EP1988222A1 - Operating device - Google Patents

Abstract

The operating device (10) has at least one operating lever (12), especially a joystick, a final control device (22), at least one sensor (16) and a controller (14), whereby the operating lever can be operated with one hand and can adjust a state parameter of the truck that can be detected by the sensor and transferred to the control device. Independent claims are also included for the following: (A) an agricultural or industrial truck (B) and a method of controlling at least one state parameter for an agricultural or industrial truck.

Description

The present invention relates to an operating device for controlling at least one state variable of an agricultural or industrial utility vehicle. An operating lever of the operating device can be actuated by the hand of an operator. With the operating lever, the at least one state variable of the commercial vehicle is adjustable. Furthermore, the present invention relates to a method for controlling at least one state variable of an agricultural or industrial utility vehicle.

Such operating devices have long been known from the prior art. With them, for example, the speed, the steering, a work function or a gear setting of a commercial vehicle can be adjusted. In particular, a joystick is used as a control lever for controlling a loader tool. As a commercial vehicle in this context come in particular agricultural vehicles, ie. Tractors, harvesters, combine harvesters, forage harvesters, self-propelled sprayers, but also industrial utility vehicles, such as construction vehicles, bulldozers, bulldozers, backhoes, loader vehicles, dump trucks, cranes, telescopic loaders, in question.

Furthermore, the so-called force feedback or "force feedback" from the field of simulator technology is known and there is usually the realistic representation of forces on controls, such as an operating lever or the like, which occur during operation of a real machine and of the Operator must be applied or overcome. Accordingly, an adjusting device or an actuator is provided with which or with which the operating lever can be acted upon by a force. Hereby, therefore, the operating lever, which generates in such a case, only an electrical signal on its operating state, applied to the adjusting device with at least one corresponding force be so that the operating lever has a usual for the type of the respective operating lever operating characteristics.

In many vehicles, the controls are usually mechanically connected to the machine part provided by them, for example, the steering wheel via the steering shaft with the steering linkage. If such a mechanical connection is eliminated due to an electronic control of the respective component, there is no corresponding feedback about the states of the machine part and the machine of the vehicle to be simulated to the operator. In such a case, the technology known from simulator technology is used by applying forces to the operating lever with the aid of an adjusting device, which is controlled by a suitable control device, in such a way that an operating characteristic common to the operating lever can be generated. As a result, an operator is simulated the most realistic possible operation of the respective function controlled by the operating lever.

Any further assistance in the operation of a commercial vehicle is brought to the user visually or possibly acoustically by warning display elements, if necessary. Here, especially warning lights are provided, which indicate a critical condition of the commercial vehicle, such as the excessive temperature of the engine oil or the coolant.

The present invention is therefore an object of the invention to provide an operating device of the type mentioned and further, by which the aforementioned problems are overcome. In particular, an operator of a commercial vehicle to be given further support in the operation of the commercial vehicle, with which this also on a critical or non-optimal operating state of the commercial vehicle is made known in an improved manner.

This object is achieved by the subject of claim 1. Further advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

According to the invention, an operating device of the type mentioned at least on a control lever, in particular a joystick, an adjusting device, at least one sensor and a control device. The operating lever can be actuated by the hand of an operator. With the operating lever, the at least one state variable of the commercial vehicle is adjustable. With the adjusting device or an actuator, the at least one operating lever can be acted upon by a force. With the at least one sensor, a variable representing a state variable of the commercial vehicle can be detected and transmitted to the control device. With the control device, a state variable of the current operating state of the commercial vehicle can be determined. Depending on the current operating state of the commercial vehicle, the control device can be controlled by the control device in such a way that the at least one control lever can be acted upon by an altered specifiable force in order to thereby make the operator aware of an unsafe operating state of the commercial vehicle or an insecure operating state of at least one work function. The changed force can be, for example, a constant force or a variable force.

According to the invention, it has first been recognized that an operation of the utility vehicle can be simplified and optimized in particular if the user is not informed of an unsafe or non-optimal operating state merely by visual display instruments. Usually, the commercial vehicle has a tachometer for displaying the speed of the internal combustion engine. If the internal combustion engine is permanently operated at an increased rotational speed which is above the maximum permissible rotational speed for continuous operation, no further indication is given in a conventional commercial vehicle, apart from increased noise development of the internal combustion engine, which in a relatively well soundproofed cab of the commercial vehicle also acoustically can not be perceived in all cases. This can lead to engine damage and therefore have a longer failure of the commercial vehicle and thus high costs result. In accordance with the invention, it is therefore provided that the operator, if appropriate via an audible and / or visual warning device, is made aware in a tactile manner of such an operating state of the commercial vehicle. This is particularly advantageous if the operator has to react in any way in any way, in order to be able to prevent an overload of a component of the commercial vehicle or an accident of the commercial vehicle in time, for example.

The control device can use the signal from the sensor to calculate in which direction or position the operating lever would be moved in order to achieve the desired purpose. In general, the trend of the effects caused by the adjustment of a state quantity is known. It is determined the position and / or adjustment of the operating lever, which would result in a safe operating condition. The adjusting device is driven according to the result of a comparison between the calculated, favorable direction of movement and / or position and the current direction of movement and / or position of the operating lever.

The control device is preferably further fed information about the - detected by means of a control lever position sensor - position of the operating lever, which takes into account in the calculation of the desirable or undesirable adjustment direction or position of the operating lever can be. In some applications, however, the consideration of the position of the operating lever is not required. It is also conceivable that the control device derives information about the position of the operating lever and / or about its direction of movement from the signal of the sensor or from the change thereof.

