Secure remote control

0001The invention relates to the field of security systems for controlling Machinery. It relates to a system for security remote control, Remote control, a base station and a method for security remote control according to the preamble of the respective independent patent claim.

STATE OF THE ART

0002Such security remote control, for example, from WO 02078913 A1 known. A remote control for control and programming of a manipulator respectively robot for wireless communication with a control unit of Manipulator furnishings. The remote control is used inter alia for teaching ( "Teaching") of manipulator positions and movements. For this is typically a programmer near the working area of ​​the Manipulator, controls a movement of the manipulator means, for example a The control lever of the remote control, and monitors and corrects the movement visually. The remote control has an emergency stop switch with which the manipulator a dangerous situation or stopped at an uncontrollable movement can.

SUMMARY OF THE INVENTION

0003An object of the invention is a system for security remote control, Remote control, a base station and a method for security remote control of the above mentioned type, which the security of a remote control increase compared to the prior art.

0004This object is achieved a system for security remote control, a remote control, a base station and a method for security remote control with the Characteristics of the corresponding independent claims.

0005The System for the safety remote control therefore has a mobile operating unit to Input and to send control commands over a wireless communication link, and a base station for receiving the transmitted control commands and for driving on a machine. The system includes means for determining a spatial position of the operating unit, and means for suppressing a Control command in accordance with these spatial position.

0006It is thus possible to suppress control commands, respectively to their execution prevent, when the operating unit, respectively the operator in a are spatial region, namely from the wireless from the controller would work, but a monitoring of the machine by the operator is not possible. For example, otherwise the operator with the HMI device go to another room, or so far from the machine, For example, a welding robot, remove that no reliable control the movements of the machine is no longer possible.

0007The spatial position, an absolute position respectively location or Relative position be with respect to the machine or the base station. The can relative position in two-dimensional coordinates, or by only one Distance to be expressed.

0008The machine is preferably stationary and is subject to certain Safety requirements for particular personal protection. Preferably, the Machine, a manipulator or industrial robot, as on the installation, Welding, paint spraying, deburring, machining etc. can be used.

0009The HMI device is preferably a device for programming ( "teaching") and for verifying positions and movements of a manipulator. It preferably has position control means, for example a Joystick ( "joystick"), and / or an enabling device and / or a Emergency stop switch on. An enabling device allows one hand, a gradual Retraction of a trajectory by the manipulator. On the other hand, in No activity or to solid operating the enable an emergency stop of the Manipulator triggered. In a further embodiment of the invention, the HMI device as a control element, only an emergency stop switch on.

0010As control commands are therefore not only pure movement commands. but also For example Zustimmbefehle and emergency stop signals to understand. control commands are recorded in the operating device and encoded in accordance with and / or modulated on the wireless communication link sent. The base station has means for wireless reception on the modulated signals. It receives, demodulates and / or decodes the instructions and transmits them to a control respectively a control unit of the machine.

0011In a further embodiment of the invention, different exist spatial areas for different types of control commands. For example, Zustimmbefehle and / or movement commands only in a first region in the vicinity of the manipulator accepted, and emergency stop commands accepted in a larger, but limited range.

0012In a preferred embodiment of the invention, the operating unit is to concurrent or coordinated control of two cooperating Manipulators configured.

0013In a preferred embodiment of the invention, the means for determining is the spatial position of the operating unit for determining a spatial distance configured between the operating unit and the base station or the machine. Control commands are thus suppressed, if this distance is a predetermined value exceeds. Otherwise, the control commands are accepted. The distance measurement preferably done by combining a wireless ultrasonic signal transmission. In this case, an ultrasonic signal of, for example, the emitted base station and received by the operating unit. The time of Sending out is transmitted via radio from the control unit to the base station or conversely transmitted from the base station to the operator panel. The Ultrasonic signal is modulated so that a distinction from noises is possible. From a travel time measurement, the distance is determined. In a preferred variant of the invention, the distance measurement by transmission a radio signal triggered by the HMI device to the base station. The base station thus transmits the ultrasonic signal immediately after receiving the radio signal. Due to the negligible duration of the radio signal from the operating unit can the time between the transmission of the radio signal and the reception of Ultrasound signal to determine the distance.

0014Preferably as a triggering radio signal an already made Control command transmission. It is the distance measured in each case after a command transmission made. Usually, in the operation of System control commands with short intervals, ie a few seconds transmitted. Characterized the distance measurement is carried out only when needed, ie in the Associated with a command transmission. Also has to no additional Signal for triggering the ultrasonic signal is sent. These two Measures the energy consumption is reduced in the operating device.

