REMOTE CONTROL FOR A SELF-PROPELLED WORK VEHICLE

Description

[0001] The invention relates to a remote control module and a remote control system for a self-propelled work device, a self-propelled work device and a method for remotely controlling the same.

[0002] There are a variety of remote controls for self-propelled work equipment, such as vibrating plates, trench rollers, or excavators, which are controlled with an assigned remote control device. These remote controls are designed to remotely control the work equipment using a radio or infrared connection, similar to a remote control for model vehicles. Remote control is achieved by manually adjusting control levers or joysticks. A remote control type is always assigned or dedicated to a specific machine type. Since the remote control device is always fixed to the respective machine type or work equipment type, it is not compatible with other machine types or work equipment types. Therefore, each individual machine or work equipment usually has a single remote control that always remains on that specific machine or work equipment.

[0003] Since known remote control devices generally do not have a processor unit but are largely based on analog circuits, changing the operating concept or a user interface is not possible without adapting the remote control interface (number and position of the control levers or joysticks) and without adapting the hardware of the remote control device. Therefore, only one operating concept per remote control device is possible, and adapting the operating concept is not possible, since the hardware of known remote control devices can only be modified with considerable effort and associated costs.

[0004] US 2018 / 0024549 A1 relates to a system and method for controlling agricultural equipment that combines geographical coordinates, machine settings, machine position, path plans, user inputs, and equipment parameters to generate executable commands based on a variety of different agricultural operation objectives in the field for a vehicle equipped with automatic or electronically controlled locomotion systems that are capable of reading and executing the commands.

[0005] US 2021 / 0150236 A1 relates to a remote control method for a target vehicle. This method involves capturing an image of the surroundings around the target vehicle, detecting an object from the image by a processor, displaying the image in a mixed reality device, and displaying the object as a virtual image or a real image corresponding to a field of view of a remotely controlling driver wearing the mixed reality device, generating a control signal by the processor based on the operation of a driving module, and transmitting the control signal to the target vehicle. An autonomous vehicle, a user terminal, and a server can be connected to an artificial intelligence module, an unmanned aerial vehicle, an AR device, a VR device, or a 5G-enabled device.

[0006] US 2020 / 0333778 A1 relates to a system for remotely controlling a driverless vehicle connected to a remote control station. This system includes the implementation of telepresence terminals and optical and acoustic sensors in the vehicle and in the remote control station to enable a driver present in the remote control station to interact bidirectionally with one or more people in the vicinity of the driverless vehicle, thanks to bidirectional optical and acoustic transmission between the driverless vehicle and the remote control station. The system for remotely controlling a driverless vehicle also provides a transmission tool that enables data synchronization throughout the entire transmission chain. This is also useful in the freight and product transport sector.

[0007] EP 702 317 discloses a remote control of a self-propelled forklift using a mobile device such as a smartphone or tablet PC, which implements an emergency stop procedure if certain boundary conditions of the forklift are exceeded. However, the user interface for remotely controlling the work device is permanently assigned to the machine type, i.e., the remote-controlled forklift.

[0008] The invention is therefore based on the object of specifying a remote control module and a remote control system for a self-propelled work device and a method for remotely controlling the same, by means of which a universally applicable remote control of a large number of different work device types is made possible by a large number of different terminal types.

[0009] This object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments and further developments of the invention are defined in the subclaims.

[0010] According to the invention, a remote control module for a self-propelled work device is provided, which has a terminal device data interface for exchanging data with a mobile terminal device via a terminal device data protocol specific to the terminal device type, and a work device data interface for exchanging data with the work device via a work device data protocol specific to the work device type. The remote control module further has a processing unit which, when the mobile terminal device is coupled to the self-propelled work device, is adapted to determine the identity and type of the terminal device as well as the identity and type of the work device via the respective data interface or to retrieve them from a data memory. The processing unit is further adapted to mutually translate the respective data protocols during a data exchange between the terminal device and the work device.Finally, the processing unit is adapted to transmit machine control data from the terminal device to the work device and machine status data from the work device to the terminal device. In order to adapt the user interfaces to the different operating concepts of the different work device types, the processing unit sends identification data to the mobile device depending on the identity and / or type of the terminal device and / or the work device, based on which different predetermined user interfaces are provided on the mobile device.

[0011] A remote control module for a self-propelled implement is therefore provided, which enables remote control of the self-propelled implement via the mobile device, regardless of the implement type or terminal device type. For this purpose, the remote control module according to the invention identifies the corresponding type of terminal device and implement when coupled to the mobile device and the self-propelled implement, and mediates between the different data protocols during remote control and the transmission of machine status data. Furthermore, the remote control module transmits the implement type to the mobile device so that a user interface or GUI (Graphical User Interface) can be adapted accordingly to the implement type. For example, different operating concepts are displayed for different implement types, while other operating concepts are not displayed or are hidden.Thus, the remote control module according to the invention creates a universal remote control that is easy to operate, for example via smartphone or tablet PC, and that also enables the remote control of different work devices using a single mobile device.

[0012] Since the remote control module according to the invention does not use analog remote control via manual operating levers or joysticks, but rather different control concepts are carried out by means of gesture control on a touchscreen, it is advantageous if the processing unit is adapted to process machine control data received from the terminal and to transmit machine control data adapted to the working device to the working device.