The adjusting device can basically be operated in two different ways. On the one hand, this can produce an adjustment resistance or an amplitude and / or frequency of the mechanical excitation of the operating lever, which is proportional to the difference between the current position of the operating lever and a calculated, optimal position of the operating lever, or in another way continuously and preferably monotonically increasing depends on this difference. So if the control lever is set particularly unfavorable, it is very difficult to spend him in an even less favorable position, or he vibrates quite strong and / or fast. In the opposite direction, however, it can be easily moved, or the vibrations go away or disappear. On the other hand, there is the possibility that the actuating device is only effective when the difference exceeds a certain threshold. In this case, the adjusting device can bring about a step-like increasing adjusting resistance or the amplitude and / or frequency of the mechanical excitation can be changed in stages. The adjustment resistance or the amplitude and / or frequency of the mechanical excitation of the operating lever thus increases in this embodiment in at least one stage. One advantage lies in the easier technical realization, since the adjusting device in the simplest case can only be switched on and off.

Depending on the currently present operating state of the commercial vehicle, the control device can also be controllable with the control device in such a way that the at least one control lever has an altered presettable force can be acted upon to thereby make the operator not optimal operating state of the commercial vehicle or a non-optimal operating state of at least one work function perceptible.

According to a preferred embodiment of the present invention, the operating characteristic of the operating lever is designed changeable by the action of the operating lever with a presettable changed force. Thus, for example, the operating lever can be acted upon by a force such that the latter can be operated by the operator only with an increased expenditure of force. In other words, in the context of this embodiment, the force with which the operating lever is acted upon by the adjusting device in a normal operating state of the commercial vehicle, increased by a constant value (offset) when there is no optimal or safe operating state of the commercial vehicle.

The operating lever may be formed, for example in the form of a hand throttle, with which the engine speed of the engine of the commercial vehicle or the speed of the commercial vehicle is adjustable. It is also conceivable to form the operating lever in the form of a hydraulic control lever. In this case, a hydraulic function or work function is set or operated with the hydraulic control lever. Such a work function can be the height adjustment of a three-point implement mounting a tractor. This is an example of a working function of the commercial vehicle, in which the two lifting cylinders of the three-point implement mounting are controlled according to the operation of the operating lever. A further example may be the activation of corresponding hydraulic cylinders of a loader of a loader vehicle or of an optional loader attachment adaptable to a tractor, in which case the hydraulic cylinders of the loader are activated in dependence on the actuation of the operating lever. Furthermore, it is conceivable, the operating lever in the form of a gear shift lever train. With such a transmission shift lever, a switching state of a transmission is set.

According to a preferred embodiment, the operating lever is designed in the form of a joystick. With the joystick a work function or a state variable of the commercial vehicle can be controlled. An example of a work function of the commercial vehicle may be the above-mentioned control of the three-point implement mounting a tractor. Furthermore, a work function or a state variable of an implement adapted to the utility vehicle can be adjustable with the joystick. An example of an implement adapted to the commercial vehicle may be the optional superstructure attachment or a mower on a tractor, also mentioned above.

Particularly preferably, a loader and / or a loading tool can be controlled with the joystick. In this case, the force acting on the joystick can be dependent on the lifting height of the loader or the loader tool. It may be appropriate that the force acting on the joystick increases with increasing height of the loader or the loader tool. In particular, safety aspects in connection with a ballasted vehicle with a raised loader tool speak in favor of this. This is particularly relevant for telehandlers, since in addition to the lifting height and the tilt angle of the loader tool, the loader boom can also be changed in length, e.g. by extension or retraction. As a result, there is an increasing danger of an unbalanced state of the telehandler. For cranes, this applies in a similar way.

Preferably, at least one - preferably a lower and / or an upper - height value of the loader / supercharger tool can be predetermined, in which a predeterminable maximum force acts on the joystick. As a result, the operator is signaled that the supercharger tool is approaching or reaching the maximum or minimum height. The at least one altitude value can be stored and / or changed by an operator, so that the operator can configure the operating device depending on the specific task present.

Additionally or alternatively, at least one - preferably a lower and / or an upper - tilt angle value of the supercharger tool can be predetermined, in which a predeterminable maximum force acts on the joystick. The at least one tilt angle value can also be stored and / or changed by an operator.

It is also conceivable to form the operating lever in the form of a key switch or switch. With such a key switch or switch can also be a work function or a state variable of the commercial vehicle or a work function or a state variable of an adapted to the utility vehicle work equipment can be controlled. In the case of a key switch, the function activated by the key switch can be activated or deactivated (e.g., mechanical front wheel drive on / off, PTO on / off). In the case of a changeover switch, the function activated by the changeover switch can be switched over between at least two different states (reverser of the transmission forward / backward).

With the at least one sensor, a variable is detected, which represents a state variable of the commercial vehicle. A state variable of the commercial vehicle can be, for example, the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the utility vehicle, the yawing or yawing moment, the determination of an obstacle, the speed of a motor or Transmission shaft, the speed of at least one wheel, the torque transmitted by a shaft, the output from a drive unit Torque, the power or capacity of a drive, the energy consumption or fuel consumption of a consumer, the slip of the utility vehicle above the ground, an axle load, the pressure or flow or volume flow change of a hydraulic fluid, the extension of a cylinder, the driving condition, the driving force of the commercial vehicle and / or the force acting on the utility vehicle of a trailer and / or a working device. A force acting on the utility vehicle may in particular be a tensile force, a lateral force and / or a support force. Accordingly, at least one sensor can be provided, with which a variable can be detected, which determines the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the commercial vehicle (relative to a reference system). that allows yawing or yaw moment and / or determination of an obstacle. The size of the at least one sensor can also be used to detect the speed of a motor or gear shaft, the speed of at least one wheel, the torque transmitted by a shaft, the torque output by a drive unit, the power or the load of a drive unit , the consumption or the fuel consumption of a consumer, the slip of the utility vehicle over the ground, an axle load, the pressure or the volume flow or a volume flow change of a hydraulic fluid, the extension distance of a cylinder, the force acting on the utility vehicle pulling force of a trailer and / or an implement, in particular a tensile force, a lateral force and / or a supporting force, the driving state and / or the driving force of the commercial vehicle allows. Usually, the sensor will be configured such that it detects or detects a corresponding quantity. Then, a dependent of the detected size (electric) signal is generated, which is transmitted to the control device. With the control device can then in dependence the current operating state of the vehicle, a signal or a signal sequence are generated in order to control the at least one adjusting device accordingly.

