Commercial vehicle with a device for a tail lift, and method for operating a work machine

Abstract

A commercial vehicle with a device comprising at least one detection device (102) configured to wirelessly detect at least one signal from a remote control device (204) for a movable tail lift (200), wherein the device comprises a control device (104) configured to control the movable tail lift (200) based on the at least one signal from the remote control device (204) using control commands, wherein the device comprises a computing device (106) configured to determine a plurality of positions of the remote control device (204) based on the at least one signal and to determine a movement path shape and / or direction of the remote control device (204) from positions that change over time, wherein the computing device (106) is configured to detect, based on the at least one signal,whether a safety device (226) on the remote control (204) is actuated, and wherein the computing device (106) is designed to determine a corresponding control command of the control device (104) depending on the movement path shape and / or direction, wherein the device comprises a memory (108) in which space determination data of a hazard space (206) of the movable tail lift (200) are stored, wherein the device is designed to implement control commands for moving the tail lift (200) when the position of the remote control device (204) is within the hazard space (206) and when it is detected that a safety device (226) on the remote control device (204) is actuated.

Description

[0001] According to claim 1, the invention is based on a commercial vehicle with a device comprising at least one detection device configured to wirelessly detect at least one signal from a remote control device for a movable tail lift. Furthermore, according to claim 8, the invention relates to a method for operating a work machine.

[0002] DE 10 2018 001 292 concerns an approval device with a driver presence control for the power take-off drive of agricultural tractors.

[0003] US 2011 / 0068891 A1 discloses a device with a remote control device for raising and lowering a tail lift of a commercial vehicle.

[0004] DE 10 2013 219 195 A1 discloses a remote control intended to allow intuitive and efficient device control. The remote control has a selectable mode in which movement of the remote control generates control information for moving the device.

[0005] DE 10 2018 215 066 A1 discloses an operating part for a radio remote control comprising an activation sensor with a variable effective sensor range.

[0006] DE 10 2008 047 425 A1 relates to a mobile work machine with at least one working or supporting element having at least one motorized drive mechanism. The work machine also comprises a control device for controlling the at least one drive mechanism and a remote control device that communicates wirelessly with the control device. To increase operational reliability, the remote control device and the at least one working or supporting element have a first distance sensor for determining an inner zone boundary and a second distance sensor for determining an outer zone boundary.

[0007] US 8 698 898 B2 relates to a system for recording a film using a robot-moved camera.

[0008] EP 1 004 230 B1 relates to an agricultural vehicle with a remote control panel that is movable relative to the vehicle to enable control of at least one of the functions of the vehicle and / or an associated implement by a driver located at a location remote from the vehicle. The remote control panel is shaped to resemble an artist's palette with a thumb opening to allow the control panel to be securely held in one hand while operating the controls on the control panel with the other hand.

[0009] It is desirable to improve the usability and safety of a commercial vehicle with a tail lift. Furthermore, it is desirable to provide an ergonomic and safe method for operating a work machine.

[0010] This is achieved by the subject matter of the independent claims.

[0011] A commercial vehicle with a device comprising at least one detection device configured to wirelessly detect at least one signal from a remote control device for a movable tail lift, wherein the device comprises a control device configured to control the movable tail lift depending on the at least one signal from the remote control device using control commands, wherein the device comprises a computing device configured to determine a plurality of positions of the remote control device depending on the at least one signal and to determine a movement path shape and / or direction of the remote control device from positions that change over time, wherein the computing device is configured to detect, depending on the at least one signal, whether a safety device on the remote control is actuated, and wherein the computing device is configured,to determine a corresponding control command of the control device depending on the movement path shape and / or direction, wherein the device comprises a memory in which space determination data of a hazard space of the movable tail lift are stored, wherein the device is designed to implement control commands for moving the tail lift when the position of the remote control device is within the hazard space and when it is detected that a safety device on the remote control device is actuated.

[0012] By detecting at least one specific movement path shape and / or path direction of the remote control device, the operator of the tail lift can specify movements, in particular by moving the remote control device by hand.

[0013] The tail lift can be moved along a path of movement and / or in a direction that corresponds to the path of movement and / or the direction of the remote control device. In this respect, it can be provided that at least some of the detectable path shapes and / or directions of movement are assigned to such control commands that the tail lift moves along the same path and / or in the same direction as the remote control device.

