Mobile security basic control device comprising a coding device for a mobile terminal with multi-touchscreen and method for setting up a uniquely assigned control link
The invention relates to a mobile security basic control device ( 15 ) of a robot ( 1 ), comprising a hand-held housing ( 16 ), an emergency stop switching means ( 17 ) arranged at the housing ( 16 ), a communication device ( 18 ) for establishing a link in terms of control between the mobile security basic control device ( 15 ) and a robot controller ( 12 ) of the robot ( 1 ), and further comprising a holder ( 19 ) connected to the housing ( 16 ), which is designed to mount the mobile security basic control device ( 15 ) on a mobile terminal ( 20 ). Said mobile terminal has a terminal control system ( 21 ) and a multi-touchscreen ( 22 ), which is designed to transmit inputs to the terminal control system ( 21 ) via the multi-touchscreen ( 22 ). The mobile security basic control device ( 15 ) comprises a coding device ( 25 ) which, in a state where the mobile security basic control device ( 15 ) is mounted on the mobile terminal ( 20 ) by means of the holder ( 19 ), is designed to automatically transmit at least one identification code identifying the mobile security basic control device ( 15 ) to the terminal control system ( 21 ) via the multi-touchscreen ( 22 ).
1. A mobile safety basic control apparatus ( 15 ) of a robot ( 1 ), having:
a handheld housing ( 16 );
an emergency stop switching means ( 17 ) arranged on the housing ( 16 );
a communication apparatus ( 18 ) for connecting the mobile safety basic control apparatus ( 15 ) to a robot controller ( 12 ) of the robot ( 1 ) for control purposes; and
a holder ( 19 ), formed by a groove ( 23 ) in the housing ( 16 ), that is configured for mounting the mobile safety basic control apparatus ( 15 ) on a mobile terminal ( 20 ) having a terminal controller ( 21 ) and a multi-touchscreen ( 22 ) configured to transmit inputs via the multi-touchscreen ( 22 ) to the terminal controller ( 21 ),
wherein:
the mobile safety basic control apparatus ( 15 ) has a coding apparatus ( 25 ) configured so as, in a state in which the safety basic control apparatus ( 15 ) is mounted on the mobile terminal ( 20 ) by means of the holder ( 19 ), to automatically transmit at least one identification code identifying the mobile safety basic control apparatus ( 15 ) to the terminal controller ( 21 ) via the multi-touchscreen ( 22 ).
2. The mobile safety basic control apparatus as claimed in claim 1 , characterized in that the coding apparatus ( 25 ) has two or more contact pins ( 28 , 28 a , 28 b ) that, in a state in which the safety basic control apparatus ( 15 ) is mounted on the mobile terminal ( 20 ) by means of the holder ( 19 ), are in physical contact with the multi-touchscreen ( 22 ), specifically in a specific two-dimensional arrangement, representing the identification code, of the two or more contact pins ( 28 , 28 a , 28 b ) on the multi-touchscreen ( 22 ).
3. The mobile safety basic control apparatus as claimed in claim 2 , characterized in that the groove ( 23 ) has a first groove wall ( 23 . 1 ) that, in a state in which the safety basic control apparatus ( 15 ) is mounted on the mobile terminal ( 20 ), covers a section of the multi-touchscreen ( 22 ), wherein the first groove wall ( 23 . 1 ) has the two or more contact pins ( 28 , 28 a , 28 b ) arranged on it such that they are able to be in physical contact with the covered section of the multi-touchscreen ( 22 ), and the groove ( 23 ) has a second groove wall ( 23 . 2 ), opposite the first groove wall ( 23 . 1 ), that, in a state in which the safety basic control apparatus ( 15 ) is mounted on the mobile terminal ( 20 ), abuts a rear ( 24 ) of the mobile terminal ( 20 ), opposite the multi-touchscreen ( 22 ), in order to hold the safety basic control apparatus ( 15 ) against the mobile terminal ( 20 ).
4. The mobile safety basic control apparatus as claimed in claim 1 characterized in that the holder ( 19 ) is configured to mount the mobile safety basic control apparatus ( 15 ) so that the groove receives an edge section ( 29 ) of the mobile terminal ( 20 ) in a manner adjustable at the edge section ( 29 ) of the mobile terminal ( 20 ).
5. The mobile safety basic control apparatus as claimed in claim 4 , characterized in that the holder ( 19 ) is configured to mount the mobile safety basic control apparatus ( 15 ) in a manner displaceable along the edge section ( 29 ) of the mobile terminal ( 20 ).
