Tamper-proof protection of handheld devices

Abstract

The invention relates to a handheld device (100; 200), comprising: a housing; a sensing device arranged on the housing and having at least one sensor for detecting tampering of the handheld device; and an evaluation device arranged on the housing for initiating a tamper-proof response as a result of the sensing device detecting tampering, the handheld device being a handheld operating device for operating the robot (10) and / or having at least one energy store arranged on the housing for supplying power to the evaluation device, and / or the sensor having a sliding device for sliding the sensor on the housing, the sliding device has at least one sliding track and at least one sliding contact for establishing an electrical contact with the sliding track at a variably adjustable position, a value of an electrical characteristic variable of the sliding device determined by the position being stored, and / or the sliding device being designed to lose the position as a result of tampering. The invention also relates to a system having such a handheld device and to a method for producing or operating such a handheld device.

Description

Field of the Invention

[0001] The present invention relates to a handheld device, a system for operating a robot, and a method for manufacturing or operating a handheld device. Summary of the Invention

[0002] The object of the present invention is to improve anti-tampering protection.

[0003] The object of the present invention is achieved by a handheld device having the features described in claim 1. Claims 7 to 9 protect a system for operating a robot having the handheld device described herein and a method for manufacturing or operating the handheld device described herein. Preferred extensions are given by the dependent claims.

[0004] According to an embodiment of the present invention, a handheld device, in particular a hand-carriable device, has: a housing; a sensing device arranged on the housing, in particular partially or completely arranged in the housing, the sensing device having one or more sensors for detecting or being able to detect manipulation of the handheld device, in particular the housing, especially physical or mechanical manipulation, or being designed or used for this purpose; an evaluation device arranged on the housing, in particular partially or completely arranged in the housing, the evaluation device initiating an anti-tampering response due to the detected manipulation of the handheld device, in particular the housing, especially physical or mechanical manipulation, and in an extension, executing the anti-tampering response, or being designed or used for this purpose.

[0005] In one embodiment, the handheld device has a control device; in an extension, the control device is arranged on the housing, in particular partially or completely arranged in the housing, and / or integrated with the evaluation device; in an extension, the control device is the evaluation device or equivalent to the evaluation device. Thereby, in one embodiment, a (more) compact structure can be achieved. In another embodiment, the control device and the evaluation device are separately designed. Thereby, in one embodiment, security can be improved and / or modification and / or maintenance can be facilitated.

[0006] In one embodiment, the housing is two-piece or multi-piece. Manipulation detected or detectable by the sensing device can particularly include, especially can be opening the housing, especially separating at least two components of the housing at least partially. In one embodiment, by detecting such unauthorized manipulation and the corresponding anti-tampering response, adverse consequences on the components in the housing, especially electronic components, such as especially the control device, due to unauthorized access can be avoided or reduced, especially unauthorized maintenance by unauthorized personnel can be avoided or reduced.

[0007] According to one aspect of the present invention, the handheld device is a handheld operating device that is used or designed to operate a robot. In an extended embodiment, the operation of the robot is achieved through hardware technology and / or software technology, in an embodiment through at least one emergency stop device, particularly at least one emergency stop input device, and / or through a (corresponding) safe embodiment, and / or through an input interface for inputting user instructions. In an embodiment, the robot has at least three, particularly at least six, and in an embodiment at least seven actuated joints or (motion) axes, particularly rotary joints or rotary axes; in an embodiment, the robot has a robot arm that has at least three, particularly at least six, and in an embodiment at least seven actuated joints or (motion) axes, particularly rotary joints or rotary axes.

[0008] Accordingly, in an embodiment, the handheld device has a communication interface for communicating with the robot and / or the robot controller that controls the robot, and in an embodiment, it is wireless or wired communication.

[0009] According to an embodiment of this aspect of the present invention, the handheld (operating) device, which is a control device in an extended embodiment, outputs a signal for operating the robot due to a user input, particularly due to a user input entered through the input interface. In an embodiment, the signal is output through the communication interface and / or wirelessly or wiredly and / or output to the robot and / or the robot controller.

[0010] According to an embodiment of this aspect of the present invention, a system for operating a robot using the handheld (operating) device for operating a robot described herein is proposed, wherein in an embodiment, the system has a robot and / or a robot controller for controlling the robot.

[0011] This aspect is particularly based on the idea of preventing or hindering unauthorized personnel from maintaining the robot handheld operating device, and / or avoiding or reducing the adverse consequences of such maintenance during the subsequent operation of the (robot) with the handheld operating device, which may occur a long time after unauthorized maintenance.