[0014] Furthermore, a type of gesture control can be implemented by assigning certain movement paths and / or directions to functions of the tail lift.

[0015] For example, it can be provided that a vertical movement of the remote control device from bottom to top gives a control command to raise the tail lift, whereas a vertical movement of the remote control device from top to bottom gives a control command to lower the tail lift.

[0016] It can also be provided that a movement of the remote control device along a circular arc or in a diagonal direction causes a control command to carry out a multi-step movement sequence, in particular into an end position of the tail lift.

[0017] A high level of safety for people is achieved by ensuring that at least some of the remote control signals coming from the hazardous area cannot be converted into control commands for moving the tail lift. This prevents safety-critical movements of the tail lift if the remote control operator is not located in the hazardous area to oversee it. Furthermore, it is ensured that the driver can only trigger movements of the tail lift voluntarily. To prevent involuntary control of the tail lift by means of gestures or movement of the remote control along movement paths and / or directions, a safety device is provided according to the invention.

[0018] The safety device may comprise a button, wherein the device is designed to detect, depending on a state of the button, whether the safety device on the remote control device is actuated or not.

[0019] A push button has the advantage over a switch in that it returns to the inactive position as soon as it is no longer actuated. Such a button can be designed with haptic or acoustic feedback to confirm the current "ON / OFF" state.

[0020] Functions and / or movements of the tail lift can preferably be entered using voice or sound commands on the remote control device.

[0021] An “EMERGENCY STOP” button or switch can be provided, which, when activated, stops the tail lift, regardless of whether the remote control device is located inside or outside the danger area.

[0022] In this respect, it can be provided that the control device executes a control command to stop the tail lift even if the remote control device is located in the danger area.

[0023] The remote control device can have a microphone for accepting a voice or sound command and a filter for reducing ambient noise, wherein the voice or sound command can be sent directly or indirectly as a signal to the detection device in order to output a control command corresponding to the voice or sound command by means of the control device. The voice or sound command can be sent directly or indirectly as a signal to the detection device in order to output a control command corresponding to the voice or sound command by means of the control device. If the tail lift is operated in an environment with loud ambient noise, which is the case, for example, with tail lifts, dump trucks, excavators, construction machinery, or some industrial plants, a filter can be provided that masks out or at least reduces ambient noise.

[0024] In order to prevent the remote control device from receiving the voice or sound command from persons other than the operator and also to ensure that the operator acts consciously, it can be provided that the button prevents the acceptance of the voice or sound command when not actuated.

[0025] Advantageously, the safety device for accepting the voice and / or sound command and the safety device for accepting the movement path and / or direction can be one and the same safety device.

[0026] In order to determine the danger area as accurately as possible, it can be provided that the device is designed to determine the position of the remote control device depending on a signal strength or a signal propagation time of the signal or depending on the signal by trilateration with at least three detection devices.

[0027] It has been shown that an ultra-wideband radio signal is particularly advantageous for positioning and distance measurement, providing an accuracy of one to two centimeters and a temporal resolution of one to two nanoseconds. Therefore, it is advantageous if the signal is an ultra-wideband radio signal.

[0028] In the mobile work machine, it can be provided in particular that the work machine comprises a commercial vehicle with a loading opening, wherein by means of the remote control device the tail lift can be partially raised and lowered as well as moved into an end position in which the loading opening is closed, wherein the closing of the loading opening takes place by means of a command in the form of the movement path shape or a voice or sound command, wherein this command for closing the loading opening is different from the command for lowering and the command for raising the tail lift.

[0029] In a method for operating a work machine, in particular a mobile work machine, it is provided that at least one signal from a remote control device of a movable work device of the work machine is detected wirelessly, wherein a plurality of positions for the remote control device is determined as a function of the at least one signal and a movement path shape and / or direction of the remote control device is determined from positions changing over time, wherein depending on the at least one signal it is detected whether a safety device on the remote control is actuated or not, wherein if the remote control device is located in a hazard area of ​​the movable work device and if it is detected that the safety device is actuated, the movable work device is actuated as a function of a corresponding actuation command which is defined as a function of the movement path shape and / or direction.According to the invention, it is provided that for a movement of the remote control device in the direction of rotation along a circular arc or in a diagonal direction, a control command is determined to carry out a multi-step movement sequence, in particular into an end position of the working device.