[0013] For simplified remote control of the work device, whereby the user does not have to put himself in the coordinate system of the moving work device, but can command a direction of travel on the user interface independently of the orientation of the work device and the mobile device by means of finger control, which corresponds to the gesture direction of the finger on the user interface, it is expedient if the processing unit is further adapted to calculate position data of the mobile device and the self-propelled work device with one another in such a way that the current orientation of the real work device correlates with the current orientation of the virtual work device on a user interface of the mobile device.

[0014] In this case, it is advantageous if the processing unit modifies machine control data received from the mobile terminal on the basis of the offset position data of the mobile terminal and the self-propelled work device in such a way that direction-compatible control of the work device by the terminal is enabled.

[0015] For easy operation of the self-propelled work device by the mobile device by simply moving the mobile device, it is advantageous if the processing unit processes the machine control data of the device in such a way that a spatial movement of the device is converted into travel command data for the work device according to a tilt and tilt control. For intuitive, playful, and direction-compatible control of the work device by the device, it is expedient if the processing unit processes the machine control data of the device in such a way that a movement of a finger in a user interface on a touchscreen of the device is converted into travel command data for the work device according to a one-finger control.

[0016] In order to be able to use further position information such as the distance between the operator and the work device in addition to the orientation of the terminal device and the work device, for example to implement a maximum distance or a minimum distance with a corresponding emergency stop, it is advantageous if the processing unit is further adapted to calculate position data of the mobile terminal device and the self-propelled work device with one another in such a way that machine control data from the terminal device are modified depending on the relative position, in particular the distance and / or the relative orientation between the terminal device and the work device.

[0017] According to the invention, a self-propelled work device is further provided, which has a work machine unit for carrying out a work activity, an internal machine control unit for controlling the work machine unit by means of machine control data and for determining machine status data of the work machine unit, and a remote control module according to the invention.

[0018] Furthermore, according to the invention, a remote control system for a self-propelled work device is provided, which comprises a mobile terminal with a user interface for displaying machine status data and for inputting machine control data, a self-propelled work device with an internal machine control unit for receiving machine control data and for transmitting machine status data, and a remote control module according to the invention.

[0019] In order to enable direction-compatible control of the work device by the terminal device, it is highly advantageous if the remote control system has a position detection unit for determining the spatial position of the self-propelled work device, wherein the position detection unit is adapted to transmit position data of the self-propelled work device and / or the mobile terminal device to the remote control module.

[0020] In the case of remote control and position detection by means of a GPS system installed in the implement, it is expedient if the remote control module and the position detection unit are installed in the self-propelled implement, whereby the terminal device data interface is wireless and the implement data interface enables wired communication with the machine control unit of the implement.

[0021] In the case of remote control and position determination of the implement by means of a UWB (Ultra Wide Band) RTLS (Real Time Locating System) system, it is advantageous if the remote control module and the position detection unit are provided in a separate locating module for the self-propelled implement, wherein the terminal device data interface is wireless and the implement data interface enables wireless communication with the machine control unit of the implement.

[0022] According to the invention, a method for remotely controlling a self-propelled work device by a mobile terminal is further provided, comprising the following steps. In the method according to the invention, a terminal data interface is first provided for exchanging data with the mobile terminal via a terminal data protocol specific to the terminal type. Furthermore, a work device data interface is provided for exchanging data with the work device via a work device data protocol specific to the work device type. When the mobile terminal is coupled to the self-propelled work device, the identity and type of the remote-controlling terminal as well as the identity and type of the remote-controlled work device are determined via the respective data interface or retrieved from a data memory.Thereafter, a mutual translation of the respective data protocols takes place during a data exchange between the terminal device and the work device, whereby machine control data is transmitted from the terminal device to the work device and machine status data is transmitted from the work device to the terminal device.

[0023] Advantageously, the method according to the invention can also comprise the step of calculating the position data of the mobile terminal and the self-propelled implement such that the current orientation of the real implement correlates with the current orientation of the virtual implement on a user interface of the mobile terminal.

[0024] In this case, it is advantageous if, based on the combined position data of the mobile terminal and the self-propelled implement, machine control data received by the mobile terminal are modified in such a way that direction-compatible control of the implement by the terminal is enabled.

[0025] It is advantageous if machine control data of the terminal device are processed in such a way that a movement of the terminal device in space is converted into travel command data of the work device according to a tilt and tilt control.

[0026] Furthermore, it is expedient if machine control data of the terminal device are processed in such a way that a movement of a finger in a user interface on a touchscreen of the terminal device is converted into travel command data of the work device according to a one-finger control.

[0027] Furthermore, it is advantageous if position data of the mobile terminal and the self-propelled work device are offset against each other in such a way that machine control data from the terminal are modified depending on the relative position, in particular the distance and / or the relative orientation between the terminal and the work device.

[0028] The above object is also achieved by a computer program comprising instructions which, when executed by a mobile terminal and / or a remote control module, cause the latter to carry out the method described above.

[0029] The above object is also achieved by a computer-readable medium comprising instructions which, when executed by a mobile terminal and / or a remote control module, cause the mobile terminal and / or a remote control module to carry out the above method.

[0030] Finally, according to the invention, a data processing device is provided which comprises means for carrying out the method according to the invention.