In concrete terms, the adjusting device has at least one actuator. The actuator may be electrically, pneumatically or hydraulically actuated. Thus, the actuator can act on the operating lever with a variable or variable force depending on its operation. The adjusting device may further comprise a further actuator, which is designed for example in the form of a spring and acts on the operating lever with a constant force or with a constant force characteristic.

An optimal operating state of the commercial vehicle is present in particular when the commercial vehicle has a minimized fuel consumption and / or when the driving speed or the efficiency of the commercial vehicle or individual components thereof are optimally adapted to the current operating state of the commercial vehicle. In other words, individual components or the entire commercial vehicle are adjusted such that their or their efficiency for the current operating state of the commercial vehicle is optimized or adapted to it. A current operating state can be, for example, plowing with a tractor to which a plow has been adapted. In a further step, another current operating state may concern sowing of plant seeds if a seeder is adapted to the tractor. An optimal operating state is also sought in the case in which the material processed and / or processed with the utility vehicle and optionally with an implement adapted to the utility vehicle has an optimum throughput or turnover. An example of this may be a tractor with a round baler adapted to the tractor. In an optimal operating condition, the round baler is operated in such a way that the hay taken up with the round baler is taken at a maximum conveying speed (maximum throughput) without causing clogging.

A safe operating state of the commercial vehicle is present in particular when the engine load, the inclination of the commercial vehicle with respect to the horizontal, the yaw moment, the ballasting of the commercial vehicle with an optionally adapted working equipment, the predominant in the drive train torque load or the present in the drive train speed rotating components and / or the speed of the commercial vehicle (even when cornering) does not exceed a corresponding predetermined limit. Further safety-relevant parameters are, for example, the engine oil temperature mentioned in the introduction, the temperature of the coolant liquid of the internal combustion engine of the commercial vehicle or the pressure of a hydraulic brake system. Accordingly, a safe operating state of the commercial vehicle is present if the corresponding predefinable limit values are not exceeded or fallen below. A safe operating state of the commercial vehicle is also present when there is no obstacle in the driving range or effective range of the commercial vehicle. In other words, an unsafe operating state is present when the corresponding predefinable limit values are exceeded or fallen short of and / or if an obstacle is located in the driving range or effective range of the commercial vehicle.

Particularly in the case of state variables which can not be immediately noticed by the operator on the utility vehicle, the operating device according to the invention is helpful for safe operation of the utility vehicle. This may be particularly relevant for trailers attached to the commercial vehicle (eg, a sprayer with an extended spray boom), which may roll and / or yaw due to unevenness in the ground, for example, and can bring the truck-trailer combination into a dangerous overall condition. The (adjusting the vehicle speed) Operating lever can be acted upon in such a case with such a force that the operator is guided to a deflection of the operating lever to a lower speed of the team.

The adjusting device can be controlled by the control device such that the adjusting device acts on the operating lever with a substantially constant force. Such a procedure may relate in particular to the state of the operating lever, in which it is in the neutral position and is not operated by an operator.

Additionally or alternatively, the adjusting device can act on the operating lever with a predeterminable force curve. The predeterminable force curve can have a continuous analytical function as a function of the actuation path or the deflection of the operating lever or the state variable to be controlled. The analytical function can change over time and thereby take account of a changed operating state of the commercial vehicle.

In particular, when the commercial vehicle is approaching an unsafe operating state or the operator abuses a work function or a vehicle function, it can be provided that the actuating device acts on the operating lever located in the neutral position or in any position with a time-varying force. This is helpful, in particular, in operating states in which the respectively present state variable or the respectively present critical variable can not be perceived directly by the operator. This may, for example, relate to the torque which is transmitted in the case of a tractor via the power take-off shaft to an implement adapted to the tractor and which exceeds a predefinable limit value. Accordingly, the operating lever of the actuator be acted upon with a time-varying force such that the operating lever performs a kind of shaking movement and thereby makes the operator in a tactile manner to a critical operating state.

Very generally and according to a very particularly preferred embodiment, the operating lever is acted upon by a predeterminable, changed force when there is an operating state deviating from the optimum operating state. Optimal operating conditions are listed in particular in the cases of claim 13, this list is not exhaustive and accordingly can be present a variety of other optimal operating conditions. Also quite generally and also according to a very particularly preferred embodiment, the operating lever is acted upon by a predeterminable, changed force when there is a different operating state from the safe operating state. Safe operating states are listed in particular in the cases of claim 14, this list is not exhaustive and accordingly a variety of other safe operating conditions can be present.

The following section deals with relatively specific situations in which the operating lever is acted upon by a predefinable, changed force.

This is the case, inter alia, when the current operating state or a current state variable of the commercial vehicle or a working function of the commercial vehicle exceeds or falls below a predetermined limit value. This may be, for example, a pressure above a maximum value of a hydraulic fluid with which a hydraulic cylinder of a supercharger can be actuated, wherein the supercharger can be adapted to a tractor. Such a situation may, for example, draw attention to an overload when lifting the loader bucket.

The operating lever can be acted upon with a predetermined, changed force when the rotational speed of a shaft and / or the rotational speed of a shaft of a working implement deviates from a predetermined rotational speed.

Also, the operating lever with a predetermined, changed force can be applied when the speed of the commercial vehicle deviates from a predetermined speed. Insofar as the utility vehicle performs a work function requiring travel of the vehicle at a substantially constant speed (e.g., sewing), the change in force applied to the operating lever may alert the operator to this circumstance.

It is preferably provided that the operating lever can be acted upon by a predeterminable, variable force, which depends on the nature of the roadway or the subsoil. This can be used to reduce or avoid the "bonanza effect". For this purpose, depending on the currently present commercial vehicle movement, which is detected with a corresponding motion and / or acceleration sensor, the force is exerted on the control lever such that a self-boosting swinging up of the commercial vehicle or the working function of the commercial vehicle is caused by the movement of the commercial vehicle Operator's hand when operating the operating lever is largely avoided.

