WO2010028938A1 - Mobile working machine having a remote control device - Google Patents

Abstract

The invention relates to a mobile working machine having at least one working or support member (20, 22) comprising at least one motor drive mechanism (52). The working machine further comprises a controller (50) for actuating the at least one drive mechanism, and a remote control device (54) that wirelessly communicates with the controller (50). In order to increase operational safety, the remote control device (54) and the at least one working or support member (20, 22) have a first distance sensor for determining an inner zone threshold (66') and a second distance sensor for determining an outer zone threshold (66''). The controller (50) responds to the remote control signals, thereby releasing the actuation signal for the drive mechanism, only if the remote control device (54) is located within the range (70) between the inner and the outer zone thresholds (66', 66'').

Description

 Mobile work machine with remote control device

description

The invention relates to a mobile machine with at least one working or support member having at least one motor drive mechanism, with a control device for controlling the at least one drive mechanism and with a remote control device communicating wirelessly with the control device.

Mobile machines, such as concrete pumps, are provided with a support structure with which they can be supported in their working position on a surface. The Abstützorgane the support structure are previously extended individually on the chassis and supported with her foot on the ground. Usually, the extension and retraction of the support members and the up and down movement of the foot is triggered via separate switch via electro-hydraulic actuation mechanisms. From the machine, although all operating mechanisms can be controlled simultaneously, if the ground is known. However, it is often not clear from the distance at which point the foot part hits the ground. Therefore, in addition to the support cylinder has a switch arranged in order to better position the foot can. However, it can not be ruled out here that the operator is in danger if the foot part hits the ground. He could get trapped and injured there. Also, the extension and retraction of the support organs represents a certain danger, since the boom can hit the operator and thereby hurt.

Similar problems occur in self-propelled machines, which must be operated via suitable switching elements from the outside, for example, to move them from a starting position to a working position method. It can not be ruled out that the working machine collides with the operator while driving and injures him. Even when using remote controls for the working or support organs, collisions with the operator and resulting injuries can not be ruled out.

Proceeding from this, the object of the invention is to develop a remote control system for the working and / or support organs in working machines of the type specified at the outset, which fulfills higher operational reliability requirements.

To solve this problem the features specified in claim 1 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

The solution according to the invention is primarily based on the idea that the remote control device and / or the at least one working or support member have a first distance sensor defining an inner zone boundary and a second distance sensor defining an outer zone boundary, and the control device is only triggered by remote control signals an actuation signal for the motor drive mechanism responds when the remote control device is in the range between the inner and the outer zone boundary.

In the case of activation of the support organs according to the invention, the basic principle of the invention is that three zones are formed around the outermost end of each support member:

- A safety zone in the closest surrounding area of each support Abstützorgans, in which the operator may not stay; - An operating zone within which the operator must be in order to operate the support member can;

- An outer zone from which a remote control of the support member is not possible.

According to the invention, two zone boundaries are defined for this, an inner zone boundary and an outer zone boundary. The zone limits are determined by suitable parameterization of the transmitting and / or receiving units. In the example case of the support organs, this presupposes that transmitting and / or receiving units are present both on the support member and on the remote control held by the operator.

Accordingly, a preferred embodiment of the invention provides that at the at least one working or supporting two wirelessly communicating with a receiving unit of the remote control unit transmitting units are classified whose transmission ranges are different, wherein the one transmitting unit one of the inner zone boundary corresponding inner range limit and the other transmitting unit defines an outer range limit corresponding to the outer zone boundary, and wherein the control device only responds by triggering an actuating signal for the drive mechanism when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or support member.

Alternatively, it is proposed according to the invention that two wirelessly communicating with a receiving unit of the working or supporting member transmitting units are arranged on the remote control device whose transmission ranges are different, wherein the one transmitting unit of the inner zone boundary corresponding inner range limit and the other transmitting unit one of the outer Zone boundary corresponding outer Reach limit defined, and wherein the controller responds only under the triggering of an actuating signal for the drive mechanism, when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or supportive organ. The range limit of the mutually assigned transmit and receive units can be adjusted for example via the transmission power and / or the antenna geometry.

Advantageously, the transmitting and receiving units are designed as radio units, in particular as RFID units of an RFID system. The RFID units of an RFID system (Radio Frequency Identification System) consist of an RFID transponder and an RFID reader for reading the transponder identification. The reader contains software in the form of a microprogram, which controls the actual reading process. As a rule, the reader generates an electromagnetic high-frequency field with a predetermined range. This not only transmits data, but also powers the RFID transponder. If larger ranges are to be achieved, active transponders with their own power supply can also be used. According to the invention, the coordinated RFID units respond to identical identification signals.