[0031] The invention is explained in more detail below with reference to the drawings. They show: Fig. 1 a block diagram of a remote control system according to an embodiment of the invention, Fig. 2 a flowchart of a method for remotely controlling a self-propelled work device according to an embodiment of the invention, Fig. 3 a highly simplified schematic view of a remote control system with GPS position detection of the implement according to an embodiment of the invention, Fig. 4 a highly simplified schematic view of a remote control system with a UWB-RTLS position detection of the working device according to an embodiment of the invention, Fig. 5A bis 5C User interfaces on a mobile device with different operating concepts according to various embodiments of the invention, and Fig. 6 a schematic view illustrating a universal remote control by the remote control system according to the invention.

[0032] In the various figures of the drawing, corresponding components are provided with the same reference numerals.

[0033] Fig. 1 shows a schematic block diagram of a remote control system 10 for a self-propelled work device 12 according to the invention. The remote control system 10 comprises a mobile terminal 14 with a user interface 16 for displaying machine status data (MSD) and for inputting machine control data (MCD). The self-propelled work device 12 has an internal machine control unit 18 for receiving machine control data (MCD) and transmitting machine status data (MSD).

[0034] The remote control system 10 according to the invention further comprises a remote control module 20, which enables remote control of the working device 12 by means of the mobile terminal 14, regardless of the terminal type and / or implement type. For this purpose, the remote control module 20 has a terminal data interface 22 for exchanging data with the mobile terminal 14 via a terminal data protocol specific to the terminal type, as well as a work device data interface 24 for exchanging data with the working device 12 via a work device data protocol specific to the implement type.The remote control module 20 according to the invention further comprises a processing unit 26 which, when the mobile terminal 14 is coupled to the self-propelled implement 12, is adapted to determine the identity and type of the terminal 14 as well as the identity and type of the implement 12 via the respective data interface 22, 24 or to retrieve them from a data memory 28. The processing unit 26 is further adapted to mutually translate the respective data protocols during a data exchange between the terminal 14 and the implement 12 and to transmit machine control data (MCD) from the terminal 14 to the implement 12 and machine status data (MSD) from the implement 12 to the terminal.

[0035] The mobile terminal 14 communicates with the terminal data interface 22 via a remote control module data interface 30 in order to exchange data such as the machine control data MCD and the machine status data MSD with the terminal data interface 22 of the remote control module 20. The mobile terminal 14 can be configured as a smartphone, a tablet PC, or a laptop, although any device adapted to provide wireless or wired data communication with the remote control module 20 and a user interface 16 via which a user can at least send machine control data MCD to the remote control module 20 and preferably receive machine status data MSD and display it on the user interface or process it accordingly is also intended to be included.

[0036] In the event that the mobile terminal 14 is designed as a smartphone, tablet PC or laptop, the user interface 16 is generated by a corresponding computer program or by an application (app) on the mobile terminal 14, wherein the mobile terminal 14 has a screen 32 and an input device 34 for this purpose. In the case of a design as a touchscreen in a smartphone or a tablet PC, the input device 34 can coincide with the screen 32, thereby enabling a simple and intuitive command input by a user using finger gestures on the touch-sensitive touchscreen 32, 34. The different operating concepts for different work devices 12 are described in more detail below in the description of the Fig. 5A bis 5C and Fig. 6 be described.

[0037] The transmission of the machine control data MCD and the optional reception of the machine status data MSD takes place via the remote control data interface 30 of the mobile terminal 14 using a terminal data protocol specific to the terminal type. For example, for wireless communication between the mobile terminal 14 and the remote control module 20, a WLAN protocol, a Bluetooth protocol, or a common mobile radio protocol such as 3G, 4G, or 5G can be used as the terminal data protocol. Especially with future mobile radio standards starting with the 5G standard, low latency times enable quasi-real-time remote control of work equipment 12 by a mobile terminal 14 via a mobile radio connection running over a known mobile radio network. However, it is also possible for the communication between the mobile terminal 14 and the remote control module 20 to take place via an infrared interface or a manufacturer-specific radio interface.For example, it is conceivable that the remote control data interface 30 is designed as a separate module which, on the one hand, communicates with the mobile terminal 14 via a USB interface or a Bluetooth interface and, on the other hand, communicates with the terminal data interface 22 of the remote control module 20 via a manufacturer-specific data protocol and via a manufacturer-specific data connection such as a radio connection, an infrared connection or a wired connection.

[0038] The self-propelled work device 12 has a work machine unit 36 ​​for performing a work activity and the internal machine control unit 18 for controlling the work machine unit 36 ​​using the machine control data MCD and for determining machine status data MSD of the work machine unit 36. The remote control module 20 can be permanently installed in the self-propelled work device 12, as will be described in more detail with reference to the Fig. 3 The self-propelled work device 12 is preferably designed as a construction machine such as a vibrating plate, a trench roller, or an excavator, although the invention is preferably applied to remote-controlled vibrating plates and / or trench rollers. However, the invention is not intended to be limited thereto; rather, it is intended to encompass all self-propelled work devices that perform any type of work or construction activity or transport construction or work materials and that are remotely controllable.

[0039] The remote control or data exchange between the implement data interface 24 and the internal machine control unit 18 takes place via an implement data protocol specific to the implement type. For example, in the case of implements 12 that already enable remote control via a known remote control device, the implement data protocol can be adapted to the existing remote control protocol in order to facilitate easy retrofitting of an already remotely controllable implement 12 using the remote control module 20 according to the invention. In the event that the remote control module 20 is permanently installed in the self-propelled implement 12, the radio or infrared connection can be replaced by a wired data connection, although the transmission or remote control protocol remains the same.Examples of existing implement data protocols include the SC2+ remote control protocol for the DPU80 model vibratory plate, the SC2 (DPU) remote control protocol for the DPU130 model vibratory plate, or the SC2 (RT) remote control protocol for the applicant's RT model trench roller.