In a preferred embodiment, it is provided that the operating lever can be acted upon in its neutral position by the adjusting device at least in a specific operating state of the commercial vehicle with a predetermined high force. The operating lever can be deflected once from its neutral position with a correspondingly high expenditure of force by the operator in order to move the utility vehicle and / or a working function of the utility vehicle from a secured state into an operating state to convict. Hereby, a so-called power lock of the controlled by the operating lever function can be achieved. The operator must exert a relatively high force for the first time to activate the function in order to activate the function at all. If the function is then activated, it is advisable not to apply the predetermined high force to the control lever and / or to do so again only if the control lever has not been operated for a long time. In the same way, a starting acknowledgment of the commercial vehicle or a shift acknowledgment can be realized for a transmission shifting operation, ie the control actually desired by the operator is acknowledged by overcoming the high force.

Furthermore, it can be provided that the operating lever can be acted upon by a predeterminable force in order to make it perceptible to the operator that a change of a state variable of the utility vehicle or a work function commanded with the operating lever has meanwhile been discontinued. Especially in the event that the control lever, a transmission circuit is activated, but the operating lever is not mechanically connected to the gear shift, because it is controlled for example by means of an electromagnetic actuator, this can give the operator a realistic feedback after performing the switching operation. Namely, when the newly commanded with the operating lever switching state is engaged by the transmission, a predetermined force pulse (low altitude) can be exerted on the operating lever, which is comparable to the force pulse, which exerted on a mechanically connected to the gear shift control lever by the switching operation of the gear shift becomes.

In a comparable manner, the operating lever can be acted upon by a predeterminable force in order to make perceivable to the operator that there is a specific state of a working device adapted to the utility vehicle. This can be, for example be the case when a tool is switched on and this reaches its operating speed after a time delay. Once this is present, the operating lever can also be acted upon by a force pulse.

Preferably, the amount of force with which the operating lever can be acted upon by the operator individually adjustable. In this way, for example, each operator can set an individually adapted operating characteristic of the operating lever and, if necessary, store it. This allows a customized adjustment of the operating lever characteristic for the operator and can thus avoid incorrect operation and / or enable individual ergonomic operation.

In a preferred embodiment, a specifiable operating characteristic can be imposed on the operating lever in such a way that the operator can retrieve a desired setting, a deflection position or a deflection range of the operating lever, which is optionally adjustable by him. Such a desired setting may be the working depth on the hoist of a three-point implement mounting, provided that the hoist height is adjusted with the operating lever. When the working depth of the hoist is adjusted, a "locking" of the operating lever may be provided, which can be represented with a corresponding application of force to the actuating device on the operating lever. In a comparable manner, an adjustable "stop" of the operating lever may be provided, which is optionally predetermined or adjustable by the operator, which allows finding a specific recording and / or unloading height of a front loader. This can also be helpful in finding a particular tip tilt angle or top lift height (due to low ceiling height in buildings or low gate clearance).

According to a preferred embodiment of the present invention, the operating lever is provided with a force such that an operator can set an unfavorable setting range of an operating state of a work function or a state quantity of the commercial vehicle - e.g. the natural frequency of the tires at certain speeds - avoid. An unfavorable adjustment range can also have the engine speed-dependent natural frequency of the engine mount and / or the natural frequency of the vehicle body, and it can therefore be signaled to the operator in a comparable manner by appropriate application of force to the operating lever to avoid this setting.

In a further embodiment, a control lever can be acted upon by a predeterminable force, which essentially depends on the state of another operating element of the commercial vehicle. As a result, e.g. a mutual locking of several controls are simulated, for example, a parking brake that can be activated in a tractor with an operating lever, and a setting lever for the transmission of this tractor, which is controlled by another operating lever. This can be a mechanical coupling of the two control lever, which was previously required, omitted in an advantageous manner.

It can be provided that the force exerted by the adjusting device on the operating lever can be overridden by the operator and / or switched off. An override of the force applied to the control lever by the operator should generally be possible because the operator should not only feel that he has control over the operation of the vehicle. Rather, for safety reasons, the vehicle should be able to be operated by the operator even when the operating lever is acted upon by a wrong force. This may be the case when a sensor detects a size incorrectly or misinterprets the detected quantity if this occurs with a low probability.

As already indicated, a visual and / or acoustic signal can be generated in addition to applying the operating lever with a predetermined force. This is particularly appropriate when a safe operating state of the commercial vehicle and / or a working function of the commercial vehicle is left. In this case, for example, provided in the operating lever light source can be activated, possibly with increasing light intensity with increasing degree of danger. Additionally or alternatively, an acoustic signal in the form of a warning tone (possibly with increasing volume) can be generated and brought to the attention of the operator. Thus, it can be provided that an operator tactile and visual on the operating lever and acoustically via a speaker in the cabin from a security risk can be warned, preferably with respect to a function which is controlled by the operating lever.

The commercial vehicle, which has an operating device according to the invention, may be a self-propelled working machine or a tractor of the field of agriculture, construction or forestry. In particular, the commercial vehicle may be in the form of a tractor, a harvesting machine, a combine harvester, a forage harvester, a construction machine and / or a forest machine. Accordingly, the function activated by the operating lever of the operating device can be a working function characteristic of the respective commercial vehicle.

The object mentioned above is achieved with respect to an agricultural or industrial commercial vehicle, in particular tractor, by the features of claim 34. Accordingly, such a utility vehicle has an operating device according to one of claims 1 to 33. The person skilled in the art will be aware of an inventive Operating device according to one of claims 1 to 33 and the statements made for this purpose can apply the subject matter of the invention to an agricultural or industrial commercial vehicle and in this case can take into account the particular characteristics of the respective commercial vehicle in connection with the operating device according to the invention according to one of claims 1 to 33. In that regard, reference is made to avoid repetition to the preceding part of the description.