In principle, it is also possible that the transmitting and receiving units are designed as infrared or ultrasonic units. Via the transmitting and / or receiving units and control signals can be exchanged, which are necessary for the actuation of the drive mechanism.

A preferred embodiment of the invention provides that four at one

Chassis arranged, designed as a support arm supporting members are provided, which under the action of associated drive mechanisms from a transport position in a support position extendable and below Lifting the chassis are supported on a substrate, and that are arranged on each boom two pairwise responsive to wireless signals of the remote control device, an inner and an outer range limit defining transmitting and / or receiving units.

With the measures according to the invention, it is also possible for at least two support arms to be actuated simultaneously when the remote control device is located between the inner and outer range limits of the support arms to be controlled.

A further advantageous embodiment of the invention provides that a chassis arranged on a chassis is provided as a working member which is movable under the action of an associated drive mechanism from a starting position to a working position, and that on the chassis or working member at least one group of two pairs arranged on wireless signals of the remote control device, an inner and an outer range limit defining transmitting and / or receiving units are arranged. The chassis is, for example, a wheel or crawler chassis. With the measures according to the invention, it is achieved that the mobile working machine can be controlled via a remote control without having to fear a collision of the device with the operator.

In the following the invention will be explained in more detail with reference to an embodiment shown schematically in the drawing. Show it

Fig. 1 a is a side view of a truck-mounted concrete pump with support arms in transport position;

Figure 1 b is a plan view of the truck-mounted concrete pump with support arms in different positions. Fig. 2 is a diagram of a truck-mounted concrete pump with support arms, which are operated via a remote control device.

Fig. 3 is a side view and an end view of a mobile slurry pump with crawler track, which is operated via a remote control device.

The truck-mounted concrete pumps shown schematically in FIGS. 1 a, b and 2 essentially consist of a chassis 10 with at least one front axle 11 and at least one rear axle 12, with a driver's cab 13, which is rotatably mounted about a vertical axis about a vertical axis Concrete spreader mast 15, with a mounted at a distance from the slewing gear 14 on the chassis 10 pump assembly 16 and a support structure 18 for the chassis 10. The support structure 18 has a chassis-fixed support frame 19 and comprises two front support boom 20 and two rear support boom 22, in the 1 a) and oriented substantially parallel to the vehicle longitudinal axis 24 and in the support position (FIG. 1 b) projecting obliquely forwards or backwards over the chassis 10 and supported with their foot parts 26, 28 on the floor 30 are.

The front support arms 20 are pivotable about their vertical pivot axes 32 and the rear support arm 22 about their vertical pivot axes 34 between the transport position and the support position under the action of a respective Ausstellzylinders 36. In the embodiment shown in Fig. 1 a and b, the front support arm 20 are formed as a telescopic boom. They each comprise one about a vertical pivot axis 32 relative to the chassis pivotable Ausschub- boxes 38 and one of three telescopic segments 40 ', 40 ", 40"' existing telescopic part 40. The rear support arms 22 are simple Swivel legs trained. As can be seen from Fig. 1 b, depending on the deployment angle of the support arm 20, 22 in addition to the normal support (below) and a narrow support (top) can be selected. This adaptation to given space in the field of construction site is possible.

Usually, the pivoting and the telescoping of the support arms 20, 22 and the up and down movement of the foot parts 26, 28 are triggered via separate switches on the support arms themselves or from a central switching position on the working machine via electro-hydraulic actuation mechanisms. However, it can not be ruled out here that the operator is in danger as a result of a collision of the extending support arms 20, 22 and foot parts 26, 28 and is thereby injured. The invention therefore provides for the operation of the support arms 20, 22 and the support legs 26, 28, a remote control device 54 before. In this case, the operator can get close enough to the extend or retractable outriggers to observe the motion during the support process can. At the same time, however, it must be ensured that a danger to the operator is avoided by the extension and retraction support arms.