[0030] Preferably, at least some of the detectable movement path shapes and / or directions are assigned to such control commands that the working device moves along the same path and / or in the same direction as the remote control device.

[0031] It can be provided that for a vertical movement of the remote control device in the direction from bottom to top, a control command for raising the working device is determined and / or wherein for a vertical movement of the remote control device in the direction from top to bottom, a control command for lowering the working device is determined

[0032] It can be provided that the control device executes a control command to stop the work equipment even if the remote control device is located in the danger area.

[0033] Further advantageous embodiments will become apparent from the following description and the drawing. The drawing shows Fig. 1 a schematic representation of a first embodiment of a commercial vehicle with a tail lift, Fig. 2 shows a perspective view of a rear end of a commercial vehicle of a further embodiment, Fig. 3 a schematic representation of a commercial vehicle with a tail lift and Fig. 4 schematically shows a remote control device for raising and lowering a tail lift according to one of the Fig. 1 to 3 can be applied, Fig. 5 steps in a procedure for operating a work machine.

[0034] Fig. Figure 1 shows a schematic representation of a device 100 for a mobile work machine. The work machine is a commercial vehicle 202 with a commercial vehicle body 203 and a work device designed as a tail lift 200.

[0035] The device 100 comprises at least one detection device 102, which is designed to wirelessly detect a signal from a remote control device 204 for the tail lift 200. The device 100 preferably comprises three detection devices 102. The detection device 102 comprises an antenna, in particular for receiving signals from the remote control device 204 via ultra-broadband radio. Signal exchange via Bluetooth or WLAN according to IEEE 802.1 can also be provided. The remote control device 204 is designed to generate the signal for controlling the tail lift 200, for example, for raising or lowering or pivoting or opening or closing the tail lift 200.

[0036] The device 100 comprises a control device 104, which is designed to control the tail lift 200 by means of control commands depending on the signal from the remote control device 204. The tail lift 200 is controlled, for example, to raise or lower or pivot or open or close the tail lift 200. For this purpose, the control device 104 is connected via a line 112 to an electrohydraulic device 213, which moves the tail lift 200 via a coupling gear 212.

[0037] The device 100 comprises a computing device 106 configured to determine a position of the remote control device 204. The computing device 106 is further configured to determine, from the positions changing over time, along which paths and in which direction the remote control device 204 is carried or moved by an operator. The position can be determined with an accuracy of one to two centimeters. In this respect, the computing device 106 is also configured to determine the movement path shapes and / or directions of the remote control device 204. A control command from the control device 104 is assigned to some movement path shapes and / or directions.

[0038] The device 100 comprises a memory 108 that is immutable, particularly for the operator of the tail lift 200 and the remote control device 204 during operation of the tail lift 200. In this memory, spatial determination data defining a hazard space 206 is stored. The hazard space 206 comprises a space in which the work equipment can move. The hazard space 206 of the movable work equipment, here the tail lift 200, is defined such that this space can be surveyed by a nearby operator of the work equipment. In this respect, the working space 208 of the tail lift 200 is in any case associated with the hazard space 206.

[0039] To ensure a safe distance, the hazard area 206 includes, in addition to the work area 208, a near area 214 surrounding the work area 208. The work area 208 is visible from the near area 214. Likewise, the near area 214 is visible from the work area 208.

[0040] The hazard zone 206 is defined as follows for the exemplary embodiment of a tail lift at the rear of the vehicle: The hazard zone 206 is a space with a semi-cylindrical cross-section that rises above the ground behind the rear of the vehicle and includes the working space 208. A radius r of the semi-cylindrical cross-section is Fig. 1 is 15m. Other radii between 1m and 20m, 1m and 10m or any other radii, e.g. smaller than 25m, can also be defined.