In procedural terms, the object mentioned above is achieved by the features of claim 35. Accordingly, a method according to the invention serves to control at least one state variable of an agricultural or industrial commercial vehicle. The at least one state variable is set with an operating device. The operating device comprises at least one operating lever, in particular a joystick, an adjusting device, at least one sensor and a control device. The operating lever is operated by a hand of an operator. With the operating lever, the at least one state variable of the commercial vehicle is set. With the adjusting device, the at least one operating lever is acted upon by a force. With the at least one sensor, a variable representing a state variable of the commercial vehicle is detected and transmitted to the control device. With the control device, a state variable of the current operating state of the commercial vehicle is determined. Depending on the current operating state of the commercial vehicle, the control device is controlled by the control device in such a way that a specifiable, variable force is applied to the at least one operating lever in order thereby to make the operator aware of an unsafe operating state of the commercial vehicle or an unsafe operating state of at least one work function.

Accordingly, by the method according to the invention for controlling at least one state variable of a commercial vehicle, an improved operation of the commercial vehicle is realized, whereby, for example, the learning phase of a new operator into the operation of the commercial vehicle can be shortened and / or the operation of the commercial vehicle can be considerably simplified or made more intuitive. At least one state variable with an operating device according to one of claims 1 to 35 is preferably set with the method according to the invention. Therefore, a person skilled in the art with knowledge of the inventive operating device according to one of claims 1 to 35 and the statements made for this purpose, the subject of the invention to a method for driving a particular agricultural or industrial commercial vehicle can apply and in this case the special properties of the respective Can consider commercial vehicle in forming the driving process. In that regard, reference is made to avoid repetition to the preceding part of the description.

Fig. 1

ein Ausführungsbeispiel einer erfindungsgemäßen Bedienvorrichtung,

Fig. 2

ein Ausführungsbeispiel eines landwirtschaftlichen Nutzfahrzeugs mit einer erfindungsgemäßen Bedienvorrichtung,

Fig. 3a

ein landwirtschaftliches Nutzfahrzeug mit einem Lader, bei welchem die Laderschaufel nicht über eine vorgebbare Höhe verbracht werden soll,

Fig. 3b

ein Diagramm der auf den Bedienhebel ausgeübten Kraft in Abhängigkeit der Höhe der Laderschaufel,

Fig. 4a

ein landwirtschaftliches Nutzfahrzeug mit einem Lader, bei welchem die Laderschaufel in einem vorgebbaren Höhenbereich eingesetzt werden soll,

Fig. 4b

ein Diagramm der auf den Bedienhebel ausgeübten Kraft in Abhängigkeit der Höhe der Laderschaufel,

Fig. 5a

ein landwirtschaftliches Nutzfahrzeug mit einem Lader, bei welchem der Kippwinkel der Laderschaufel in einem vorgebbaren Winkelbereich verbleiben soll, und

Fig. 5b

ein Diagramm der auf den Bedienhebel ausgeübten Kraft in Abhängigkeit des Kippwinkels der Laderschaufel.

There are now various possibilities for designing and developing the teaching of the present invention in an advantageous manner. For this purpose, on the one hand to the claims subordinate to claim 1 and on the other hand, refer to the following explanation of the preferred embodiments of the invention with reference to the drawings. In connection with the explanation of the preferred embodiments of the invention with reference to the drawings, generally preferred embodiments and developments of the teaching according to the invention are also explained. In the drawings, each show in a schematic representation:

Fig. 1

An embodiment of an operating device according to the invention,

Fig. 2

An embodiment of an agricultural utility vehicle with an operating device according to the invention,

Fig. 3a

an agricultural utility vehicle with a loader, in which the loader bucket is not to be moved beyond a predefinable height,

Fig. 3b

a diagram of the force exerted on the operating lever as a function of the height of the loader bucket,

Fig. 4a

an agricultural utility vehicle with a loader, in which the loader bucket is to be used in a predefinable height range,

Fig. 4b

a diagram of the force exerted on the operating lever as a function of the height of the loader bucket,

Fig. 5a

an agricultural utility vehicle with a loader in which the tilt angle of the loader bucket is to remain within a predefinable angular range, and

Fig. 5b

a diagram of the force exerted on the operating lever as a function of the tilt angle of the loader bucket.

In the figures, the same or similar components are identified by the same reference numerals.

FIG. 1 shows an embodiment of an operating device 10 according to the invention FIG. 1 shown operating device 10 has an operating lever 12, a control device 14 and a sensor 16. The operating lever 12 is designed in the form of a joystick and deflectable in two substantially mutually perpendicular directions 18, 20 and combinations thereof. In the FIG. 1 shown operating device 10 controls a front loader in FIG. 2 shown, in Shape of a tractor trained agricultural utility vehicle. The front loader off FIG. 2 is controlled hydraulically. Therefore, the operating lever 12 is finally formed in the form of a hydraulic control lever. Accordingly, when the operating lever 12 is deflected in the direction 20, the loader bucket is raised or lowered. Upon actuation of the operating lever in the direction 18, the loader bucket is tilted in its angle relative to the horizontal. Accordingly, a state variable of the commercial vehicle or of the front loader adapted thereto is set or activated with the operating lever 12. The operating device 10 further comprises an adjusting device 22, which has two actuators 24, 26. The two actuators 24, 26 are electrically driven components which operate on the Tauchspulenprinzip. The one actuator 24 acts on the operating lever 12 with a compressive or tensile force, which is directed in the direction 20 substantially. The other actuator 26 acts on the operating lever with a compressive or tensile force, which is directed in the direction 18 substantially. In the actuators 24, 26 not shown sensors are provided, with which the current position of the operating lever 12 can be determined, which can be fed to the control device 14. The sensor 16 detects an angle signal of the angle between the horizontal and the boom of the front loader (in FIG. 1 Not shown). From this angle signal can be closed with appropriate calibration to the current height of the loader bucket. The sensor 16 detects this angle signal and generates an electrical signal, which is transmitted to the control device 14. The control device 14 determines based on the angle signal, the current height of the loader bucket.