[0012] According to one aspect of the present invention, the handheld device has at least one energy storage device arranged on the housing, particularly partially or completely arranged in the housing, particularly a voltage buffer, and in an embodiment, it is one or more lithium-ion batteries, one or more capacitor storage units, etc.; in an embodiment, the energy storage device supplies power to the evaluation device at least temporarily, and in an embodiment, at least when the handheld device or the control device is turned off or is designed for this purpose.

[0013] Thus, in one embodiment, it is possible to improve security and / or to implement or improve energy-autonomous monitoring of the handheld device with respect to tampering, in particular even when the handheld device is separated from an external power supply and / or the control device, in particular when the handheld device is switched off.

[0014] In one embodiment, the sensing device is also at least temporarily powered by at least one energy storage device. Similarly, in one embodiment, the sensing device may also have its own energy supply arranged on the housing, in particular partially or completely arranged in the housing, and / or generate energy itself, in particular by tampering, and / or be powered by the power supply of the handheld device. In a preferred embodiment, the handheld device, in particular its evaluation device, and in an extended version also its sensing device are generally designed to be ((energy-)autonomous) such that even when the control device, in particular the handheld device, is switched off and / or the control device, in particular the handheld device, is separated from the external power supply (Trennen), it is possible to detect tampering with the handheld device, in particular the housing, by means of the sensing device and to initiate, in particular execute, an anti-tampering response by means of the evaluation device, in one embodiment while the control device, in particular the handheld device, is still switched off and / or still separated from the external power supply, and in one embodiment only after the control device, in particular the handheld device, has been (re-)switched on or (re-)connected to the external power supply.

[0015] This aspect can be particularly advantageously combined with the aspect that the handheld device is a handheld operating device for operating a robot, but is not limited thereto. Detecting and triggering an anti-tampering response when the control device or the handheld device is switched off and / or separated from the external power supply can be particularly advantageously combined with activating the evaluation device from a dormant state as described hereinafter, the evaluation device preferably being powered by an energy storage device or a voltage buffer. Detecting and triggering an anti-tampering response when the control device or the handheld device is switched off and / or separated from the external power supply can be particularly advantageously combined with the aspect of a sliding device described hereinafter, which provides a sensor that is irreversibly adjusted or actuated due to tampering even in the case of a power cut and that is still able to indicate a corresponding tampering and trigger an anti-tampering response after the control device, in particular the handheld device, has been (re-)switched on or (re-)connected to the external power supply.

[0016] According to one aspect of the present invention, one or more sensors of the sensing device respectively have sliding means, wherein the one or more sliding means respectively have: at least one sliding track (Schleifbahn), preferably at least a two-track (zweispurige) sliding track, which preferably has at least two parallel tracks (Spuren); and at least one sliding contact, wherein the sliding contact of each sliding means establishes electrical contact with the sliding track of the sliding means, preferably at least two of its tracks, in one embodiment parallel tracks, at a position (where the sliding contact and the sliding track are relative to each other, in particular the sliding contact relative to the sliding track or on the sliding track, or the sliding track relative to the sliding contact or on the sliding contact), and wherein this position can be variably adjusted or adjusted respectively, wherein,

[0017] a) The value of the electrical characteristic parameter of the corresponding sliding means determined by this position, preferably its sliding track, is stored, and in one embodiment, the value of the electrical characteristic parameter characterizes the un-tampered handheld device and / or is stored in the evaluation device or control device; and / or

[0018] b) The sliding means, in one embodiment the sliding contact and / or the sliding track, are designed such that this position is lost due to tampering (with the handheld device or the housing);

[0019] Alternatively, the sensing device, its sensors or the (multiple) sliding means or their (multiple) sliding tracks and / or sliding contacts are designed or used for this purpose.

[0020] Correspondingly, according to one embodiment of the aspect for manufacturing a handheld device, the position of at least one sliding means, in particular at least one sliding contact or at least one sliding track, is set, particularly preferably randomly, and / or the value of the electrical characteristic parameter of the sliding means of the (un-tampered handheld device) determined by this position is stored, preferably in the evaluation device or control device.

[0021] Additionally or alternatively, in one embodiment of this aspect, in the method for operating a handheld device, the evaluation device compares the value of the electrical characteristic parameter detected and determined by the position of the sliding means, in particular the sliding contact or the sliding track, with the stored value of the electrical characteristic parameter of the sliding means, and if the deviation between the detected and the stored values of the electrical characteristic parameter satisfies a deviation condition, in one embodiment exceeding a predetermined tolerance, etc., tampering is detected.