[0041] Only when the remote control device 204, and thus the operator, is located within the hazardous area 206 defined by the remote control device 204 can the tail lift 200 be moved by means of control via the remote control device 204. In this respect, the hazardous area 206 defines a space released for the operation of the tail lift 200. The computing device 106 is thus configured to enable control by the control device 104 if it is determined that the position for the remote control device 204 lies within the hazardous area 206, or to prevent control by the control device 104 if it is determined that the position for the remote control device 204 lies outside the hazardous area 206. The computing device 106 comprises, for example, a microprocessor. The memory 108 containing the spatial determination data of the visible hazardous area 206 can be integrated into the microprocessor.

[0042] The space determination data and, if necessary, further information about the hazard space 206 are determined during the assembly of the tail lift 200 on the vehicle 202 depending on the geometry and are provided in the memory 108 at the factory.

[0043] The memory 108 is, for example, a non-volatile memory 108 that is protected from unauthorized access by the operator by software or design measures. For example, a software or hardware programming interface is inaccessible during operation of the tail lift 200. The hazard area 206 is determined, for example, during production of the tail lift 200 depending on the geometric data of the tail lift 200 and / or the commercial vehicle 202 on which the tail lift 200 is to be installed, and is stored in the memory 108 at the factory or after installation by service personnel.

[0044] Although signals received from outside the hazard area 206 by the remote control device 204 are not converted into control commands for moving the tail lift 200, an "EMERGENCY STOP" is provided as an exception, which can be entered by voice, by sound, or by using the "EMERGENCY STOP" button on the remote control device 204. After pressing the "EMERGENCY STOP" button, the tail lift 200 remains in its current state. The "EMERGENCY STOP" should preferably be unlocked before resuming any movement of the tail lift 200.

[0045] In the example, the working space 208 is defined depending on the geometry of a platform 210 of the tail lift 200. In the example, the platform 210 has a rectangular surface designed as a supporting surface for a payload. In the example, the hazard space 206 delimits positions of the remote control device 204 depending on the geometry of the vehicle 202. If the remote control device 204 is in such a position, it is ensured that the operator of the remote control device 204 has a line of sight to at least part of the working space 208, at least during operation of the tail lift 200. In the example, the hazard space 206 is delimited towards the commercial vehicle 202 by a plane 216 that is oriented vertically and represents the end of the rear of the commercial vehicle 202. The plane 216 can be defined independently of any knowledge of the geometry of the rear of the vehicle 202.In addition, a boundary of the hazard space 206 is provided, which extends in a semi-cylindrical shape from the level 216 away from the vehicle 202. This boundary can also be omitted, since the hazard space 206 can also be limited in the direction away from the level 216 to the rear by the range of the remote control device 204. If the operator is located in the hazard space 206, the geometry of the tail lift 200 and the commercial vehicle 202 allows for safe operation with visual contact with the tail lift 200.

[0046] The loading opening to be closed by the tail lift 200 is located at the rear.

[0047] Out of Fig. 2 shows the closable loading opening 209 in a modified embodiment of the device 100.

[0048] In addition, Fig. 2 shows the antennas 218 of the three detection devices 102 in a schematic representation.

[0049] The device 100 is designed to determine the position of the remote control device 204 depending on a signal strength or a signal propagation time of the signal or depending on the signal by trilateration with the detection devices 102.

[0050] In contrast to the first version, in the Fig. In the second embodiment of the device shown in Figure 2, at least two detection devices 102 are arranged on different sides of the coupling mechanism 212 for raising and lowering the platform 210 of the tail lift 200 on the commercial vehicle 202. The coupling mechanism thus represents a lifting and swiveling mechanism of the tail lift 200. Otherwise, the second embodiment corresponds to the first embodiment. For elements of the second embodiment with the same function as in the first embodiment, Fig. 2 the same reference numerals are used as in Fig. 1.

[0051] Out of Fig. 3, which shows a further exemplary embodiment, it can be seen that, instead of trilateration, localization of the remote control device 204 can be provided with only two detection devices 102. This localization requires fewer detection devices, but is not unambiguous. In this case, an additional mathematical calculation is used to calculate whether the remote control device 204 is located in the, for example, semicircular area of ​​the hazard space 206. In this case, a current position of the antennas relative to the commercial vehicle 202 during operation of the tail lift 200 can be taken into account depending on the geometry of the tail lift 200. The computing device 106 can be configured to determine the position of the remote control device 204 for enabling the control at a time of reception of the signal.