[0040] The remote control module 20 thus enables a universally usable remote control by converting the data protocols from the mobile terminal 14 to the self-propelled implement 12 and from the self-propelled implement 12 to the mobile terminal 14, wherein the remote control module 20 has the processing unit 26, which can be designed as a central processor unit, in order to carry out the following inventive method 100 for remotely controlling the self-propelled implement 12 by the mobile terminal 14 by executing a computer program or an application, as in Fig. 2 is shown.

[0041] Thus, in steps S100 and S110, the terminal device data interface 22 is provided for exchanging data with the mobile terminal device 14 via a terminal device data protocol specific to the terminal device, and a work device data interface 16 is provided for exchanging data with the work device 12 via a work device data protocol specific to the work device type. In step S120, the mobile terminal device 14 is then coupled to the self-propelled work device 12 via the remote control module 20. In a step S130, the processing unit 26 of the remote control module 20 then determines the identity and type of the remotely controlling terminal device 14 as well as the identity and type of the remotely controlled work device 12 via the respective data interface 22, 24, or retrieves this data from the data memory 28.For example, if the remote control module 20 is permanently installed in the work device 12, only the respective identity and type of the end device 14 can be determined due to the consistent identity and type of the work device 12. The identity and type of the end device 14 are determined by communication between the remote control module 20 and the application or computer program running on the end device 14, which generates the user interface 16 for an operator. To prevent the work device 12, which, as a trench roller or vibrating plate, has an enormous risk potential, from being remotely controlled by unauthorized users, step S130 of determining the identity and type of the end device 14 can also include an authentication process in which the authorization and identity of the remote-controlling user, to whom a specific end device is assigned, are verified.After the identity and type of the terminal device 14 and the identity and type of the working device 12 have been determined in step S130, the processing unit 26 of the remote control module 20 then mutually translates the respective data protocols during the data exchange between the terminal device 14 and the working device 12 and transmits the machine control data MCD from the terminal device 14 to the working device 12 and machine status data MSD from the working device 12 to the terminal device 14 in a step S150.

[0042] As already mentioned at the beginning, this method according to the invention can be carried out by a computer program or an application comprising commands which, when the program is executed by the processing unit 26, or possibly also partially by the mobile terminal 14, cause the latter to carry out the method with steps S100 to S150. The remote control by the mobile terminal 14 is thus embodied as software that can run on various mobile terminals 14, for example, as an app on a smartphone. The remote control module 20 communicates with the remote control software of the mobile terminal 14 and can process the control signals MCD of the control software on the mobile terminal 14 according to the respective machine type of the work device 12.For this purpose, a unique identification of the machine or work device 12 as well as the machine type or work device type and the remote control software on the mobile terminal 14 is carried out in order to, on the one hand, adjust the software to the work device 12 to be controlled and also to achieve, at least temporarily, a unique assignment or coupling of the remote control software on the mobile terminal 14 and the work device 12.

[0043] In particular, it is advantageous if the communication between the mobile terminal 14 and the working device 12 via the remote control module 20 is possible in both directions or is bidirectional, i.e., in addition to receiving machine control data MCD, the sending of machine status data MSD to the mobile terminal 14 is also possible from the working device 12 to the mobile terminal 14. Therefore, no permanent, unique assignment between the control software on the mobile terminal 14 and the working device 12 is necessary. When work with a working device 12a is completed, the remote control software on the mobile terminal 14 can then be coupled to a working device 12b, as in Fig. 6 Furthermore, the operating concept can also be changed, as shown in Fig. 5A bis 5C is shown. Since the control by the mobile device 14 is implemented by software anyway, an operator can select from various control systems, such as tank control, Minecraft control, or control via sensors in the mobile device 14.

[0044] The remote control system 10 may further comprise a position detection unit 38 for determining the spatial position of the self-propelled work device 12 and / or the mobile terminal 14, wherein the position detection unit 38 is adapted to transmit position data of the self-propelled work device 12 to the remote control module 20.

[0045] In the Fig. 3 and 4 concrete embodiments of a position detection unit 38 in connection with the remote control system 10 are shown.

[0046] For example, in the example shown in Fig. 3 the remote control module 20 and the position detection unit 38 are permanently installed in the self-propelled implement 12, wherein the terminal data interface 22 to the mobile terminal 14 is wireless and the implement data interface 24 enables internal wired communication with the machine control unit 18 of the implement 12. In the Fig. 3 In the embodiment shown, the position, i.e., the position and orientation on the earth's surface, is detected by means of GPS positioning. The position, i.e., the geographical coordinates, can be determined by GPS, while the azimuthal orientation alpha of the implement 12 is determined by a compass or north finder. In addition, the position data determined by the satellites can be corrected by a connection to a GPS receiver 40 mounted on a stationary object, such as a house. Thus, the position detection unit 38 can transmit very precise position data LD to the remote control module 20, with the processing unit 26 of the remote control module 20 processing this position data accordingly to modify the machine control data MCD accordingly, as will be explained below.