According to the control device 14, depending on the currently present state of the front loader, the adjusting device 22 and thus the actuators 24, 26 are controlled such that the operating lever 12 with a predetermined predetermined Force can be acted upon. This can be a in FIG. 1 not shown operator a non-optimal or unsafe operating state of the commercial vehicle or the tractor in connection with the front loader are made perceptible. Accordingly, by applying the operating lever 12 with a predetermined changed force by the adjusting device 22, the operating characteristic of the operating lever 12 can be changed.

FIG. 2 shows an agricultural utility vehicle, namely a tractor 28, which the inventive operating device 10 from FIG. 1 having. On the tractor 28, the front loader 30 is adapted, which has a boom 32 and a loader bucket 34. The boom 32 of the front loader 30 can be raised or lowered with the double-acting hydraulic cylinder 36.

On the tractor 28 and the front loader 30, a plurality of sensors are arranged, wherein not all sensors for carrying out the present invention are required. Thus, with the sensor 38 of the extension of the piston rod of the hydraulic cylinder 36 can be determined. With the sensor 40, the change in the volume flow of the hydraulic fluid can be measured, which is supplied to the hydraulic cylinder 36 and which flows from the hydraulic cylinder 36. With the sensor 42, the present in the piston chamber of the hydraulic cylinder 36 pressure of the hydraulic fluid can be measured. The sensor 44 detects the vehicle speed over the ground. Sensor 46 detects the speed of the left front wheel 48. For the other three wheels sensors are also provided, which, however, in FIG. 2 not shown. The sensor 50 detects the adjusted steering angle of the front wheel 48. The sensor 52 detects the acceleration of the tractor 28. The sensor 54 detects the force which is adapted to the tractor 28, in FIG. 2 not shown work implement on the tractor 28 initiates. With the sensor 56 can on the rear Drive transmitted torque can be detected. Furthermore, a GPS receiver 58 is provided with which GPS position signals can be received, from which the control unit 14 can determine the current position of the tractor 28. All sensors are connected to the control unit 14 by means of electrical line connections. Also, the adjusting device 22 with the in FIG. 2 Not shown actuator connected to the controller 14. Although in FIG. 2 not shown, further sensors may be provided, with which further variables can be detected and from which a corresponding state variable of the commercial vehicle or a work function or from which a state variable of a working device adapted to the commercial vehicle can be derived or determined.

With the in the FIGS. 3a . 4a and 5a indicated representations and the associated diagrams of FIGS. 3b . 4b and 5b the force exerted on the control lever 12 in each case depending on the size to be set only some of the embodiments of an operating device according to the invention are shown, with a variety of other embodiments are conceivable in which an operating device according to the invention for driving at least one state variable of an agricultural or industrial utility vehicle are used can.

FIG. 3a shows a tractor 28 with a front loader 30. The front loader 30 includes a boom 32 and a boom tool, which is in the form of a loader bucket 34. The boom 32 is in a raised position. The predetermined for a specific application maximum distance from the loader bucket 34 to the substrate 60 is indicated by the double arrow h. This distance (the height) can be compared with the in FIG. 3a not shown sensor 38 for determining the extension path of the hydraulic cylinder 36 (see FIG. 2 ) and with the tilt angle sensor 62 for determining the tilt angle of the loader bucket 34 are determined. FIG. 3b shows a schematic representation of a diagram in which the force exerted on the operating lever 12 force is plotted as a function of the current height of the loader blade 34.

The deflection of the operating lever 12 usually causes the corresponding front loader work function (in the sense of a binary logic) is switched on or off. For example, when the operating lever 12 is deflected forward, the boom is lifted. It can be provided that, as a function of a larger deflection angle of the operating lever 12, the boom 32 is lifted faster than is the case with a small deflection angle of the operating lever 12. Accordingly, the control device can take this fact into account and apply the force to a greater extent on the operating lever 12 when the operating lever 12 is deflected by a larger angle.

The in the diagram of FIG. 3b shown force profile is removed that increases the force exerted by the actuator 24 on the operating lever 12 with increasing height of the loader bucket 34. The force curve shows an analytic function which is continuous and monotonically increasing in the range between a height 0 and h. At a height of the loader bucket 34 approaching the value h, a larger force of the deflection of the operating lever 12 is opposed by the actuator 24 than is the case with a smaller height of the loader bucket 34. This signals the operator operating the operating lever 12 that the loader bucket 34 is approaching the maximum height h for the present application. If the boom 32 and thus the loader bucket 34 should be deflected further over the height h, which is quite possible from the design of the front loader 30, the operating lever 12 is subjected to a substantially constant force, as for values greater than h in the diagram out FIG. 3b is shown. The value of Height h can be changed by the operator depending on his specific application and stored accordingly.

In the embodiment according to FIG. 4a is the tractor 28 with the front loader 30 from the Figures 2 and 3a shown. There is the boom 32 in an upper position marked with O. Dashed lines, the boom 32 may be located in a lower position marked with U. These two positions O and U are in this embodiment to identify the appropriate heights of the appropriate receiving and Abladehöhe for special front loader work.

FIG. 4b shows a schematic representation of a diagram in which the force exerted on the operating lever 12 force is plotted as a function of the current height of the loader blade 34. The force profile shown in this diagram can be deduced that the force exerted by the actuator 24 on the operating lever 12 is continuous in a range between U and O and increases monotonically with increasing height of the loader blade 34. The force exerted on the control lever 12 is less in this range than in a range smaller than or greater than 0. This gives the operator the feeling that he is at a deflection, which takes place in a height range of the loader blade 34 between the given Values O or U, the operating lever 12 deflects against an end stop. The operator is brought to a greater restoring force of the operating lever 12 to the perception when the height of the boom 32 approaches the value O. Out of the diagram FIG. 4b It can also be seen that when the loader bucket 34 is in a range outside the interval U to O, a greater restoring force is exerted on the operating lever 12. Accordingly, it is therefore possible that an operator can override such a measure of active force feedback and therefore always retains control of the utility vehicle or implement, but can consciously enter an unsafe operating condition. Also in this embodiment For example, it is possible for an operator to specify other values for the two positions U and O and to store them accordingly (for example with a keyboard input not shown in the figures or by means of a corresponding menu navigation with the aid of a display unit).