[0022] Depending on the relative positions of the sliding contact and the sliding track of the sliding device, in an extended embodiment, the electrical characteristic parameter value of the sliding device, in particular the value of resistance, etc., is determined according to the position of the sliding contact of the sliding device relative to the sliding track or on the sliding track, or the position of the sliding track of the sliding device relative to the sliding contact or on the sliding contact. Correspondingly, in an embodiment, the electrical characteristic parameter or its value in the sense of the present invention depends on the resistance of the (corresponding) sliding device, in particular may include resistance, and in particular may be resistance. By (designing the sliding device such that) this position is preferably irreversibly lost due to tampering, the deviation between the electrical characteristic parameter value detected after tampering and the stored electrical characteristic parameter value (before tampering) satisfies the deviation condition, so that tampering can be detected more reliably and / or more simply. By being able to adjust or regulating this position variably, in particular randomly, by the manufacturer or authorized personnel, the possibility of reaching the same electrical characteristic parameter value again after unauthorized tampering by repositioning the sliding contact or the sliding track can be reduced or minimized. In an embodiment, the sliding contact electrically connects or shorts at least two lines of the sliding track, so that the resistance between these lines or the joints of the sliding track changes according to the position.

[0023] This aspect can be combined with the aspect that the handheld device is a handheld operating device for operating a robot, and / or with the aspect that the evaluation device is at least temporarily powered by at least one energy storage device arranged on the housing. Among them, the combination with the aspect that the handheld device is a handheld operating device for operating a robot is particularly advantageous, but the sliding device aspect is not limited to being combined with one or more other aspects.

[0024] In an embodiment of the sliding device aspect, the sliding track is annular; and / or the sliding contact is particularly movably mounted relative to the sliding track, rotatably mounted in an extended embodiment, and arranged on a rotor rotatably mounted (relative to the sliding track) in an embodiment; and / or the sliding track is particularly movably mounted relative to the sliding contact, rotatably mounted in an extended embodiment, and arranged on a rotor rotatably mounted (relative to the sliding contact) in an embodiment. Correspondingly, in an embodiment, the variably adjustable or adjusted position of the sliding device, in particular the sliding contact or the sliding track (which determines the electrical characteristic parameter value of the sliding device), includes the position of the sliding contact or the rotor on which the sliding contact is arranged relative to the sliding track, or the position of the sliding track or the rotor on which the sliding track is arranged relative to the sliding contact, and is a rotational position or angular position in an extended embodiment.

[0025] Thus, in one embodiment, the position of the sliding device, in particular the sliding contact or the sliding track, can be variably adjusted in a compact and / or simple manner. In one embodiment, the sliding contact can contact a sliding track that is in particular non-circular but at least partially linear, for example, at a random and factory-set translational position, and this position is lost due to tampering, in particular due to the failure of the frictional engagement between the sliding contact and the sliding track caused thereby.

[0026] Additionally or alternatively, in one embodiment, the position of the sliding device, in particular the sliding contact or the sliding track, is adjusted and in particular determined by a preferably tensioned spring device and / or by frictional engagement. In one embodiment, the sliding contact or the rotor on which the sliding contact is arranged is frictionally pressed against the sliding track by the spring device, in particular by the advancement of the spring device, or the sliding track or the rotor on which the sliding track is arranged is frictionally pressed against the sliding contact. Or, by means of the spring device, in one embodiment, by screwing the retaining bolt, the sliding contact is frictionally pressed against the sliding track or the sliding track is frictionally pressed against the sliding contact, where preferably the retaining bolt is not bound or connected to each other with the sliding contact (tensioned by the retaining bolt) or the retaining bolt is not bound or connected to each other with the sliding track (tensioned by this retaining bolt).

[0027] Thus, in one embodiment, it is possible to simply and / or reliably cause the adjusted position of the sliding device, in particular the sliding contact or the sliding track, to be lost due to tampering.

[0028] Accordingly, in one embodiment, the frictional fit between the sliding contact and the sliding track, preferably the sliding track and the sliding contact, in particular its support device and / or spring device, is designed such that the position of the sliding device, in particular the sliding contact relative to the sliding track or vice versa, which is frictionally adjusted or determined in one embodiment, is lost due to tampering with the handheld device, in particular the housing. In one embodiment, after the frictional fit and / or extrusion on the sliding track caused by the spring device fails, the sliding contact can preferably move freely in one or more degrees of freedom, wherein the position for determining the electrical characteristic parameter value of the sliding device is the position in this degree of freedom, or the sliding device is designed to be arranged on the housing, preferably completely or partially arranged in the housing, and in an extended embodiment, the sliding contact is correspondingly mounted. In one embodiment, after the frictional fit and / or extrusion on the sliding contact caused by the spring device fails, the sliding track can preferably move freely in one or more degrees of freedom, wherein the position for determining the electrical characteristic parameter value of the sliding device is the position in this degree of freedom, or the sliding device is designed to be arranged on the housing, in particular arranged on the housing, preferably completely or partially arranged in the housing, and in an extended embodiment, the sliding track is correspondingly mounted.