For this purpose, the truck-mounted concrete pump shown schematically in Fig. 2, a control device 50 for controlling the arranged in the support arms 20, 22 electro-hydraulic drive mechanisms, which can be operated individually via a remote control device 54 by the operator. For this purpose, the remote control device 54 has a radio transmitter 56 which communicates via a radio link 58 with a radio receiver 60 fixed to the frame and connected to the control device 50. The drive mechanism for one of the support arms is indicated symbolically in FIG. 2 by a support boom valve 52. Of course, each of the support arms 20, 22 is connected via its own drive mechanism 52 to the control device. Since the operator is basically free to move around the truck-mounted concrete pump, additional precautions are taken to prevent an undesirable collision with the support beams 20, 22 when actuated. For this purpose, in the exemplary embodiment shown, two RFID transponders 62 ', 62 "are arranged, for example glued, on the pedestal-side end of the support brackets 20, 22, while an RFID reader 64 is arranged on the remote control, on which the transponder identification can be read out The reader 64 contains software in the form of a microprogram that controls the actual reading process, and the reader 64 generates a high-frequency electromagnetic field, not only transmitting data, but also powering the RFID transponder now in that the transmission ranges of the two transponders 62 ', 62 "of each support leg are different. Thus, for example, by appropriate selection of the antenna geometry different range limits 66 ', 66 "of the transponder can be set, which are used to at the outer end of each support arm 20, 22 three zones defined by the range limits 66', 66" zones:

a safety zone 68 in the narrowest surrounding area of each support arm, in which the operator must not remain,

an operating zone 70, within which the operator must be in order to operate the support arm,

an outer zone 72 from which remote control of the support arm is not possible.

The zone boundaries 66 ', 66 "are defined by suitable parameterization of the RFID system The parameterization then takes place, for example, such that the inner zone boundary 66' is replaced by the reception at a first zone Antenna is detected. If the operator comes too close to the outrigger, this antenna responds and shuts off the movement. If the inner range limit 66 'is exceeded to the outside, then one is in the operating zone 70 as long as the second range limits 66 "have not yet been reached. In this case, contact only exists for one of the two RFID transponders , so it is located outside the operating zone 70 in the outer zone 72nd

The RFIDs have an additional function. You can identify the reader 64 of the operator. Only when the remote control 54 contains the appropriate reader 64, the operation of the support arms 20, 22 can be triggered. For an individualization of this kind could speak, if there are several concrete pumps on a large construction site, which must not disturb each other. Furthermore, this technique can also be used to avoid supporting leg collisions with chassis parts of any kind, for example the driver's cab. Also, the RFID technology can be used if there is a reader with a distance sensor is arranged.

In principle, it is possible to exchange RFID readers and RFID transponders against each other, and also in this case, similar to the case described, range limits and thus a zoning around the support bracket can be defined.

Furthermore, the measures according to the invention can also be used to actuate two support arms simultaneously. In this case, there are overlapping operating zones 70, within which the operator must be in the operation of the support arm to avoid a risk of collision. The above description is concerned with a remote control for the support boom of a car concrete pump. In principle, it is possible to use the measures according to the invention for other applications as well, for example in the remote control of a self-propelled workstation which is to be moved by remote control from a starting position to a working position. Such a working device in the form of a mobile concrete pump 80 with remote-controlled crawler track 82 is shown in Fig. 3a and b in a side view and an end view. In this case, the operator must perform two tasks at the same time, namely the operation of the working machine along a certain distance and the operation of certain work organs for the execution of the concreting operations. The safety of the operator, who in principle can move around freely in the room, is also ensured in this case by the fact that any operation is interrupted, if it is within a security zone and thus could be at risk, or if it is outside a predetermined operating zone and moving too far away from the working position and possibly jeopardizing other persons or the working machine. For this purpose, for example, the RFID system described above in connection with the support function is used, in which a RFID reader is arranged on a remote control device, not shown, and at certain positions of the mobile concrete pump 80 RFID transponder pairs 62 ', 62 "arranged The antennas of the RFID transponders 62 ', 62 "are configured in such a way that their respective ranges define a zone boundary which divides the space around the concrete pump into a safety zone, an operating zone and an outer zone. The remote control device is as previously used only in the operating zone for purposes of actuation.

In summary, the following should be noted: The invention relates to a mobile work machine with at least one working or Abstützor- gan 20, 22, which has at least one motor Abhebmechanismus 52. The work machine also comprises a control device 50 for controlling the at least one drive mechanism 52 and a remote control device 54 which communicates wirelessly with the control device 50. To increase operational safety, the remote control device 54 and the at least one working or support member 20, 22 provide a first distance sensor Determining an inner zone boundary 66 'and a second distance sensor for determining an outer zone boundary 66 ", the controller 50 only responds to remote control signals triggering an actuation signal for the drive mechanism 52 when the remote control device 54 in the area 70 between the inner and the outer zone boundary 66 ', 66 "is located.