FIG. 5a also shows the tractor 28 FIG. 4a with the front loader 30. In FIG. 5a It is indicated that the loader bucket 34 can be tilted by a tilt angle range A specified by the operator for a specific application. Accordingly, the operating lever 12 is acted upon by a force which in the diagram of FIG. 5b is shown. Comparable to the diagram FIG. 4b is in the diagram according to FIG. 5b the force with which the operating lever 12 is applied, when the loader blade 34 is in the tilt angle range A, formed smaller than that is the case beyond the tilt angle range A. Within the tilt angle range A, the operating lever 12 is subjected to an increasing force as the tilt angle of the loader bucket 34 approaches the lower tilt angle A1 or the upper tilt angle A2. In that regard, the operator is thereby made aware that the loader bucket 34 approaches the lower or upper tilt angle A1, A2. This also supports in particular the untrained operator in the operation of the front loader 30. Moreover, it is also possible to adjust the tilt angle of the loader bucket 34 beyond the lower or upper tilt angle A1, A2. In this case, the operator must spend at least a correspondingly high force, with which the operating lever 12 is acted upon when the tilt angle of the loader blade 34 is outside the tilt angle range A.

The in the FIGS. 3a to 5a shown embodiments relate only to the control of a trained in the form of a joystick control lever 12, with which a front loader 30 is driven. In a similar way can another function of the commercial vehicle or the tractor 28 are controlled, for example, the three-point implement mounting, the transmission control or the hand throttle setting. The same applies to a possibly adapted to the commercial vehicle implement, such as a mower or a round baler.

Finally, it should be particularly noted that the embodiments discussed above are merely for the purpose of describing the claimed teaching, but do not limit it to the exemplary embodiments.

Claims (35)