[0029] In one embodiment, the sliding contact, and in an extended embodiment, the rotor on which the sliding contact is arranged, is connected to the spring device and / or movably mounted via the spring device, and is rotatably mounted in one embodiment. In one embodiment, the sliding track, and in an extended embodiment, the rotor on which the sliding track is arranged, is connected to the spring device and / or movably mounted via the spring device, and is rotatably mounted in one embodiment. Thus, in one embodiment, the sliding device can be realized in a compact and / or simple manner.

[0030] In one embodiment, the sliding track is connected to a part of the housing, and in an extended embodiment, is arranged on the circuit board connected to this part, preferably arranged on the evaluation device and / or control device, and the sliding contact is connected to another part of the housing, preferably movably, in particular rotatably, mounted on this other part. In one embodiment, the sliding contact is connected to a part of the housing, and in an extended embodiment, is arranged on the circuit board connected to this part, preferably arranged on the evaluation device and / or control device, and the sliding track is connected to another part of the housing, preferably movably, in particular rotatably, mounted on this other part. Thus, in one embodiment, at least partial separation of these two housing parts can be detected simply and / or reliably, and such an arrangement on the circuit board allows for a particularly compact structure.

[0031] As described above, the sliding contact and / or the sliding track can equally be movably mounted, in particular rotatably. Particularly preferably here, the sliding contact or the rotor on which the sliding contact is arranged is movably mounted, in particular rotatably, on the housing, because in one embodiment this makes it easier to determine the value of the electrical characteristic parameter, in particular the taking (Abgreifen) on the sliding track. Accordingly, the position for determining the value of the electrical characteristic parameter of the sliding device described here is particularly preferably the position of the sliding contact movably mounted, in one embodiment rotatably, on a part of the housing relative to the sliding track arranged or fastened on another part of the housing, but the invention is not limited thereto.

[0032] In one embodiment, the anti-tampering response includes: restricting, in one extension locking the functions of the control device of the handheld device, in one embodiment restricting or locking the startup process (Bootvorgang) of the control device and / or the function of operating the robot by means of the control device.

[0033] Thereby, in one embodiment, the operation of the handheld device or the tampered handheld device can be prevented.

[0034] Additionally or alternatively, in one embodiment, the anti-tampering response includes recording in a registration form that the control device of the handheld device can access. In one extension, the control device preferably reads or queries the registration form during the startup process or the power-on process (Startvorgang), and if the control device finds at least one record in the registration form describing (detected) tampering, it starts, in particular executes, the anti-tampering response, in particular restricting, in particular locking or interrupting the functions of the robot, in particular the startup process and / or operation of the robot (of the control device), or the registration form and the control device are designed for this purpose.

[0035] Thereby, in one embodiment, the current consumption can be reduced, the security can be improved and / or an energy-autonomous monitoring of the handheld device for tampering can be implemented or improved, in particular when the handheld device is separated from an external power supply and / or the handheld device is switched off.

[0036] Additionally or alternatively, in one embodiment, the anti-tampering response includes: issuing a warning, in one extension issuing an optical and / or acoustic warning; and / or issuing a warning to the operator; and / or (in the form of an electronic record) issuing a warning in an electronic log.

[0037] Thereby, in one embodiment, the undesired operation of the handheld device or the tampered handheld device can be prevented, and / or in case of need, an unauthorized tampering can be proven.

[0038] In one embodiment, the evaluation device is activated or can be activated from a sleep state based on the signal of the sensing device due to tampering detected by the sensing device, in particular reactivated or can be reactivated, or the evaluation device and / or the sensing device are designed for this purpose. In one embodiment, the sleep state is a sleep or hibernation mode, or an operating state in which the energy consumption, functional range, and / or clock (Taktung) of the evaluation device are reduced compared to the (re)activated (operating) state, in particular one or more functions of the evaluation device are turned off or stopped.

[0039] Thereby, in one embodiment, the current consumption of the evaluation device responsible for or designed or used to perform an anti-tampering response based on tampering detected by the sensing device can be reduced, and in a particularly preferred extension, the evaluation device operates with the aid of a buffered voltage source (gepufferten Spannungsversorgung).