[0052] Localization with only two detection devices 102 is made possible, for example, with the following mathematical calculation. Preferably, the two detection devices 102 are arranged as shown in Fig. 3 with different distances in the direction of a longitudinal axis 502 of the vehicle 202. In the example, a first of the two detection devices 102 is arranged at one end of the vehicle 202. If the tail lift 200 is arranged laterally, the transverse axis can be provided instead of the longitudinal axis 502 for corresponding arrangement with respect to a lateral end of the vehicle 202. In the example, a second of the two detection devices 102 is arranged in the longitudinal direction 502 at a distance 504 therefrom. The distance 504 is less than or equal to a length of the vehicle 202 and is, for example, between 1 meter and 10 meters, in particular 3 meters or 4 meters.

[0053] With the first detection device 102 arranged at the rear end of the vehicle 202, a first distance 506 to the remote control device 204 can be determined, for example, by evaluating the signal strength or signal propagation time. With the second of the two detection devices 102, a second distance 508 to the remote control device 204 can be determined, for example, by evaluating the signal strength or signal propagation time. The distances define spherical surfaces, whose intersection circle defines possible positions of the remote control device 204.

[0054] For the mathematical calculation, a sectional plane through the two spherical surfaces is considered, in which, for example, both detection devices 102 are located. A plane can also be used that runs parallel to the surface on which the vehicle 202 is standing at a predetermined height.

[0055] In Fig. 3 shows a first intersection point 510 and a second intersection point 512 of the two spherical surfaces and the plane. These represent two possible positions of the remote control device 204.

[0056] The mathematical calculation determines whether the two positions for the remote control device 204 are located in the hazard area 206, which is Fig. 3 is shown bordered by a dashed line. If the positions for the remote control device 204 are located in the hazard area 206, the tail lift 200 is activated. Otherwise, activation of the tail lift 200 is prevented.

[0057] For example, in the mathematical calculation, a perpendicular 514 is dropped through one of the intersection points onto the longitudinal direction 502 and a check is made to determine whether a distance 516 defined thereby in the longitudinal direction from the perpendicular 514 to the second of the detection devices 102 is greater than the distance 504. If this is the case, it is determined that the remote control device 204 is located in the hazard space 206. Otherwise, it is determined that the remote control device 204 is not located in the hazard space 206. For the mathematical calculation according to this example, the detection devices 102 are preferably located as in Fig. 3 is shown on the centrally arranged longitudinal axis 502 of the vehicle 202. The detection devices 102 can also be arranged offset therefrom and offset from one another. These geometric arrangements can be mathematically corrected accordingly in the mathematical calculation. For example, two of the Fig. 1, which are arranged at a distance from one another in the longitudinal direction of the vehicle.

[0058] Fig. 4 shows schematically the remote control device 204 from Fig. 1 to Fig. 3. The remote control device 204 has - an actuating device 220, - a microphone 222, - a filter 224 for the microphone 222 and - a safety device 226.

[0059] The remote control device 204 has the actuating device 220, which comprises two buttons, one of which is designed to raise the tail lift and the other button to lower the tail lift.

[0060] The remote control device 204 has a microphone 222 for accepting voice or sound commands. The microphone 222 is connected to a filter 224, which can be used to reduce ambient noise. This filter can be implemented using hardware or software.

[0061] A voice or sound command can be sent directly or indirectly as a signal to the detection device in order to output a control command corresponding to the voice or sound command by means of the control device.

[0062] The remote control device 204 also includes the safety device 226, which is designed as a push button. When not actuated, the safety device 226 prevents the acceptance of the voice or sound command.

[0063] Furthermore, the same safety device 226 can be used to confirm that a specific movement path shape and / or path direction should trigger a corresponding control command from the control device 104. For confirmation, the safety device 226 must be actuated. However, the computing device 106 only enables control by the control device 104 if the remote control device 204 is located in the hazard area 206.

[0064] To control the lifting device by gesture, the remote control device 204 - in vertical directions 230, 231, - in diagonal directions 233, 234, 235, 236, - movable along a circular arc in opposite directions of rotation 238, 239, these movements and directions being determined by the computing device 106 from the positions changing and detected over time.