[0047] In Fig. 4 A further embodiment of a remote control system 10 is shown, in which the remote control module 20 and the position detection unit 38 are provided in a separate locating module 42 for the self-propelled work device 12. In this embodiment of the remote control system 10, the terminal data interface 22 of the remote control module 20 is wireless in order to exchange data, in particular machine control data MCD and machine status data MSD, with the mobile terminal 14 via a terminal data protocol specific to the terminal type. Furthermore, the work device data interface 24 of the remote control module 20 is also wireless in order to enable wireless communication with the machine control unit 18 of the work device 12. For the remote control of the work device 12 by the remote control module 20, a previously known work device data protocol for remote control of the work device 12 can be used.However, it is preferred that the implement data interface 24 of the remote control module 20 enables bidirectional data communication with the machine control unit 12 so that machine status data MSD can be sent from the implement 12 to the remote control module 20.

[0048] In the Fig. 4 In the embodiment of the remote control system 10 shown, the position detection unit 38 is designed as a UWB-RTLS system, whereby a very precise and stable location of the working device 12 is possible by means of UWB (Ultra Wide Band) localization. Thus, localization using a UWB-RTLS system is significantly more accurate than GPS localization or WLAN or Bluetooth / BLE localization. The location (position and orientation) of the working device 12 is determined by determining the propagation time differences of the electromagnetic radio signal between the locating module 42 and the object point modules 44a and 44b. In this case, the orientation of the working device 12 relative to a preferred direction, in particular a north direction on a ground plane, can be determined by triangulation based on differences in the propagation time of the radio signal pulses between the position detection unit 38 and the first object point module 44a, in contrast to the second object point module 44b.For precise detection of the position of the locating module 42, two separate survey point modules 46a and 46b are provided at a distance from the locating module 42 in order to determine the position of the locating module 42 by measuring runtime differences and triangulation when the position of the survey point modules 46a and 46b is known. Thus, the position detection unit 38 of the remote control system 10 according to the embodiment according to FIG. Fig. 4 The position data (orientation and position) of the working device 12 are determined with high precision by triangulation and measurement of propagation time differences of the ultra wide band radio signal and are transmitted to the remote control module 20 so that the remote control module 20 can process the position data of the self-propelled working device 12.

[0049] To acquire the location data of the mobile terminal 14, either a tracking tag or tracking pendant 48 can be permanently connected to the mobile terminal 14 (for example, by designing the tracking pendant 48 as a smartphone case or tablet case). It is also possible for the location data of the mobile terminal 14 to be acquired by the mobile terminal 14 itself (for example, via an internal compass or a north finder device, or via an internal GPS tracking device) and transmitted to the remote control module 20 for further processing.However, a transmission of the position data of the mobile terminal 14 from the mobile terminal 14 to the remote control module 20 is not absolutely necessary, since absolute geographical coordinates such as longitude and latitude as well as an azimuthal orientation alpha with respect to north can be transmitted from the remote control module 20 to the mobile terminal 14 as position data of the working device 12, wherein the mobile terminal 14 then determines the calculation of the relative position (relative orientation and relative position or distance) itself.

[0050] So how does this relate to the Fig. 1 bis 4 As explained above, according to the invention, various machines can be controlled with just one remote control, which is designed as a mobile terminal 14 and has various selectable control options. The control options can be changed at any time. Freely programmable transmitter modules (wireless such as WLAN, Bluetooth, or wired) and freely programmable receiver modules are used. The mobile terminal 14 has application software that generates the user interface 16 to send movement data to the remote control module 20, which converts the movement data from the mobile terminal 14 into travel command data and sends it to the internal machine control unit 18 of the implement 12 to remotely control the implement 12.The work device 12 sends machine status data MSD back to the remote control module 20 via the machine control unit 18, which translates this machine status data MSD into a corresponding protocol and transmits it to the mobile terminal 14. For this purpose, generic hardware is provided on the remote control module 20, on which generic software is implemented that performs the functions of a receiving unit, a power supply, and data processing.

[0051] In the following, the different control options using different end devices for the remote-controlled machines or work equipment 12 are explained in detail.

[0052] In the Fig. 5A bis 5C Different user interfaces 16 are shown on a mobile terminal 14, which illustrate different operating concepts or control methods.

[0053] In Fig. 5A A user interface 16 is shown on a mobile device 14, which virtualizes a conventional control system for vibratory plates and trench rollers on the mobile device 14, which is implemented analogously in known remote control devices by providing two "real" control levers. In this so-called "tank control," two parallel levers, which can be manually moved away from or toward the operator, are moved in such a way that they control the travel speed of a left and right drive chain or a left and right drive wheel depending on the lever deflection. Therefore, if both levers are moved forward, the machine moves forward, since the left and right chain speeds are the same, causing a forward movement. If the left lever is moved forward and the right lever is moved backward, the machine moves to the right.If the right lever is moved forward and the left lever is moved backward, the machine moves to the left.

[0054] In the Fig. 5A In the illustrated embodiment of a user interface 16 of the mobile device 14, these levers are now virtually displayed on a touchscreen, whereby corresponding "virtual" controls or operating levers can be adjusted with a sliding movement of the fingertip on the touchscreen. This type of control fundamentally does not require any position information of the mobile device 14 and / or the implement 12, since with this type of control, the remote-controlling user places themselves in the driving coordinate system of the implement 12, i.e., they essentially imagine themselves sitting on the implement 12 looking in the direction of travel.However, in order to correctly convert the travel command data into machine control data so that the working device 12 behaves according to the tank control used, the processing unit 26 is adapted to process remote control data or machine data received from the mobile terminal 14 and to transmit machine control data adapted to the working device 12 to them.