[0040] Additionally or alternatively, in one embodiment, the evaluation device has at least one encryption processor, preferably a low-power or low-voltage encryption processor, particularly preferably an ultra-low-power or ultra-low-voltage encryption processor.

[0041] Additionally or alternatively, in one embodiment, the evaluation device communicates with the control device and / or the registration form in an encrypted manner, or the evaluation device is designed for this purpose.

[0042] Thereby, in one embodiment, the security can be (further) enhanced.

[0043] In one embodiment, after tampering, in particular after tampering by an authorized entity (Instanz), in one embodiment an entity authorized by the manufacturer of the handheld device (such as an authorized maintenance person, etc.), the evaluation device, the registration form, and / or the stored electrical characteristic parameter values are changed by communication, preferably encrypted communication, preferably with the authorized entity, in one embodiment an entity authorized by the manufacturer of the handheld device, and in one embodiment are reset (zurückgesetzt) or redetermined, or the handheld device is designed for this purpose. The reset of the registration form can particularly include deleting the record indicating tampering; the redetermination of the stored electrical characteristic parameter values can particularly include re-storing or overwriting the value with the current, preferably measured value at the time of reset. In one embodiment, the change and / or communication are achieved by or through the control device of the handheld device.

[0044] Thus, in one embodiment, the handheld device can be maintained by an authorized person and then enter the operating state again, where the handheld device monitors tampering in the manner described herein. After the evaluation device or the registration form or the electrical characteristic parameter value (after the housing is re-closed) is reset or re-determined or stored due to communication (with the authorized entity), the authorized person opening the housing for maintenance does not cause an anti-tampering response of the evaluation device.

[0045] In one embodiment, the communication includes: sending a request to the authorized entity through the handheld device, preferably its control device, and / or in particular subsequently obtaining approval (Freigabe) from the authorized entity. In one embodiment, the electrical characteristic parameter values of the evaluation device, the registration form, and / or the stored sliding device are changed, in particular reset or re-determined, by the control device and / or due to the obtained approval.

[0046] In one embodiment, the sensing device has a plurality of sensors, which are coupled by a logical OR operation (OR-Verknüpfung) or perform a logical OR operation (verODERt) with each other. In particular, when at least one of the plurality of sensors coupled by a logical OR operation detects tampering, the sensing device emits a tampering signal.

[0047] Thus, in one embodiment, the security can be (further) improved.

[0048] Additionally or alternatively, one or more sensors of the sensing device, in particular a plurality of sensors of the sensing device coupled by a logical OR operation, each have at least one mechanical or capacitive switch; the switch is actuated due to tampering with the handheld device in an extended embodiment, and in one embodiment is actuated due to tampering with the housing, in particular opening the housing; or conversely, the switch is not actuated due to tampering with the handheld device, and in one embodiment is not actuated due to tampering with the housing, in particular opening the housing, and can be in particular such a switch.

[0049] Thus, in one embodiment, the security can be (further) improved. In particular, the capacitive switch makes it difficult for the mechanical short circuit of the mechanical switch, so that the security can be (further) improved.

[0050] In one embodiment, during the manufacture of a handheld device or for the manufacture of a handheld device, and / or after tampering, in particular by an authorized entity, which in one embodiment is an entity authorized by the manufacturer of the handheld device (such as an authorized maintenance personnel, etc.), the evaluation device is paired with the control device and / or placed in a sleep state. In one embodiment, the pairing of the evaluation device and the control device includes: creating a key for encrypted communication between the evaluation device and the control device, and storing the key in the evaluation device and the control device.

[0051] In one embodiment, the evaluation device and / or the control device has at least one processing unit, preferably a digital processing unit, in particular a microprocessor unit (CPU), a graphics card (GPU), etc., which is preferably in data connection or signal connection with a storage system and / or a bus system, and / or one or more programs or program modules. The processing unit can be designed for this purpose to: process the instructions of a program implemented as stored in the storage system; collect input signals from the data bus; and / or send output signals to the data bus. The storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program (module) can be implemented to be able to embody or execute the methods described herein, so that the processing unit can execute the steps of the method.

[0052] In one embodiment, the operation includes programming, controlling and / or monitoring, which can in particular be programming, controlling and / or monitoring.

[0053] In one embodiment, one or more, in particular all, steps of the method are performed completely or partially by a computer, or one or more, in particular all, steps of the method are performed completely or partially automatically, in particular by the handheld device or its devices.