0015If the measured distance is greater than a predetermined threshold, then an alarm triggered and control commands through the control panel or in the base station suppressed. If the control commands are suppressed in the operating unit, will take which received only one command to activate the distance measurement. If absolutely no ultrasonic signal is received, it is also the alarm triggered. Once again an allowable distance is measured, subsequent control commands accepted respectively passed.

0016In the variant of the invention, in which a plurality of types of control commands are differentiated and selectively suppressed, mutatis mutandis also be more Spacer regions differed.

0017In principle, other distance-measuring methods are used, and can Control commands corresponding to a measured distance in the HMI device or only in the base station can be suppressed.

0018Instead of a distance measurement can also be a two-dimensional absolute or relative position of the operating unit can be determined. For this purpose, a predetermined defined spatial area of ​​any shape to the machine, for example in The form of a comprehensive engine room, or an area from which the machine is visible. As long as the operating unit within this Region is, control commands are accepted. The position can example-based means of an optical, acoustic or radio Triangulation or by means of differential GPS (global positioning system), are possibly using reference transmitters, determined.

0019In a preferred embodiment of the invention, the ultrasonic signal is mulidirektional or radiated possible omnidirectional. It is preferably a planar region of space around the ultrasonic transmitter, in which an operator can stay for as irradiated. To this with a single Ultrasonic transducer, typically to achieve a piezo element, a Means for signal distribution with respect to the piezo-element arranged. The means for Signal distribution is preferably a cone-shaped body with a slightly outward curved conical surface, hereinafter referred to as reflector. This curvature or Crowning corresponds to a cross section of the reflector through the cone axis a curvature of the intersecting lines with the conical surface to the outside. The piezo element is on an elevated support in the vicinity of the manipulator or the base station arranged such that its radiation direction is substantially vertically upwards shows. About the piezoelectric element of the reflector with the cone tip is down, so the emission arranged contrary. For this purpose, the reflector by one or several thin carrying elements kept. The arrangement of the reflector causes Diversion of vertically radiated ultrasonic waves and a distribution over 360 degrees in the horizontal direction. The curvature of the conical surface causes a Divergence respectively distribution of the otherwise strongly directed waves in vertical direction. The piezoelectric element and the reflector can also be a Carrier to be mounted, which is fixed for example on a ceiling of a room. Then, the piezoelectric element radiates downwards, and the apex is upwards addressed.

0020An operating unit to the Security Femsteuerung includes means for receiving Ultrasonic signals, means for determining a time period between sending a control command and the reception of a corresponding ultrasonic signal, Means for determining a distance from this time period, means for comparison of the Distance of at least a predetermined threshold value and means for Suppression or marking a control command in accordance with this Comparison on. The determination of the distance and the threshold value can be summarized by the measured time respectively time is compared with a predetermined time corresponding to the threshold distance. The means for determining and comparing the distance corresponding to this Case, a means for comparing the period of time.

0021Further preferred embodiments are evident from the dependent claims forth. It features of the method claims are mutatis mutandis with the Apparatus claims can be combined, and vice versa.

BRIEF DESCRIPTION OF THE DRAWINGS

0022In the following, the subject invention is based on the preferred Embodiments, which are illustrated in the accompanying drawings, explained in more detail. Show it:<dl tsize="7" compact="compact"><dt>figure 1</dt><dd>a schematic representation of an inventive system;</dd><dt>figure 2</dt><dd>schematically different areas to a manipulator;</dd><dt>figure 3</dt><dd>a block diagram of a base station, and</dd><dt>figure 4</dt><dd>a block diagram of an operating unit.</dd></dl>

0023The reference numerals used in the drawings and their meaning are in list of reference numerals summarized listed. Basically, in the Figures, like parts provided with the same reference numerals.

WAYS OF IMPLEMENTING THE INVENTION

00241 shows a schematic representation of an inventive system. An operating device 1 for transmitting radio telegrams 5 via a wireless Communication link established to a base station second The base station 2 comprises a transmitter for emitting ultrasonic signals 6 via the provided workspace on the operating unit 1. The base station 2 is via a communications interface for the transfer of control commands with an Control apparatus 3 of a machine, for example, a manipulator 4.

