, for example at some 10 kHz, since signal shading hardly plays a role here.
3D coil arrangements for magnetic field reception for detecting the magnetic flux and estimation of the distance used are not possible. Comparatively accurate distance measurements are possible by intersection of magnetic fields of multiple coils. Positioning can also be done by an additional GPS module on the working machine (in Fig.1 not shown).
the information to stop the work machine 6 must reach the same. This is done according to the invention in the way of the interruption of the data transmission connection 7, via which the work machine 6 receives in normal operation information for controlling the same from the remote control 14. That is, the control signal (IR, radio, US, etc.) is turned off on the remote control side.
the remote control is designed to send the detected magnetic field strength and frequencies as a broadcast signal to all remote controls upon detection of a dangerous situation by approaching any machine on the site, the broadcast signal includes the identifier of the dangerous situation triggering machine.

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Engineering & Computer Science (AREA)
Mining & Mineral Resources (AREA)
Civil Engineering (AREA)
General Engineering & Computer Science (AREA)
Structural Engineering (AREA)
Physics & Mathematics (AREA)
General Physics & Mathematics (AREA)
Computer Networks & Wireless Communication (AREA)
Selective Calling Equipment (AREA)
Component Parts Of Construction Machinery (AREA)

EP16173449.6A 2015-09-21 2016-06-08 Dispositif et procédé de surveillance d'une situation de danger entre une machine de travail et un utilisateur de la machine de travail et système de surveillance Active EP3144430B1 (fr)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
DE102015115938.4A DE102015115938A1 (de)	2015-09-21	2015-09-21	Vorrichtung und Verfahren mit einer Arbeitsmaschine, einer Fernsteuerung und einem automatischen Sicherheitssystem

Publications (2)

Publication Number	Publication Date
EP3144430A1 true EP3144430A1 (fr)	2017-03-22
EP3144430B1 EP3144430B1 (fr)	2018-04-11

Family

ID=56686616

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP16173449.6A Active EP3144430B1 (fr)	2015-09-21	2016-06-08	Dispositif et procédé de surveillance d'une situation de danger entre une machine de travail et un utilisateur de la machine de travail et système de surveillance

Country Status (2)

Country	Link
EP (1)	EP3144430B1 (fr)
DE (1)	DE102015115938A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
WO2019034548A1 (fr) *	2017-08-18	2019-02-21	Intercable Gmbh	Dispositif et procédé de commande à distance d'une installation de traitement sécurisé

Citations (4)

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WO2002008397A2 (fr) *	2000-07-20	2002-01-31	Millennium Pharmaceuticals, Inc.	7716, une nouvelle atpase humaine et les utilisations de celle-ci
DE102011107091A1 (de) *	2011-07-11	2013-01-17	Wacker Neuson Produktion GmbH & Co. KG	Fernsteuerung mit Rundum - Bedienerschutz
EP2843637A1 (fr) *	2013-08-26	2015-03-04	Wacker Neuson Production Americas LLC	Système pour commander le fonctionnement à distance de dispositifs de travail du sol

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US5939986A (en)	1996-10-18	1999-08-17	The United States Of America As Represented By The United States Department Of Energy	Mobile machine hazardous working zone warning system
US6686881B1 (en)	1999-11-30	2004-02-03	International Business Machines Corporation	Wireless identification and tracking using magnetic fields
US6810353B2 (en)	2000-10-26	2004-10-26	The United States Of America As Represented By The Secretary Of The Department Of Health And Human Services, Centers For Disease Control	Non-directional magnet field based proximity receiver with multiple warning and machine shutdown capability
US7420471B2 (en)	2004-09-24	2008-09-02	Geosteering Mining Services Llc	Safety system for mining equipment

2015
- 2015-09-21 DE DE102015115938.4A patent/DE102015115938A1/de not_active Withdrawn
2016
- 2016-06-08 EP EP16173449.6A patent/EP3144430B1/fr active Active

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US5450068A (en) *	1992-07-03	1995-09-12	Wacker Werke Gmbh & Co. Kg	Infrared remote control for soil compacting devices
WO2002008397A2 (fr) *	2000-07-20	2002-01-31	Millennium Pharmaceuticals, Inc.	7716, une nouvelle atpase humaine et les utilisations de celle-ci
DE102011107091A1 (de) *	2011-07-11	2013-01-17	Wacker Neuson Produktion GmbH & Co. KG	Fernsteuerung mit Rundum - Bedienerschutz
EP2843637A1 (fr) *	2013-08-26	2015-03-04	Wacker Neuson Production Americas LLC	Système pour commander le fonctionnement à distance de dispositifs de travail du sol

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
WO2019034548A1 (fr) *	2017-08-18	2019-02-21	Intercable Gmbh	Dispositif et procédé de commande à distance d'une installation de traitement sécurisé
US11132894B2 (en)	2017-08-18	2021-09-28	Intercable Gmbh	Device and method for remotely operating a safety processing installation

Also Published As

Publication number	Publication date
EP3144430B1 (fr)	2018-04-11
DE102015115938A1 (de)	2017-03-23

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DE102017103568C5 (de)	2019-11-21	Sensor und Verfahren zur Erfassung von Objekten
EP3193071A1 (fr)	2017-07-19	Systeme de securite
AT517784B1 (de)	2021-01-15	Verfahren zur automatisierten Steuerung einer Maschinenkomponente
EP4435313B1 (fr)	2025-08-06	Système et procédé de surveillance d'une zone dangereuse d'une machine
EP3144430B1 (fr)	2018-04-11	Dispositif et procédé de surveillance d'une situation de danger entre une machine de travail et un utilisateur de la machine de travail et système de surveillance
DE10222186C1 (de)	2003-10-09	Sicherheitsschalter
EP4033140B1 (fr)	2023-08-23	Système de sécurité et procédé comprenant un système de sécurité
DE202017100522U1 (de)	2018-05-03	Überwachungseinrichtung
DE202018101285U1 (de)	2019-06-11	Überwachungseinrichtung zur Überwachung eines Durchgangs
DE102017101905B4 (de)	2021-07-29	Überwachungseinrichtung
DE102015204938A1 (de)	2016-09-22	Tragbares Sicherungsgerät geeignet zum Schutze für Mensch und Maschine
EP3009956A1 (fr)	2016-04-20	Procédé permettant de détecter si un transpondeur d'un système RFID se trouve dans une zone limite, système RFID et commutateur de sécurité
EP3015755B1 (fr)	2017-05-03	Élément RFID, système d'émetteur/récepteur RFID ainsi que commutateur de sécurité
EP3867723B1 (fr)	2023-08-16	Installation comprenant une première partie mobile et une autre partie mobile
DE102020107948B4 (de)	2025-11-20	Funktionstest eines sicheren Lokalisierungssytems
DE202017001537U1 (de)	2018-06-26	Sicherheitsvorrichtung für ein Fahrzeug, insbesondere für ein fahrerloses Fahrzeug
EP3576465A1 (fr)	2019-12-04	Procédé de fonctionnement d'une connexion de communication sans fil et ensemble système
WO2019034548A1 (fr)	2019-02-21	Dispositif et procédé de commande à distance d'une installation de traitement sécurisé
DE19742686A1 (de)	1998-08-20	Vorrichtung zur Kollisionsdetektion relativ zueinander bewegter Teile
EP3245568B1 (fr)	2023-06-07	Procédé et système pour faire fonctionner une installation sidérurgique

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