[0055] According to the invention, however, not only can any mobile terminal 14 be used to remotely control the work device 12, but the remote control software installed on the mobile terminal 14 can provide a remote-controlling user with different operating concepts to choose from on the user interface 16 depending on the machine type of the work device 12. The processing unit 26 of the remote control module 20 can therefore send identification data to the mobile terminal 14 depending on the identity and / or type of the mobile terminal 14 and / or the self-propelled work device 12, based on which different predetermined user interfaces 16 are provided on the mobile terminal 14.For example, data that uniquely identifies the type of work device 12 by a type designation or by an identification number can be used here as identification data, whereby the remote control software installed on the mobile terminal 14 can read out possible operating concepts from a corresponding database that are assigned to a corresponding work device type in the identification data.

[0056] In Fig. 5B Such a further operating concept is shown according to another embodiment of a user interface 16 on a mobile device 14. In this user interface 16, the remote control of the working device 12 by the mobile device 14 is based on a so-called "Minecraft control." With this type of control, a starting point 50 is displayed on a touchscreen 32, 34, on which a user's finger F is placed during remote control of the working device 12. If the fingertip on the touchscreen 32, 34 is moved in a direction away from the starting point 50, the machine also moves in the respective direction. The distance of the fingertip on the touchscreen 32, 34 from the starting point 50 defines the travel speed of the working device 12. The control is therefore similar to a virtual joystick, which is depicted or projected from above onto a virtual touchscreen surface.The direction of the deflection on the touchscreen therefore specifies the direction of travel of the working device 12, while the strength of the deflection (ie distance from the starting point 50) specifies the speed of the working device 12.

[0057] This so-called Minecraft control can be used without further processing of the position data of the mobile device 14 and / or the working device 12. For this purpose, the user interface 16 should always be kept in the same orientation relative to the user, and furthermore, the control of the working device 12 takes place according to the moving coordinate system of the working device 12. However, a user must mentally move in the direction of travel of the working device 12 while sitting on the working device 12. Therefore, according to the invention, direction-compatible control of the working device 12 is preferred, as described below.

[0058] In this type of remote control, the position data of the mobile terminal 14 and the self-propelled implement 12 are calculated in such a way that the current orientation of the real implement 12 correlates or matches the current orientation of a virtual implement 12v on the user interface 16 of the mobile terminal 14. Although to illustrate the control principle in Fig. 5B While the virtual implement 12v is depicted with its direction arrow, this need not necessarily be the case in an actual design of a user interface 16 with a Minecraft controller. It is only important that a relative orientation between the terminal device 14 and the implement 12 can be determined, based on which the orientation of the virtual implement 12v can then be calculated within the user interface 16 of the mobile terminal device 14 and, if necessary, displayed in the user interface 16.

[0059] Since the remote control for self-propelled implements 12 is directed at ground vehicles, the orientation of the mobile terminal 14 and the implement 12 is understood to mean an orientation within the ground plane of the earth's surface, for example, an azimuthal orientation, in which the azimuth indicates the relative orientation angle to north. In the event that the mobile terminal 14 is not held parallel to the ground surface or the implement 12 is located on a slope, the orientation of the mobile terminal 14 and / or the implement 12 is understood to mean the corresponding vertical projection onto an imaginary flat surface or water surface on the earth's surface.Based on the combined position data of the mobile terminal 14 and the self-propelled implement 12, the processing unit 26 modifies the machine control data MCD received by the mobile terminal 14 in such a way that direction-compatible control of the implement 12 by the terminal 14 is enabled. In this case, only the orientation of the remotely controlled mobile terminal 14 and the implement 12 relative to each other needs to be determined, for example, by a compass device, by the described UWB (Ultra Wide Band) positioning, or by RTK (Real Time Kinematic) positioning.

[0060] The direction-compatible control also depends on the type of implement 12. For example, with a technically forced coupling of driving and turning of implement 12, a hybrid form of direction-compatible control and cockpit control (in which the user mentally sits on the machine and looks in the direction of travel) can be implemented.

[0061] For example, in a first case, if the operator does not release the control element during the entire control program, the implement 12, if its direction of travel points in the operator's line of sight, may initially move away from the operator if the operator sets a forward movement on the remote control. If the operator then drives the implement 12 through a 180° turn (the front of the implement 12 facing the operator) and does not release the control, the implement 12 will move toward the operator, even though the operator has still set a forward movement. Control therefore takes place within the travel coordinate system of the implement 12 according to a cockpit control.

[0062] In a second case, however, the operator can release the control element after completing the 180° turn. The renewed control action then causes the system to revert to direction-compatible control, meaning that when the touchscreen 32, 34 is steered or moved forward, the implement 12 does not move toward the user, but away from them.

[0063] With other implements 12, such as a 4Q vibratory plate, complete direction-compatible control is possible, as this device can execute all directions of movement and rotation independently of each other. Here, a corresponding movement vector is specified via the remote control, as described above with reference to the Minecraft control in Fig. 5B described, whereby the machine follows this motion vector exactly, regardless of its orientation relative to the operator. The processing unit 26 thus processes the machine control data MCD of the mobile terminal such that a movement of a finger F in a user interface 16 on a touchscreen 32, 34 of the terminal 14 is converted into travel command data of the work device 12 according to one-finger control or Minecraft control.