Claims

claims 1. Mobile machine with at least one working or support member (20, 22, 82), which has at least one motor drive mechanism, with a control device for controlling the at least one drive mechanism and with a control device (50) wirelessly communicating remote control device ( 54), characterized in that the remote control device and / or the at least one working or supporting member (20, 22; 82) have a first distance sensor defining an inner zone boundary (66 ') and a second distance sensor defining an outer zone boundary (66 ") and that the controller (50) responds to remote control signals only upon actuation of an actuation signal for the drive mechanism when the remote control device (54) is in the area between the inner and outer zone boundaries (66 ', 66 "). 2. Mobile work machine according to claim 1, characterized in that arranged on the at least one working or support member (20, 22, 82) two wirelessly with a receiving unit (64) of the remote control device (54) transmitting units (62 ', 62 ") whose transmission ranges are different, wherein one transmitting unit (64) defines an inner range limit corresponding to the inner zone boundary (66 ') and the other transmitting unit (62 ") defines an outer range limit corresponding to the outer zone boundary (66"), and wherein the control device (50) responds by triggering an actuating signal for the drive mechanism only when the remote control device (54) in the region (70) between the inner and the outer zone boundary (66 ', 66 ") relative to the associated working or support member (54) 20, 22, 82) is located. 3. Mobile work machine according to claim 1, characterized in that on the remote control device (54) two wirelessly communicating with a receiving unit of the at least one working or support member transmitting units are arranged whose transmission ranges are different, wherein the one transmitting unit one of the inner zone boundary (66 ') defines the corresponding inner range limit and the other transmitting unit defines an outer range limit corresponding to the outer zone boundary (66 "), and wherein the control unit (50) only responds by triggering an actuating signal for the drive mechanism when the remote control unit (54) is located in the region between the inner and the outer zone boundary (66 ', 66 ") relative to the associated working or support member. 4. Mobile work machine according to claim 2 or 3, characterized in that the transmitting and / or receiving units are designed as radios. 5. Mobile work machine according to one of claims 2 to 4, characterized in that the transmitting and / or receiving units as RFID units (64, 66 ', 66 ") of an RFID system are formed. 6. Mobile work machine according to claim 5, characterized in that the RFID units comprise RFID transponders (66 ', 66 ") and RFID readers (64). 7. Mobile work machine according to claim 5 or 6, characterized in that the matched RFID units (64, 66 ', 66 ") respond to matching identification signals. 8. Mobile work machine according to claim 2 or 3, characterized in that the transmitting and / or receiving units are designed as infrared or ultrasonic units. 9. Mobile work machine according to one of claims 2 to 8, characterized in that via the transmitting and / or receiving units control signals for the actuation of the working mechanism are interchangeable. 10. Mobile work machine according to one of claims 1 to 9, characterized in that four arranged on a chassis, as a support arm (20, 22) formed Abstützorgane are provided, which under the action of associated drive mechanisms (52) extendable from a transport position into a support position and under lifting of the chassis on a substrate (30) are supportable, and that on each support arm (20, 22) in pairs on wireless signals of the remote control device (54) responsive, an inner and an outer range limit (66 ', 66 ") defining send - And / or receiving units (64, 66 ', 66 ") are arranged. 11. Mobile work machine according to claim 10, characterized in that at least two support arms (20, 22) are simultaneously controllable, when the remote control unit (54) between the inner and outer range limit (66 ', 66 ") of the to be addressed Stützausle- ger ( 20, 22) is located. 12. Mobile work machine according to one of claims 1 to 9, characterized in that on a chassis (10) arranged chassis (82) is provided as a working member which is movable under the action of an associated drive mechanism from a starting position to a working position , and that on the vehicle Stell (10) or working organ at least one group of two in pairs on wireless signals of the remote control device (54) responsive, an inner and an outer range limit defining transmitting and / or receiving units (62 ', 62 ") are arranged. 13. Mobile drive mechanism according to one of claims 4, 5, 7 to 10, characterized in that the range limit by a variation of the geometry and the transmission power of an antenna of the associated transmitting and / or receiving unit (62 ', 62 ") is adjustable.