[0054] In one embodiment, autonomous tampering monitoring can be provided not only in terms of the energy storage device, in particular in connection with activating the evaluation device from the sleep state, but also in terms of the sliding device, which in one embodiment can irreversibly change due to tampering even in a currentless state, so that tampering can be detected even after a temporary currentless state of the handheld device. This is particularly suitable for handheld operating devices used to operate robots, especially in cases with high safety requirements, complexity and / or maintenance costs. Description of the Drawings

[0055] More advantages and features are given by the dependent claims and the embodiments. For this purpose, some are schematically shown:

[0056] Figure 1 A system for operating a robot using a handheld operating device according to an embodiment of the present invention;

[0057] Figure 2 A handheld device according to an embodiment of the present invention;

[0058] Figure 3 A handheld device according to another embodiment of the present invention;

[0059] Figure 4 is Figure 3 the sliding device of the handheld device shown;

[0060] Figure 5 A method for operating Figure 2 the handheld device shown according to an embodiment of the present invention; and

[0061] Figure 6 A method for operating Figure 3 the handheld device shown according to an embodiment of the present invention. Detailed embodiments

[0062] Figure 1 A system for operating the robot 10 using a handheld operating device is shown, and the handheld operating device communicates with the robot controller 11 for this purpose.

[0063] Figure 2 A handheld device 100 according to an embodiment of the present invention is shown, which can be Figure 1 the handheld operating device of the system shown, Figure 5 and a method for operating the handheld device according to an embodiment of the present invention is shown.

[0064] In this embodiment, a plurality of sensors (exemplarily 2A, 2B in Figure 2 ) are integrated in the multi-piece housing of the handheld (operating) device 100 (exemplarily the interconnected housing parts 110, 111 in Figure 2 ). The types of sensors can be selected in different ways. In simple cases, they can be mechanical switch elements, especially buttons. However, by triggering these switch elements sequentially using a dedicated tool and using a prepared holding frame to hold them in position, the system may be tampered with at high cost. However, to avoid this risk, capacitive switch technology can be advantageously used. In this case, the cost of tampering and the possibility of accidentally triggering the alarm system increase significantly.

[0065] The switching elements or sensors 2A, 2B are connected to an evaluation device via a logical OR operation 6, which has an ultra-low-power encryption processor 1 that enters a sleep or dormant mode after initial programming at the factory. The communication between the control device 4 with a (main) CPU and the encryption processor is encrypted. The key is generated once during production and pre-programmed onto both controllers. When any of the switching elements 2A, 2B is triggered, the encryption processor is woken up and a lock flag is set in the lock register table 5. The main CPU of the handheld (manipulating) device sends an encrypted query to the lock register table after each startup process. If an active lock flag is returned, the normal startup process is interrupted. The lock register table can be reset by an authorized programming host 300 via encrypted communication with the encryption processor. If no active flag is returned, the startup process continues and communication with the robot controller 11 is established via the communication interface 15.

[0066] The encryption processor 1 is powered in a currentless state by an energy storage device in the form of an additional buffer voltage source or buffer battery 3. The energy storage device can particularly have a lithium-ion battery cell or a capacitive storage cell, or can also be of other technologies.

[0067] Figure 5 a) shows the method steps performed by or using the control device 4 or its (main) CPU, Figure 5 b) shows the method steps performed by or using the evaluation device 1 or its encryption processor.

[0068] In step S10, the control device or (main) CPU is initially programmed, in particular paired with the evaluation device or encryption processor, and the sensors 2A, 2B are activated.

[0069] In step S11, the startup process is started. In step S12, the control device or its (main) CPU queries whether the activation flag is set in the register table 5. If not (S12: "N"), the startup process is executed or continued (step S17).

[0070] If at least one activation flag is obtained from the query (S12: "Y"), the startup process is interrupted and the reset procedure is started (step S13). The control device or (main) CPU sends a request to the authorized entity (step S14). Once approval from the authorized entity is obtained (step S15), it resets the register table 5 or clears the activation flag (step S16). Thereafter, the startup process can be executed or continued (step S17).

[0071] Correspondingly, in step S20, the evaluation device or encryption processor is initially programmed and initialized, in particular paired with the control device or (main) CPU.

[0072] In step S21, any activation markers in registration form 5 will be reset.

[0073] Next, the evaluation device or the encryption processor enters the sleep state (step S22). This sleep state is maintained as long as sensors 2A and 2B are not activated (S23: "N").

[0074] If the evaluation device or the encryption processor is (re)activated or triggered by at least one of the logically ORed sensors 2A and 2B (S23: "Y"), it sets an activation marker in registration form 5 (step S24).