[0064] In Fig. 5C A further control option for the working device 12 is shown, which does not require operation via a touchscreen 32, 34. This control is particularly preferred for use in construction work, since a mobile device 14 such as a smartphone or a tablet PC can be completely enclosed and protected from dirt and water without having to access the touchscreen 32, 34. With this control using a tilt and tilt control, the machine control data MCD is processed by the mobile device 14 in such a way that a movement of the device 14 in space according to a tilt and tilt control is implemented in the travel command data of the working device 12. For this, however, it is necessary that the mobile device 14 has appropriate sensors such as an inertial measurement unit, IMU for short (Inertial Measurement Unit).This integrated position sensor can then be accessed by the remote control software on the mobile device 14 to determine corresponding control commands. The . Fig. 5C The control option shown is a very intuitive control of the working device 12, which, as described above, can be operated in a partially direction-compatible or fully direction-compatible manner, wherein tilting the mobile terminal 14 forwards produces a forward movement of the working device 12, tilting the mobile terminal 14 backwards produces a backward movement, tilting the mobile terminal 14 to the left produces a leftward movement of the working device 12 and tilting the mobile terminal 14 to the right produces a rightward movement of the working device 12, wherein all mixed forms of the tilting and tipping movement of the mobile terminal 14 are converted into corresponding combined travel movements.

[0065] However, the processing of the position data should not be limited to the relative orientation of the working device 12 and the mobile terminal 14; rather, there are other applications in which the remote control can be influenced based on the relative position data. The processing unit 26 can therefore also be adapted to calculate the position data of the mobile terminal 14 and the self-propelled working device 12 with one another in such a way that, depending on the relative position, in particular the distance and / or the relative orientation between the terminal 14 and the working device 12, machine control data MCD from the terminal 14 is modified. For example, a modification of the machine control data MCD from the terminal 14 can consist in an emergency stop being triggered when a minimum safety distance is reached between the operator or mobile terminal 14 and the working device 12.However, it is also conceivable that at a maximum distance between the mobile terminal 14 and the work device 12, a stop of the machine is also forced in order to prevent an operator from operating the device at a distance where he can no longer safely rule out collisions or accidents with objects or persons.

[0066] However, it is also conceivable that the absolute location of the work device 12 and / or the mobile device 14 determines the possibility of remote control. For example, a ground region or a so-called geofence that covers a specific area of ​​the earth's surface can determine whether the work device 12 may be operated. For example, it can be specified that the mobile device 14 is located within the specified ground area or within the specified geofence in order to rule out the possibility of an unauthorized person who is not located within the construction site area (within the defined geofence or ground area) remotely controlling machines without permission. This can also prevent authorized workers from accidentally activating machines when leaving the construction site (the specified ground area).Similarly, a geofence or virtual ground area can be defined for the work machine 12, within which remote control and driving of the work machine 12 is permitted. For example, this can prevent a trench roller or vibrating plate from entering an area where a construction shaft is currently being dug.

[0067] Furthermore, a modification of the machine control data (MCD) can also mean that different travel speeds are permitted in specified virtual ground areas or geofence zones. Finally, the permitted travel speed can also be gradually reduced depending on the distance between the mobile device 14 and the work device 12 in order to increase the safety of remote-controlled operation of the work device 12. Thus, with a large distance between the mobile device 14 and the work device 12, travel can no longer be as fast as with a short distance between the mobile device 14 or the user and the work device 12.

[0068] In summary, as in Fig. 6 As shown, various machines or work devices 12a, 12b, 12c with various control options can be operated / remotely controlled with just one mobile application and update-capable device. This enables easy updateability of the system and thus flexible usability. The prerequisite for this is an application and update-capable mobile device 14a, 14b, 14c such as a smartphone, a tablet PC or a laptop or any other type of device with these properties. Due to the variable and thus adaptive user interfaces, as in Fig. 6 As shown, different terminal devices 14a, 14b, 14c can be equipped with different control options or user interfaces 16a, 16b, 16c via the remote control software on the terminal device 14 in order to in turn operate different remotely controllable machines or work devices 12a, 12b, 12c of different types.

[0069] Software control can also enable directional compatibility, meaning that the machine and remote control recognize their orientation relative to each other, so that a "forward" travel command always triggers movement away from the operator, whereas "backward" always means movement toward the operator. In other words, the operator no longer needs to consider the direction in which the machine is oriented and then potentially make mirror-inverted control inputs. The control or software always implements the control signals as they are intended to be used from the operator's perspective. The solution according to the invention is preferably enabled by the remote control module 20 on the implement 12. Therefore, it is conceivable to also equip older machines with a remote control module 20 in order to retrofit the remote control of the implement 12.

[0070] In the wireless communication system as described with reference to the Fig. 1 bis 6As described, a machine is controlled using sensors on a mobile "app- and update-capable" device 14a, 14b, 14c (e.g., smartphone, tablet, laptop, or similar), enabling freely selectable operating concepts or user interfaces 16a, 16b, 16c, such as two-finger control ("tank control"), one-finger control ("Minecraft control"), or tilt and tilt control ("IMU control"). This allows for either fully direction-compatible control or partially direction-compatible control (jumping back to a direction compatibility after a user has released the button). Thus, different machines can be operated with just one remote control, and retrofitting or upgrading is possible. Thus, the remote control module 20 can also be used as an accessory for any remote-controlled construction machine.Furthermore, the remote control system 10 according to the invention has the great advantage that operation and query of machine status data takes place within a single user interface 16.

