Method and safety device for the remote-control of self-propelling working machines

• US 6,285,925 B1
• Filed: 11/08/1999
• Issued: 09/04/2001
• Est. Priority Date: 10/22/1997
• Status: Expired due to Term

• Current Assignee: Wacker Neuson Produktion GmbH & Co. KG
• Original Assignee: Wacker-Werke GmbH & Company KG
• Inventors: Steffen, Michael
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): Broadhead, Brian J.
• Application Number:
  US09/423,491
• Time in Patent Office: 666 Days
• Field of Search: 701/300, 701/301, 701/50, 701/23, 701/24, 701/2, 382/69, 382/70, 382/72, 340/904, 299/30, 446/454, 446/456
• US Class Current: 701/2
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: F16P 3/141 using sound propagation, e.g. sonar
• CPC Class Codes: F16P 3/147 using electro-magnetic technology, e.g. tags or radar
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G08C 25/00 Arrangements for preventing or correcting errors; Monitoring arrangements

Abstract

A soil compacting machine has a receiver unit that can receive control signals from a transmitter unit to a receiver unit. The transmitter unit can be operated by a user and is separate from the machine. The control signals are then processed into commands and sent to a control mechanism of the machine. Signals originating from the transmitter unit and reflected by the machine are received as safety signals by a receiver connected to the transmitter unit and are tested in relation to at least one distance-dependent parameter. If the parameter which is tested shows that a predetermined safety distance between the machine and the receiver is not respected, the transmission of the control signals or the operation of the machine is interrupted.

Claims

1. A method for the remote control of a self-propelling soil-compacting machine, comprising:

sending control signals via a transmitting unit, which can be operated by an operator and which is separate from the machine, to a receiving unit on the machine;

processing the control signals received by the receiving unit to form control commands to be issued to a controller of the machine, wherein signals coming from the transmitting unit and reflected by the machine are picked up as safety signals by a receiver connected to the transmitting unit;

checking at least one distance-dependent parameter of the safety signals picked up by the receiver; and

interrupting the operation of the machine if the checked parameter indicates that a predetermined safety distance between the machine and the receiver is not being respected.

2. The method as claimed in claim 1, wherein the operation of the machine is interrupted by sending a stop signal from the transmitting unit or by interrupting the sending of the control signals.

3. The method as claimed in claim 1, wherein the control signals reflected by the machine are checked by the receiver.

4. The method as claimed in claim 1, wherein safety signals separate from the control signals are sent by the transmitting unit and, after reflection at the machine, are checked by the receiver.

5. The method as claimed in claim 4, wherein the safety signals are sent as electromagnetic radiation or in the infrared frequency range.

6. The method as claimed in claim 5, wherein the intensity of the safety signals is checked.

7. The method as claimed in claim 4, wherein the safety signals are sent as acoustic signals in the ultrasonic range.

8. The method as claimed in claim 7, wherein the transit time of the safety signals is checked.

9. A safety device for a remote-controlled, self-propelling working machine for carrying out the method as claimed in claim 1, said safety device comprising:

a control device which can be carried by an operator, and which comprises a transmitting unit and a receiver, wherein the transmitting unit is configured to send control signals to a receiving unit on the working machine and is connected to a controller of the working machine, wherein the receiver is configured to receive signals coming from the transmitting unit and reflected by the working machine, to which control device there is assigned a testing circuit for checking at least one parameter of the received, reflected signals that is dependent on the distance between the working machine and the receiver, the testing circuit being suitable for interrupting the operation of the working machine if a predetermined test condition occurs.

10. The safety device as claimed in claim 9, wherein, for interrupting the operation of the working machine, the sending of the control signals can be interrupted or a stop signal can be sent from the transmitting unit.

11. The safety device as claimed in claim 9, wherein the transmitting unit has a transmitter for control signals and a transmitter for safety signals, and wherein the receiver assigned to the transmitting unit is tuned to the safety signals.

12. The safety device as claimed in claim 11, wherein the transmitter for safety signals is an infrared transmitter and the testing circuit is suitable for determining the intensity of the received, reflected signals.

13. The safety device as claimed in claim 11, wherein the transmitter for safety signals is an ultrasonic transmitter and the testing circuit is suitable for determining the transit time of the received, reflected signals.

14. A method for the remote control of self-propelling working machines, comprising:

(A) sending control signals from a transmitting unit, which can be operated by an operator and which is separate from the working machine, to a receiving unit on the working machine;

(B) processing the control signals received by the receiving unit to form control commands to be issued to a controller of the working machine, wherein signals coming from the transmitting unit and reflected by the working machine are picked up as safety signals by a receiver that is connected to the transmitting unit; and

(C) checking at least one distance-dependent parameter of the safety signals picked up by the receiver; and

(D) automatically interrupting the operation of the working machine if the checked parameter indicates that a predetermined safety distance between the working machine and the receiver is not being respected.

15. A method as defined in claim 14, wherein the operation of the working machine is interrupted by sending a stop signal from the transmitting unit or by interrupting the sending of the control signals.

16. A method as defined in claim 14, wherein the control signals reflected by the working machine are checked by the receiver connected to the transmitting unit.

17. A method as defined in claim 14, wherein safety signals separate from the control signals are sent by the transmitting unit and, after reflection at the working machine, are checked by the receiver connected to the transmitting unit.

18. A method as defined in claim 17, wherein the safety signals are sent as electromagnetic radiation or in the infrared frequency range.

19. A method as defined in claim 18, wherein the intensity of the safety signals is checked.

20. A method as defined in claim 17, wherein the safety signals are sent as acoustic signals in the ultrasonic range.

21. A method as defined in claim 20, wherein the transit time of the safety signals is checked.

22. A safety device for remote-controlled, self-propelling working machines comprising:

(A) a first receiver disposed on the working machine, the first receiver being coupled to a controller for the working machine;

(B) a control device which is configured to be carried by an operator;

(C) a transmitter which is located on the control device and which is configured to send control signals to the first receiver; and

(D) a second receiver which is located on the control device and which is configured to receive signals sent from the transmitter and reflected by the working machine,

wherein the control device includes a testing circuit for checking at least one parameter of the received, reflected signals that is dependent on the distance between the working machine and the second receiver, the testing circuit being configured to interrupt the operation of the working machine if a predetermined test condition occurs.

23. A safety device as defined in claim 22, wherein, for the interruption of the operation of the working machine, the sending of the control signals by the transmitter can be interrupted or a stop signal can be sent from the control device.

24. A safety device as defined in claim 22, wherein the control device further comprises a transmitter for safety signals, and wherein the second receiver is tuned to the safety signals.

25. A safety device as defined in claim 24, wherein the transmitter for safety signals is an infrared transmitter, and wherein the testing circuit is configured to determine the intensity of the received, reflected signals.

26. A safety device as defined in claim 24, wherein the transmitter for safety signals is an ultrasonic transmitter, and wherein the testing circuit is configured to determine the transit time of the received, reflected signals.