[0075] Figure 3 A side sectional view shows a handheld device 200 according to another embodiment of the present invention, which can also be Figure 1 a handheld operating device of the system shown; Figure 6 A method for operating the handheld device according to an embodiment of the present invention is shown; Figure 4 A schematic top view shows the sliding device of the handheld operating device. Compared with the embodiment with a buffered voltage supply described with reference to Figure 2 , Figure 5 this embodiment achieves tamper monitoring without an additional voltage supply.

[0076] This embodiment uses a sensor in the form of a sliding device that undergoes an irreversible change and is triggered when the device is tampered with.

[0077] The sensor has the following structure: Two parallel lines of the annular sliding track 20 (see Figure 4 ) are integrated on a circuit board (not shown) located in the handheld device. The sensor value is defined by the resistance measured between these two lines or between the joints indicated by circles in Figure 4 . The rotational position of the sliding contact 21 arranged on the rotor 22 determines this value. During the factory assembly process of the device, the sliding contact 21 occupies a random position. With the help of a spring 23 fixedly mounted on the rotor 22, the sliding contact is rotatably mounted and frictionally held in position. The spring 23 is tensioned by means of a retaining bolt 24 that is screwed into the housing shell 210. Here, the spring 23 is not fastened to the bolt 24. After the upper and lower housing shells 210 and 211 are assembled, the current resistance value between the sliding lines of the sliding track 20 is measured and encrypted for initial pre-programming ( Figure 6: Step S30). Tampering with the device housing, especially unscrewing the housing shells 210, 211, will cause the loss of spring tension, which in turn leads to the loss or change of the position of the sliding contact 21. This is because the rotor 22 may twist, and when the housing shells 210, 211 are reassembled, the sliding contact 21 will contact the sliding track 20 at a different position accordingly, resulting in a changing resistance value.

[0078] The value of the sensor is read by the evaluation device 14 during each startup process (step S31) and compared with the pre-programmed value (step S32). The evaluation device can be integrated in or be the same as the main CPU of the handheld (operating) device.

[0079] If the values are consistent (S32: "Y"), the startup process continues, and communication with the robot control device 11 is established through the communication interface 15 (step S37).

[0080] If the values are inconsistent (S32: "N"), the normal startup process is interrupted (step S33). Through encrypted communication with the programming host, the current value of the sensor can be read and pre-programmed. As described above with reference to Figure 5 a), a request is sent to the authorization entity in the form of the programming host (step S34). Once the approval of the authorized entity is obtained (step S35), the current resistance value between the sliding lines of the sliding track 20 is measured and stored as a new value of the electrical characteristic parameter of the sliding device determined according to the position of the sliding contact 21 (step S36). Then, the startup process can be executed or continued (step S37).

[0081] Although the exemplary embodiments have been described in the foregoing description, it should be noted that there may be many variations.

[0082] Thus, for example, in one variation, the sending of the request (step S14 or S34) can be cancelled, and only a response to the approval is made.

[0083] Similarly, contrary to the Figure 3 、 Figure 4 structure, the sliding track can also be rotatably mounted on the rotor and be tensioned or pressed against the sliding contact by a spring device. However, Figure 3 、 Figure 4 the advantage of the device shown is that the resistance value can be determined or measured more simply and / or more reliably at the sliding track 20 on the (not shown) circuit board.

[0084] It should also be noted that the exemplary embodiment is merely an example and should not impose any limitations on the scope of protection, application, and construction. On the contrary, through the foregoing description, those skilled in the art can be taught to implement conversions of at least one exemplary embodiment, wherein various changes, particularly regarding the functions and arrangements of the components, can be achieved without departing from the scope of protection of the present invention, for example, can be obtained according to the claims and their equivalent combinations of features.

[0085] List of Reference Numerals 1 Evaluation device (encryption processor)

[0086] 2A, 2B Sensors 3 Buffer battery (energy storage device)

[0087] 4 (Main) CPU (control device)

[0088] 5 Registration form

[0089] 6 Logic OR coupling

[0090] 10 Robot

[0091] 11 Robot controller

[0092] 14 Evaluation and control device

[0093] 15 Communication interface 20 Sliding rail with two parallel lines 21 Sliding contact

[0094] 22 Rotor 23 Spring (device)

[0095] 24 Holding bolt

[0096] 100 Handheld (operating) device

[0097] 110, 111 Housing shell / component

[0098] 200 Handheld (operating) device 210, 211 Housing shell / component 300 Programming host (authorizing entity).