6. The mobile safety basic control apparatus as claimed in claim 2 , characterized in that the safety basic control apparatus ( 15 ) has a manual operating means ( 33 ) configured to move the two or more contact pins ( 28 , 28 a , 28 b ) that are in physical contact with the multi-touchscreen ( 22 ) relative to the housing on the basis of manual operation of the operating means ( 33 ) on the multi-touchscreen ( 22 ).
7. A mobile safety basic control apparatus ( 15 ) of a robot ( 1 ), having:
a handheld housing ( 16 );
an emergency stop switching means ( 17 ) arranged on the housing ( 16 );
a communication apparatus ( 18 ) for connecting the mobile safety basic control apparatus ( 15 ) to a robot controller ( 12 ) of the robot ( 1 ) for control purposes;
means ( 19 ) for removably mounting the mobile safety basic control apparatus to a mobile terminal ( 20 ) having a multi-touchscreen ( 22 ) and a terminal controller ( 21 );
a coding apparatus ( 25 ) having:
two or more contact pins ( 28 ) that in a state in which the safety basic control apparatus ( 15 ) is mounted on the mobile terminal ( 20 ) by means of the holder ( 19 ), are in physical contact with the multi-touchscreen ( 22 ), specifically in a specific two-dimensional arrangement, representing an identification code identifying the mobile safety basic control apparatus ( 15 ) to the terminal controller ( 21 ) via the multi-touchscreen ( 22 ); and
in addition to the two or more contact pins ( 28 ), further contact pins ( 28 a , 28 b ) that are in physical contact with the multi-touchscreen ( 22 ) and configured to form a pattern that takes its position and/or angular position on the multi-touchscreen ( 22 ) as a basis for transmitting a piece of information associated with the respective position and/or angular position to the terminal controller ( 21 ).
8. The mobile safety basic control apparatus as claimed in claim 7 , characterized in that the further contact pins ( 28 a , 28 b ) are arranged on a rotary disk ( 34 ), mounted in a manually rotatable manner in the housing ( 16 ), that only partially overlaps the multi-touchscreen ( 22 ), such that the angular position of the rotary disk ( 34 ) is the basis for a different subset of the further contact pins ( 28 a , 28 b ) being in physical contact with the multi-touchscreen ( 22 ) and the respective complementary set of the further contact pins ( 28 a , 28 b ) being outside the multi-touchscreen ( 22 ).
9. The mobile safety basic control apparatus as claimed in claim 7 , characterized in that the safety basic control apparatus ( 15 ) has a manual input means ( 35 ) configured so as, in a first input means position (A), to bring the further contact pins ( 28 a , 28 b ) into physical contact with the multi-touchscreen ( 22 ) and, in a second input means position (C), to break the physical contact between the further contact pins ( 28 a , 28 b ) and the multi-touchscreen ( 22 ).
10. The mobile safety basic control apparatus as claimed in claim 7 , characterized in that the safety basic control apparatus ( 15 ) has a manual input means ( 35 ) having three successive input means positions, wherein in the second input means position (C) a first group of further contact pins ( 28 a , 28 b ) and a second group of further contact pins ( 28 a , 28 b ) have had a physical contact with the multi-touchscreen ( 22 ) broken, in the third input means position (B) the first group of further contact pins ( 28 a , 28 b ) is in physical contact with the multi-touchscreen ( 22 ) and the second group of further contact pins ( 28 a , 28 b ) has had a physical contact with the multi-touchscreen ( 22 ) broken, and in the first input means position (A) the first group of further contact pins ( 28 a , 28 b ) and the second group of further contact pins ( 28 a , 28 b ) are in physical contact with the multi-touchscreen ( 22 ).
11. The mobile safety basic control apparatus as claimed in claim 10 , characterized in that the two or more contact pins ( 28 ) and/or the further contact pins ( 28 a , 28 b ) are brought into physical contact with the multi-touchscreen ( 22 ) by mechanically pressing the respective contact pins ( 28 , 28 a , 28 b ) onto the multi-touchscreen ( 22 ), and the physical contact is broken by mechanically removing the contact pins ( 28 a , 28 b ) from the multi-touchscreen ( 22 ).
12. The mobile safety basic control apparatus as claimed in claim 1 , characterized in that the mobile safety basic control apparatus ( 15 ) has a multidimensional operating means ( 33 ) or a multidimensional input means ( 35 ).