Operating device for controlling at least one state variable of an agricultural or industrial commercial vehicle, comprising at least one operating lever (12), in particular a joystick, an adjusting device (22), at least one sensor (16) and a control device (14), wherein the operating lever (12) of a hand of an operator can be actuated, wherein with the operating lever (12) the at least one state variable of the commercial vehicle (28) is adjustable, wherein the adjusting device (22) of the at least one operating lever (12) can be acted upon with a force, wherein at least a sensor (16) a size representing a state variable of the commercial vehicle (28) detectable and the control device (14) is communicable, wherein the control device (14) a state variable of the current operating state of the commercial vehicle (28) can be determined, with the control device (14) as a function of the current operating state of the commercial vehicle (28) d The adjusting device (22) can be controlled in such a way that the at least one operating lever (12) can be acted upon by a different specifiable force in order to thereby make the operator aware of an unsafe operating state of the commercial vehicle (28) or an unsafe operating state of at least one working function (30) , Operating device according to claim 1,
characterized,
that with the control device (14) in dependence on the current operating state of the commercial vehicle (28), the adjusting device (22) is controllable such that the at least one operating lever (12) is acted upon with a modified predetermined force to thereby make the operator not optimal operating state of the commercial vehicle (28) or a non-optimal operating state of at least one work function (30) perceptible. Operating device according to claim 1 or 2,
characterized,
in that the operating characteristic of the operating lever (12) can be changed by the action of the operating lever (12) on the one presettable changed force. Operating device according to one of claims 1 to 3,
characterized,
in that the operating lever (12) is designed in the form of a hand throttle lever, with which the engine speed or the speed of the commercial vehicle (28) can be adjusted, and / or in the form of a hydraulic control lever with which a hydraulic function or work function (30) can be set is, and / or is in the form of a transmission shift lever, with which a switching state of a transmission is adjustable. Operating device according to one of claims 1 to 4,
characterized,
in that the operating lever (12) is designed in the form of a joystick with which a work function (30) or a state variable of the commercial vehicle (28) or a work function or a state variable of a work implement adapted to the utility vehicle (28) can be set. Operating device according to claim 5,
characterized,
that with the joystick, a loader and / or a loading tool is controlled. Operating device according to claim 6,
characterized,
that the force acting on the joystick is dependent on the lifting height of the loader or of the loading tool, wherein preferably the force acting on the joystick increases with increasing height of the loader and / or loading tool. Operating device according to claim 6 or 7,
characterized,
in that at least one height value of the loader and / or supercharger tool can be predetermined at which a prescribable maximum force acts on the joystick, wherein preferably the at least one height value can be stored and / or changed by an operator. Operating device according to one of claims 6 to 8,
characterized,
in that at least one tilt angle value of the loader tool can be predetermined at which a prescribable maximum force acts on the joystick, wherein preferably the at least one tilt angle value can be stored and / or changed by an operator. Operating device according to one of claims 1 to 9,
characterized,
in that the operating lever (12) is designed in the form of a pushbutton switch or changeover switch with which a work function or a state variable of the commercial vehicle (28) or a work function or a state variable of an implement adapted to the utility vehicle (28) can be activated, deactivated and / or switched over , Operating device according to one of claims 1 to 10,
characterized,
that a size is detectable with the sensor (16), which allows the determination of the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the utility vehicle (12), the yawing or yawing moment and / or the determination of an obstacle. Operating device according to one of claims 1 to 11,
characterized,
that with the sensor (16) a size is detectable, which determines the rotational speed of a motor or transmission shaft, the speed of at least one wheel (48), the torque transmitted by a shaft, the output from a drive unit torque, the power or Utilization of a power plant, the energy consumption or fuel consumption of a consumer, the slip of the commercial vehicle (28) above the ground, an axle load, the pressure or the volumetric flow or the volumetric flow change of a hydraulic fluid, the extension path of a cylinder (36) acting on the commercial vehicle ( 28) acting force of a trailer and / or a working device, in particular a tensile force, a lateral force and / or a supporting force, the driving condition and / or the driving force of the commercial vehicle (28) allows. Operating device according to one of claims 1 to 12,
characterized,
that an optimal operating state is present when the utility vehicle (28) has a minimized fuel consumption and / or when the vehicle speed or efficiency of the utility vehicle (28) is optimally adapted to the current operating state and / or when coupled to the vehicle (28) and optionally with a working device adapted to the utility vehicle (28) processed or processed good has an optimal throughput or turnover. Operating device according to one of claims 1 to 13,
characterized,
that a safe operating state of the commercial vehicle (28) is present when the engine load, the inclination of the commercial vehicle (28) relative to the horizontal, the ballasting of the commercial vehicle (28) with an optionally adapted working equipment, the torque load prevailing in the drive train or in the drive train present speed of rotating components and / or the speed or the yaw moment of the commercial vehicle (28) does not exceed a corresponding predefinable limit. Operating device according to one of claims 1 to 14,
characterized,
that a safe operating state of the commercial vehicle (28) is present when there is no obstacle in the driving range or effective range of the commercial vehicle (28). Operating device according to one of claims 1 to 15,
characterized,
in that the adjusting device (22) acts on the operating lever (12) with a substantially constant force. Operating device according to one of claims 1 to 16,
characterized,
in that the actuating device (22) acts on the operating lever (12) with a predefinable force profile, the force curve having a continuous analytical function and optionally a functionally variable function as a function of the actuating travel of the operating lever (12) or the state variable to be controlled. Operating device according to one of claims 1 to 17,
characterized,
in that the adjusting device (22) acts on the operating lever (12) located in the neutral position or in any position with a time-varying force, in particular in case of misuse of the commercial vehicle (28) and / or a work function. Operating device according to one of claims 1 to 18,
characterized,
in that the operating lever (12) is acted upon by a prescribable, changed force when there is an operating state deviating from the optimum operating state. Operating device according to one of claims 1 to 19,
characterized,
in that the operating lever (12) is acted upon by a prescribable, changed force when there is an operating state deviating from the safe operating state. Operating device according to one of claims 1 to 20,
characterized,
in that the operating lever (12) is acted upon by a predefinable, changed force when the current operating state or a current state variable of the commercial vehicle (28) or a working function of the commercial vehicle (28) exceeds or falls below a predetermined limit value. Operating device according to one of claims 1 to 21,
characterized,
that the operating lever (12) is then applied with a predetermined, changed force when the speed a shaft and / or a shaft of a working device deviates from a predetermined speed. Operating device according to one of claims 1 to 22,
characterized,
that the operating lever (12) is acted upon by a predeterminable, changed force when the speed of the commercial vehicle (28) deviates from a predetermined speed. Operating device according to one of claims 1 to 23,
characterized,
that the operating lever (12) can be acted on by a predeterminable, variable force, which depends on the nature of the road surface or of the subsoil (60). Operating device according to one of claims 1 to 24,
characterized,
that the operating lever (12) in its neutral position by the adjusting device with a predetermined high force is acted upon, the operating lever (12) from its neutral position with a correspondingly high expenditure of force by the operator is once deflected to the commercial vehicle (28) and / or to transfer a work function (30) of the commercial vehicle (28) from a secured state to an operating state. Operating device according to one of claims 1 to 25,
characterized,
in that the operating lever (12) can be acted upon by a prescribable force in order to make the operator aware that a change in a state variable of the utility vehicle (28) or a work function (30) commanded with the operating lever (12) has meanwhile been discontinued. Operating device according to one of claims 1 to 26,
characterized,
in that the operating lever (12) can be acted upon by a prescribable force in order to make the operator aware that a certain state of a working device (30) adapted to the utility vehicle (28) is present. Operating device according to one of claims 1 to 27,
characterized,
that the amount of force with which the operating lever (12) can be acted upon is individually adjustable by the operator, whereby each operator can set a individually adapted operating characteristic of the operating lever (12). Operating device according to one of claims 1 to 28,
characterized,
in that the operating lever (12) can be given a predefinable operating characteristic in such a way that an operator can retrieve a desired setting, a deflection position or a deflection range of the operating lever (12). Operating device according to one of claims 1 to 29,
characterized,
that the operating lever (12) is so acted upon with a force that an operator an unfavorable adjustment range of an operating state of a work function avoids (30) or state variable of the utility vehicle (28). Operating device according to one of claims 1 to 30,
characterized,
in that a control lever (12) can be acted upon by a prescribable force, which essentially depends on the state another operating element of the commercial vehicle (28) is dependent. Operating device according to one of claims 1 to 31,
characterized,
that the force exerted by the adjusting device (22) on the operating lever (12) can be overridden and / or switched off by the operator. Operating device according to one of claims 1 to 32,
characterized,
that a visual and / or acoustic signal in addition to the urging of the operating lever (12) with a predeterminable force generated. Agricultural or industrial utility vehicle, in particular a tractor, which has an operating device (10) according to one of claims 1 to 33. Method for controlling at least one state variable of an agricultural or industrial commercial vehicle (28), wherein the at least one state variable is set with an operating device (10), wherein the operating device (10) comprises at least one operating lever (12), in particular a joystick, an adjusting device (22 ), at least one sensor (16) and a control device (14), wherein the operating device (10) is preferably formed according to one of claims 1 to 33, wherein the operating lever (12) is actuated by a hand of an operator, wherein with Operating lever (12) the at least one state variable of the commercial vehicle (28) is set, wherein the actuator (22) of the at least one operating lever (12) is acted upon with a force, wherein the at least one sensor (16) has a size, the one State variable of the commercial vehicle (28) represented, detected and the control device (14) wherein with the control device (14) a state variable of the current operating state of the commercial vehicle (28) is determined, wherein the control device (14) depending on the current operating state of the commercial vehicle (28), the adjusting device (22) is controlled such that the at least one control lever (12) is acted upon by a predeterminable, variable force in order thereby to make the operator aware of an unsafe operating state of the commercial vehicle (28) or an unsafe operating state of at least one work function (30).

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