Claims

1. Remote control module (20) for a self-propelled working device (12), comprising - a terminal data interface (22) for exchanging data with a mobile terminal (14) via a terminal data protocol specific to the terminal type; - a working device data interface (24) for exchanging data with the working device (12) via a working device data protocol specific to the working device type; and comprising - a processing unit (26) which is adapted - to determine - when the mobile terminal (14) is coupled to the self-propelled working device (12) - the identity and type of the terminal (14) as well as the identity and type of the working device (12) via the respective data interface (22, 24) or to retrieve same from a data memory (26), - to reciprocally translate the respective data protocols during exchange of data between the terminal (14) and the working device (12), and - to transmit machine control data (MCD) from the terminal (14) to the working device (12) and to transmit machine status data (MSD) from the working device (12) to the terminal (14), characterised in that, in dependence upon the identity and / or type of the terminal (14) and / or of the working device (12), the processing unit (26) transmits characteristic data to the mobile terminal (14), on the basis of which different predetermined user interfaces (16) are provided on the mobile terminal (14).

2. Remote control module (20) as claimed in claim 1, characterised in that the processing unit (26) is adapted to process machine control data (MCD) received from the terminal (14) and to transmit machine control data (MCD), which are adapted to the working device (12), to the working device (12).

3. Remote control module (20) as claimed in any one of the preceding claims, characterised in that the processing unit (26) is adapted to offset position data of the mobile terminal (14) and of the self-propelled working device (12) against one another such that the current orientation of the real working device (12) correlates with the current orientation of the virtual working device (12) on a user interface (16) of the mobile terminal (14).

4. Remote control module (20) as claimed in claim 3, characterised in that the processing unit (26) modifies machine control data (MCD), which are received from the mobile terminal (14), on the basis of the mutually offset position data of the mobile terminal (14) and of the self-propelled working device (12), such that direction-compatible control of the working device (12) by means of the terminal (14) is enabled.

5. Remote control module (20) as claimed in claim 4, characterised in that the processing unit (26) processes machine control data (MCD) of the terminal (14) such that a movement of the terminal (14) in space is converted according to inclination and tilt control into travel command data of the working device (12).

6. Remote control module (20) as claimed in claim 4, characterised in that the processing unit (26) processes machine control data (MCD) of the terminal (14) such that a movement of a finger (F) in a user interface (16) on a touchscreen (32, 34) of the terminal (14) is converted according to single-finger control into travel command data of the working device (12).

7. Remote control module (20) as claimed any one of the preceding claims, characterised in that the processing unit (26) is adapted to offset position data of the mobile terminal (14) and of the self-propelled working device (12) against one another such that machine control data (MCD) from the terminal (14) are modified in dependence upon the relative position, in particular the distance and / or the relative orientation between the terminal (14) and the working device (12).

8. Self-propelled working device (12), comprising - a working machine unit (36) for performing a work activity; - an internal machine control unit (18) for controlling the working machine unit (36) by means of machine control data (MCD) and for determining machine status data (MSD) of the working machine unit (36); and - a remote control module (20) as claimed in any one of claims 1 to 5.

9. Remote control system (10) for a self-propelled working device (12), comprising - a mobile terminal (14) with a user interface (16) for displaying machine status data (MSD) as well as for inputting machine control data (MCD); - a self-propelled working device (12) with an internal machine control unit (18) for receiving machine control data (MCD) and for transmitting machine status data (MSD); and - a remote control module (20) as claimed in any one of claims 1 to 5.

10. Remote control system (10) as claimed in claim 9, comprising - a position detection unit (38) for determining the spatial position (x, y, alpha) of the self-propelled working device (12), wherein the position detection unit (38) is adapted to communicate position data (LD) of the self-propelled working device (12) and / or of the mobile terminal (14) to the remote control module (20).

11. Method for remotely controlling a self-propelled working device (12) by means of a mobile terminal (14), comprising the steps of: - providing (S100) a terminal data interface (22) for exchanging data with the mobile terminal (14) via a terminal data protocol specific to the terminal type; - providing (S110) a working device data interface (24) for exchanging data with the working device (12) via a working device data protocol specific to the working device type; - coupling (S120) the mobile terminal (14) to the self-propelled working device (12); - determining (S130) the identity and type of the terminal (14) as well as the identity and type of the working device (12) via the respective data interface or retrieving same from a data memory (26); - reciprocally translating (S140) the respective data protocols during exchange of data between the terminal (14) and the working device (12); and - transmitting (S150) machine control data (MCD) from the terminal (14) to the working device (12), and machine status data (MSD) from the working device (12) to the terminal (14), characterised in that, in dependence upon the identity and / or type of the terminal (14) and / or of the working device (12), characteristic data are transmitted to the mobile terminal (14), on the basis of which different predetermined user interfaces (16) are provided on the mobile terminal (14).

12. Computer program comprising commands which, when the program is executed by a mobile terminal (14) and / or a remote control module (20), cause said terminal and / or said module to carry out the method as claimed in claim 11.

13. Computer-readable medium, comprising commands which, when executed by a mobile terminal (14) and / or a remote control module (20), cause said terminal and / or said module to carry out the method as claimed in claim 11.

14. Apparatus for data processing, comprising means for carrying out the method as claimed in claim 11.