13. The mobile safety basic control apparatus as claimed in claim 12 , characterized in that the mobile safety basic control apparatus ( 15 ) has a luminous ring ( 36 ) constructed from multiple individually actuatable luminous segments ( 37 ), and the mobile safety basic control apparatus ( 15 ) is set up to take a switching state transmitted to the terminal controller ( 21 ) via the multi-touchscreen ( 22 ) by the two or more contact pins ( 28 ) and/or further contact pins ( 28 a , 28 b ) as a basis for actuating the individual luminous segments ( 37 ) of the luminous ring ( 36 ) in a specific manner.
14. A method for setting up an explicitly assigned control connection between a mobile safety basic control apparatus ( 15 ), in particular a mobile safety basic control apparatus ( 15 ) as claimed in claim 1 , and a mobile terminal ( 20 ) having a multi-touchscreen ( 22 ), having the steps of:
transmitting an identification code from the mobile safety basic control apparatus ( 15 ) to the mobile terminal ( 20 ) by virtue of the identification code being automatically input and transmitted by the mobile safety basic control apparatus ( 15 ) as a multitouch input on the multi-touchscreen ( 22 ) of the mobile terminal ( 20 ) by virtue of the safety basic control apparatus ( 15 ) being put onto the mobile terminal ( 20 ),
identifying the mobile safety basic control apparatus ( 15 ) by means of a terminal controller ( 21 ) of the mobile terminal ( 20 ) on the basis of the transmitted identification code,
enabling function control input means of the mobile terminal ( 20 ) by means of the terminal controller ( 21 ) in order to actuate functions of a robot ( 1 ) associated with the mobile safety basic control apparatus ( 15 ).
15. The method as claimed in claim 14 , having the step of:
transmitting the identification code in the form of a specific two-dimensional arrangement of multiple touch contact points on the multi-touchscreen ( 22 ) of the mobile terminal ( 20 ), in particular characterized by the number of touch contact points, by the relative orientations of multiple touch contact points in relation to one another and/or by the orientation of a group of multiple touch contact points in contact with the multi-touchscreen ( 22 ) of the mobile terminal ( 20 ).
16. A mobile safety basic control apparatus ( 15 ) of a robot ( 1 ), having:
a handheld housing ( 16 );
an emergency stop switching means ( 17 ) arranged on the housing ( 16 );
a communication apparatus ( 18 ) for connecting the mobile safety basic control apparatus ( 15 ) to a robot controller ( 12 ) of the robot ( 1 ) for control purposes;
means ( 19 ) for removably mounting the mobile safety basic control apparatus to a mobile terminal ( 20 ) having a multi-touchscreen ( 22 ) and a terminal controller ( 21 );
a coding apparatus ( 25 ) configured so as, in a state in which the safety basic control apparatus ( 15 ) is mounted on the mobile terminal ( 20 ) by means of the means ( 19 ) for removably mounting, to automatically transmit at least one identification code identifying the mobile safety basic control apparatus ( 15 ) to the terminal controller ( 21 ) via the multi-touchscreen ( 22 ); and
a multidimensional operating means ( 33 ) or a multidimensional input means ( 35 ) providing input other than the identification code.
17. The mobile safety basic control apparatus as claimed in claim 16 , characterized in that the mobile safety basic control apparatus ( 15 ) has a luminous ring ( 36 ) constructed from multiple individually actuatable luminous segments ( 37 ), and the mobile safety basic control apparatus ( 15 ) is set up to take a switching state transmitted to the terminal controller ( 21 ) via the multi-touchscreen ( 22 ) by the two or more contact pins ( 28 ) and/or further contact pins ( 28 a , 28 b ) as a basis for actuating the individual luminous segments ( 37 ) of the luminous ring ( 36 ) in a specific manner.
18. The mobile safety basic control apparatus as claimed in claim 16 , wherein:
the multidimensional operating means ( 33 ) or multidimensional input means ( 35 ) is a joystick.
19. The mobile safety basic control apparatus as claimed in claim 16 , wherein:
the multidimensional operating means ( 33 ) or multidimensional input means ( 35 ) is a mouse.
20. The mobile safety basic control apparatus as claimed in claim 16 , wherein:
the means ( 19 ) for removably mounting the mobile safety basic control apparatus to the mobile terminal ( 20 ) comprises a groove.