Claims

1. A handheld device (100; 200), comprising: a housing (110, 111; 210, 211); a sensing device arranged on the housing, the sensing device having at least one sensor (2A, 2B; 20, 21), for detecting tampering with the handheld device, in particular the housing; and an evaluation device (1; 14) arranged on the housing, which is activated, in particular performs an anti-tampering response, due to the detection of tampering by means of the sensing device, wherein the handheld device is a handheld operating device for operating a robot (10), and / or the handheld device has at least one energy storage device (3) arranged on the housing, which is used to supply electrical energy to the evaluation device; and / or the sensor has a sliding device, which has at least one sliding track (20) and at least one sliding contact (21), and the sliding contact is used to establish electrical contact with the sliding track at a position that can be variably adjusted, and the value of the electrical characteristic parameter of the sliding device determined by this position is stored, and / or the sliding device is designed to lose this position due to tampering.

2. The handheld device according to claim 1, wherein The anti-tampering response includes: restricting, in particular locking, the functions of the control device (4; 14) of the handheld device, in particular the startup process and / or the operation of the robot; recording in a registration form (5), which can be accessed by the control device (4) of the handheld device; and / or issuing a warning.

3. The handheld device according to any one of the preceding claims, characterized in that, The evaluation device can be activated from a sleep state according to the signal of the sensing device due to the detection of tampering by the sensing device, and / or the evaluation device has at least one encryption processor (1), and / or the evaluation device is designed to communicate with the control device and / or the registration form in an encrypted manner, and / or after tampering, the evaluation device, the registration form and / or the value of the stored electrical characteristic parameter can be changed due to, in particular, encrypted communication, in particular can be reset or re-determined.

4. The handheld device according to any one of the preceding claims, characterized in that, The sensing device has a plurality of sensors coupled by means of a logical OR operation (6) for detecting tampering with the handheld device, in particular the housing, and / or for detecting tampering with the handheld device, in particular the housing, at least one sensor of the sensing device has at least one mechanical or electrical on-off switch.

5. The handheld device according to any one of the preceding claims, characterized in that, The sliding track is annular, and / or the position of the sliding device is adjusted by means of a spring device (23) and / or in a frictionally engaged manner, and / or the sliding contact and / or the sliding track are movably, in particular rotatably, mounted, in particular arranged on a rotatably mounted rotor (22).

6. The handheld device according to any one of the preceding claims, characterized in that, The handheld device is manufactured according to the method described in claim 8, and / or can operate according to the method described in any one of claims 9 to 13, in particular according to the method described in any one of claims 9 to 13.

7. A system for operating a robot (10), having a handheld operating device (100; 200) for operating the robot according to any one of the preceding claims, the handheld operating device having a communication interface (15) for communicating with the robot and / or a robot controller (11) for controlling the robot.

8. A method for manufacturing a handheld device (100; 200) according to any one of the preceding claims, wherein, The evaluation device is paired with the control device (S10, S20) and / or placed in a sleep state (S22), and / or particularly randomly sets the position of the sliding device, and / or stores (S30) the value of the electrical characteristic parameter of the sliding device determined by this position.

9. A method for operating a handheld device (100; 200) according to any one of the preceding claims, wherein, The handheld device emits a signal for operating the robot (10) due to user input, and / or the evaluation device is supplied with electrical energy by the energy storage device (3) and / or is activated from the sleep state according to the signal of the sensing device due to the sensing device detecting tampering (S23), and / or the control device queries the registration form (S12), and when at least one record indicating tampering is found, starts, particularly executes, an anti-tampering response, particularly restricts, especially locks or interrupts functions, particularly the startup process and / or the operation of the robot, and / or the evaluation device compares (S32) the value of the detected electrical characteristic parameter of the sliding device with the stored value of the electrical characteristic parameter, and if the deviation between the detected value of the electrical characteristic parameter and the stored value satisfies the deviation condition, tampering is detected.

10. The method according to claim 9, wherein The evaluation device starts, particularly executes, an anti-tampering response, particularly restricts, especially locks the functions of the control device of the handheld device, particularly the startup process and / or the operation of the robot, due to detecting tampering by means of the sensing device; records in the registration form, and the control device of the handheld device accesses the registration in the registration form; and / or issues a warning.

11. The method according to any one of claims 9 to 10, characterized in that, The evaluation device (1) communicates with the control device (4) and / or the registration form (5) in an encrypted manner.

12. The method according to any one of claims 9 to 11, characterized in that, After tampering, the evaluation device (1; 14), the registration form (5) and / or the value of the electrical characteristic parameter of the stored sliding device (20, 21) are changed, particularly reset or re-determined (S16; S36) due to particularly encrypted communication.

13. The method according to claim 12, wherein The communication includes: sending (S14; S34) a request to the authorized entity (300) through the handheld device, and / or obtaining approval from the authorized entity (S15; S35).

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