[0065] The computing device is configured to determine a plurality of positions of the remote control device 204 depending on at least one signal from the remote control device 204 and to determine a movement path shape and / or direction of the remote control device 204 from positions that change over time. The computing device 106 is configured to detect, depending on the at least one signal, whether the safety device 226 on the remote control device 204 is actuated or not.

[0066] The following is based on Fig. 1 to Fig. 5 explains the function of controlling the tail lift 200 by means of the remote control device 204.

[0067] If the remote control device 204 is moved in the vertical direction 230 from bottom to top, the platform 210 is moved from the Fig. 2 shown lowest position at least partially raised.

[0068] If the remote control device 204 is moved in the vertical direction 231 from top to bottom, the platform 210 is at least partially lowered from an uppermost position or intermediate position not shown in the drawing.

[0069] If the remote control device 204 is moved upward in one of the diagonal directions 233 and 236, a multi-step movement sequence is initiated, at the end of which the work device reaches an upper end position. In the case of a tail lift, this end position may be the closed end position, in which the platform 210 closes the loading opening 209.

[0070] If the remote control device 204 is moved downwards in one of the diagonal directions 233 and 236, a multi-step movement sequence is initiated, at the end of which the working device reaches a lower end position. In the case of the tail lift, this end position can be the Fig. 2, in which the platform 210 rests on the ground for loading.

[0071] Alternatively or in addition to the multi-step movement sequence by diagonal movement, a multi-step movement sequence can also be effected by moving the remote control device 204 along one of the two circular movement path shapes in the direction of rotation 238 or 239.

[0072] However, the diagonal and circular movements do not necessarily result in a multi-step movement or work sequence. It is also possible to assign a diagonal or circular movement to the diagonal and / or circular movement of the remote control device, which can be particularly useful for applications other than tail lifts.

[0073] The actuating device 220 can also be designed with any number of buttons other than two. Depending on the design of the work device, one button may also be sufficient.

[0074] The tail lift 200 is arranged at the rear of the commercial vehicle 202. The tail lift 200 can also be arranged at another location, for example, on the side of the commercial vehicle 202.

[0075] In the example, the control device 104, the computing device 106, the memory 108, and the at least one detection device 102 can be connected via signal lines or wirelessly via a radio link. The control device 104, the computing device 106, and the memory 108 can be integrated into a housing of a control system for the tail lift. The at least one detection device 102 or at least one antenna of at least one detection device 102 can be arranged outside the housing.

[0076] Fig. 5 illustrates steps in a method for operating a work machine. The method for operating a work machine provides that in a step 500 a signal from the remote control device 204, ie a signal sent by the remote control device 204, is wirelessly detected.

[0077] Subsequently, in a step 502, a position for the remote control device 204 is determined depending on the signal.

[0078] Steps 500 and 502 are preferably repeated to determine a plurality of positions.

[0079] In a step 504, a movement path shape and / or direction of the remote control device 204 is determined from positions changing over time.

[0080] In a step 506, depending on at least one signal, it is detected whether a safety device 226 on the remote control 204 is activated or not. Preferably, it is detected whether the button is pressed or not during the movement of the remote control device 204. If the safety device 226 is activated, a step 508 is executed. Otherwise, step 500 is executed.

[0081] In a step 508, it is detected whether the remote control device 204 is located in the hazard area 206 of the movable work device. If the remote control device 204 is located in the hazard area 206, a step 510 is executed. Otherwise, step 500 is executed.

[0082] In step 510, ie when it is detected that the safety device 226 is actuated and the remote control device 204 is located in the hazard area 206, a corresponding control command is determined depending on the movement path shape and / or direction and the movable work device is controlled depending on the control command.

[0083] In the example, a control command corresponding to the trajectory shape and / or direction is determined either in step 510 or in step 504. This control command is defined depending on the trajectory shape and / or direction.

[0084] At least some of the detectable movement path shapes and / or directions are assigned control commands such that the working device moves along the same path and / or in the same direction as the remote control device 204.

[0085] For a vertical movement of the remote control device 204 in direction 230 from bottom to top, in one example, a control command for raising the working device is determined. For a vertical movement of the remote control device 204 in direction 231 from top to bottom, in one example, a control command for lowering the working device is determined.

[0086] For a movement of the remote control device 204 in the direction of rotation 238 or 239 along a circular arc or in the diagonal direction 233 to 236, for example, a control command is determined to carry out a multi-step movement sequence, in particular into an end position of the working device.