0025Figure 2 shows schematically different areas to a manipulator. A first Vicinity 7, for example by a first distance between the operating unit 1 and Base station 2 respectively manipulator 4 defined. A second short-range 8 through a second distance defined. An outside these ranges 7.8-lying area 9 called remote area.

0026The method for safety remote control during an operation of the Operating unit 1 repeatedly executed. In regular intervals, or each during the transmission of a control command from the control unit 1 to the base station 2 a determination of the spatial position of the operating unit 1 with respect to the Base station 2 performed. This is preferably done by a measurement of Distance between the control unit 1 and the base station 2, respectively the Manipulator 4. In each case, immediately after transmission of a control command as a radio telegram 5 6 an ultrasonic signal generated by the base station 2 and emitted by a piezoelectric element 32 in the vicinity of the manipulator. 4 At the Receiving the ultrasonic signal 6 determines the operating unit 1 by Runtime measurement distance. Depending on the area in which the 7,8,9 The operating unit 1 is, some or all of control signals are suppressed. These Suppression takes place for example in the operating device 1 itself, by the Control signal is not forwarded. Alternatively, a valid flag ( "Flag") within the message 5 to transmit the control command to "invalid" set and the command then ignored in the base station. 2

0027Figure 3 shows a block diagram of a base station 2. An ultrasonic transmitter as acting piezo-element 32 is driven by an ultrasonic driver 33rd

0028The ultrasound driver 33 is triggered by a radio unit 34, which further the radio telegrams 5 receives via antennas 35th Received radio telegrams 5, are decoded and the corresponding control commands in a unit for Command processing 36 and evaluated via a control interface to a Machine control 37 forwarded. The machine controller 37 itself is not part the system for security remote control.

0029The radiated from the piezoelectric element 32 by ultrasonic waves are a Reflector 31 around the room. The reflector 31 has a substantially conical surface on whose tip faces the piezo element 32nd The Cone shape deflects the radiation in all directions perpendicular to the Abstrahlhauptrichtung of the piezo element 32. A curvature of the conical surface by outside causes a distribution of radiation in the vertical direction. On Diameter d of the base of the cone is, for example, in the range of 10 to 40 Millimeters, preferably in the range 20 to 30 millimeters. A height h of The cone is substantially equal to the half of the diameter d.

0030Figure 4 shows a block diagram of an HMI device 1. A transmitter / receiver unit 41 used to send wireless telegrams 5 via antennas 42 and receiving and amplifying the ultrasonic signal 6. The antenna 42 preferably are patch antennas. As a frequency band for transmitting wireless telegrams 5 preferably a range around 2.4 GHz in the ISM band (Industrial, Scientific and Medical) were used. The transmitting / receiving unit 41 communicates bidirectionally with a data processing unit 43 for generating and coding of radio telegrams 5, preferably using CRC (Cyclic Redundancy Code) method. The data processing unit 43 controls a user interface 44 to and determines a state of an enabling switch 45, an emergency stop switch 46 and a tilt switch 47. The data processing unit 43 is further comprising a power management unit 48 and those with a purchase and Logout unit 49 connected.

LIST OF REFERENCE NUMBERS

0031<dl tsize="2" compact="compact"><dt>1</dt><dd>HMI device</dd><dt>2</dt><dd>base station</dd><dt>3</dt><dd>Machine control, tachograph</dd><dt>4</dt><dd>Machine manipulator</dd><dt>5</dt><dd>Radiogram</dd><dt>6</dt><dd>ultrasonic signal</dd><dt>7</dt><dd>first close range</dd><dt>8th</dt><dd>second short-range</dd><dt>9</dt><dd>remote area</dd><dt>31</dt><dd>reflector</dd><dt>32</dt><dd>Piezo element</dd><dt>33</dt><dd>Ultrasonic driver</dd><dt>34</dt><dd>radio unit</dd><dt>35</dt><dd>antenna</dd><dt>36</dt><dd>command processing</dd><dt>37</dt><dd>machine control</dd><dt>41</dt><dd>Transmitter / receiver unit</dd><dt>42</dt><dd>antenna</dd><dt>43</dt><dd>Data processing unit</dd><dt>44</dt><dd>User interface</dd><dt>45</dt><dd>Enabling</dd><dt>46</dt><dd>Emergency switch</dd><dt>47</dt><dd>tilt switches</dd><dt>48</dt><dd>Power management unit</dd><dt>49</dt><dd>And logout unit</dd></dl>