[0087] Then step 500 is executed.

[0088] In an optional step, the control device 104 executes a control command to stop the work device even if the remote control device 204 is not located in the hazard area 206.

Claims

[1] Commercial vehicle with a device comprising at least one detection device (102) which is designed to wirelessly detect at least one signal from a remote control device (204) for a movable tail lift (200), wherein the device comprises a control device (104) which is designed to control the movable tail lift (200) depending on the at least one signal of the remote control device (204) using control commands, wherein the device comprises a computing device (106) which is designed to determine a plurality of positions of the remote control device (204) depending on the at least one signal and to determine a movement path shape and / or direction of the remote control device (204) from positions changing over time, wherein the computing device (106) is designed to detect depending on the at least one signal,whether a safety device (226) on the remote control (204) is actuated, and wherein the computing device (106) is designed to determine a corresponding control command of the control device (104) depending on the movement path shape and / or direction, wherein the device comprises a memory (108) in which space determination data of a hazard space (206) of the movable tail lift (200) are stored, wherein the device is designed to implement control commands for moving the tail lift (200) when the position of the remote control device (204) is within the hazard space (206) and when it is detected that a safety device (226) on the remote control device (204) is actuated. [2] Commercial vehicle according to claim 1, characterized bythat the safety device (226) has a button, wherein the device is designed to detect, depending on a state of the button, whether the safety device (226) on the remote control device (204) is actuated or not. [3] Commercial vehicle according to one of claims 1 or 2, characterized by that the remote control device (204) has a microphone (222) for accepting a voice or sound command and a filter (224) for reducing ambient noise, wherein the voice or sound command can be sent directly or indirectly as a signal to the detection device (102) in order to output a control command corresponding to the voice or sound command by means of the control device (104). [4] Commercial vehicle according to claim 3, characterized by that the button prevents the acceptance of the voice or sound command when not pressed. [5] Commercial vehicle according to one of claims 1 to 4, characterized bythat the device is designed to determine the position of the remote control device (204) depending on a signal strength or a signal propagation time of the at least one signal or depending on the at least one signal by trilateration with at least three detection devices. [6] Commercial vehicle according to one of claims 1 to 5, characterized by that the signal is an ultra-wideband radio signal. [7] Commercial vehicle according to claim 1, which comprises a loading opening (209), wherein by means of commands from the remote control device (204) the tail lift (200) can be raised and lowered at least partially as well as moved into an end position in which the loading opening (209) is closed, wherein the closing of the loading opening (209) takes place by means of a command in the form of a movement path shape which is different from a movement path shape for lowering and different from a movement path shape for raising the tail lift (200). [8] Method for operating a work machine, in particular a mobile work machine, characterized bythat at least one signal from a remote control device (204) of a movable work device of the work machine is wirelessly detected (500), wherein a plurality of positions for the remote control device (204) are determined (502) depending on the at least one signal, and a movement path shape and / or direction of the remote control device (204) is determined (504) from positions changing over time, wherein, depending on the at least one signal, it is detected whether a safety device (226) on the remote control (204) is actuated or not (506), wherein if the remote control device (204) is located in a hazard area (206) of the movable work device (508) and if it is detected that the safety device (226) is actuated (506), the movable work device is actuated (510) depending on a corresponding actuation command that is defined depending on the movement path shape and / or direction,that for a movement of the remote control device (204) in the direction of rotation (238 or 239) along a circular arc or in a diagonal direction (233 to 236), a control command is determined to carry out a multi-step movement sequence, in particular into an end position of the working device. [9] Method according to claim 8, characterized by that at least some of the detectable movement path shapes and / or directions are assigned to such control commands that the working device moves along the same path and / or in the same direction as the remote control device (204). [10] Method according to claim 8 or 9, characterized bythat for a vertical movement of the remote control device (204) in the direction (230) from bottom to top, a control command for raising the working device is determined and / or wherein for a vertical movement of the remote control device (204) in the direction (231) from top to bottom, a control command for lowering the working device is determined. [11] Method according to one of claims 8 to 10, characterized by that the control device (104) executes a control command to stop the work device even if the remote control device (204) is not located in the danger area (206).

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