EP3539820B1 - Control device - Google Patents

Description

Embodiments of the present invention relate to an operating device for a construction machine and a corresponding method and a construction machine such. B. a working platform with a corresponding operating device. In general, the invention or preferred embodiments thereof is in the field of aerial work platforms, z. B. hydraulic aerial work platforms, which are attached to a truck or a self-propelled chassis via a telescoping crane mechanism. In particular, exemplary embodiments of the present invention relate to the field of joysticks (manual control transmitters) in operating units for controlling aerial work platforms.

Joysticks or, in general, manual control transmitters are used to control a construction machine, e.g. B. to control an aerial work platform or in particular its boom. In the case of aerial work platforms, these manual control transmitters are arranged, for example, on the platform so that the operator can control the aerial work platform on which he is standing. There is a risk that the operator will be trapped in the control or in the movement of the aerial work platform by the same and may no longer be able to operate the control correctly. The problem has already been addressed in the prior art.

Is known from the prior art in the European patents 2 462 048 and 2 462 049 described control system of an operator's cabin with increased security. It essentially describes a circuit breaker or load switch which is arranged on a movable control panel. If the machine operator finds himself in a situation such as that described above, the load switch is triggered by the movement of the control panel. Furthermore describes the EP 2 794 460 A1 a hydraulic work platform with a control station, the work platform having a control panel with two half-consoles, each of which has at least one lever or button for manually controlling the work platform. The half-desks are arranged to the side of an operator so that there is no control lever or button in front of the operator.

The JP-U-04-65299 shows a work basket of a work platform with a control panel, with a sensor being provided between the work basket and the control panel. The JP-H-05-92298 shows a force sensor integrated into the work basket. The JP-A-2002-11450 discloses a kind of anti-trap protection, but without a force sensor.

The DE 20 2010 004 128 U1 describes a manual control transmitter with a separate actuation and evaluation, which essentially consists of a mechanical part and composed of an electrical part. A magnetically permeable plate, for example a printed circuit board, is provided between the mechanical part and the electrical part as a separating layer and as a fastening layer for the mechanical parts. The electrical or electronic part of the manual control transmitter is formed by one or more sensors, for example magnetic field sensors, arranged on the underside of the plate. The mechanical part is formed by a lever mechanism that is detachably arranged on the upper side of the carrier plate and has a magnet arranged on it, which can be replaced as a unit in the event of repairs.

Furthermore, the EP 3 086 094 A1 a manual control transmitter for a control and operating unit of an aerial work platform, work machine or construction machine. The manual control transmitter includes at least one actuating unit, which includes an actuating element that has at least one magnetic position element, and an evaluation unit that includes at least one magnetic field sensor unit. The evaluation unit is designed to detect a position and/or movement of the actuating element in a movement plane based on a sensor signal from the magnetic field sensor unit. The actuating element can be moved in relation to the sensor unit along a further direction of movement perpendicular to the plane of movement, and the evaluation unit is designed to detect a movement of the actuating element along the further direction of movement based on a sensor signal from the magnetic field sensor unit.

Furthermore describes the DE 10 2014 105 177 A1 an operating element with an elastically deformable operating part and a force sensor matrix. An operating element has an actuating part that is at least partially elastically deformable when actuated under the action of force in order to return it to an unactuated position, and a matrix of force sensors for measuring a force action matrix that is associated with the force action on the actuating part; and an evaluation unit for comparing the measured force action matrix with a predetermined force action matrix in order to assign an electrical switching function to the operating element if there is a minimum match between the measured force action matrix and the predetermined force action matrix.

However, none of the publications known from the prior art deals with a protective function in the event of an overload of the joystick, triggered by a person being crushed/trapped when a telescopic arm of an aerial work platform is extended. In practice, such accidents occur more frequently and it has been shown that In such a panic situation, people in the basket frantically try to move the joystick levers back and forth, if this is still possible. This is where the present invention comes in. Therefore, there is a need for an improved approach.

The object of the present invention is to create a concept for an operating unit that offers an improved compromise between operability, safety and secure installation.

The object is solved by the independent patent claims.

Embodiments of the present invention create an operating device for a construction machine with a base plate, a manual control transmitter, a motion sensor (e.g. Hall sensor) and at least one force sensor. The manual control transmitter or also called joystick is arranged at an angle to the base plate and can be moved at least one-dimensionally or also two-dimensionally relative to the base plate. The position and/or movement of the joystick/manual control transmitter can be determined using the movement sensor, which outputs a so-called movement signal depending on the determined position and/or the determined movement. The at least one force sensor is designed to determine a force acting on the manual control element or a force transmitted from the manual control transmitter to the base plate and to output a force signal as a function of the determined force.

Embodiments of the present invention are based on the finding that in the collision scenarios described above (according to which the operator can be trapped or crushed between the basket or in particular the joystick and a part of a building when the telescopic arm of the aerial work platform is extended) it often happens that the joystick of jamming can no longer be operated or brought to the zero position in time to stop a movement of the telescopic arm of the machine. Here, the operator's body is often trapped in the area of the control, so that the operator's body pushes against the joystick, which would continue the movement of the machine's telescopic arm, further and further squeezing and pinching the operator. In order to remedy this, external safety mechanisms (emergency stop button) are not implemented, but rather, according to exemplary embodiments of the present invention, the operating device (manual control transmitter/joystick) is equipped with an additional protective function, through which an overload of the joystick itself can be detected. Here is in particular the overload is relevant if the manual control transmitter is actuated beyond the maximum range of movement, since such overloads often occur in the collision scenarios explained above. In order to realize this recognition, the manual control transmitter is to be equipped with at least one force sensor, e.g. B. in the form of a strain gauge (DMS). This additional protective function or the additional protective element, which is integrated or arranged in the joystick module of the control unit, cannot be damaged or the like from the outside, for example environmental influences such as moisture or dust. The location of the operating unit is also not restricted.

According to exemplary embodiments, at least one strain gauge (DMS sensor) can also be applied as a force sensor(s) in the area of the movement sensors (Hall sensors) to implement the protective function on the circuit board of the joystick module, which, for example, measure a deformation of the circuit board when force is applied to the joystick or detect. An optional evaluation unit evaluates the signals from the Hall sensors and the DMS sensors and can use the signals from the DMS sensors to detect an overload on the joystick and thus a potentially dangerous situation for the operator. The force sensors / strain gauges considered here are inexpensive elements and can, e.g. B. by simply sticking on a joystick component such. B. a printed circuit board, integrated or arranged on it and are connected to the evaluation unit.

According to further exemplary embodiments, the operating unit includes an evaluation unit which primarily receives the force signal from the at least one force sensor in order to detect an overload. This evaluation functionality can be integrated into the existing evaluation electronics of the joystick.

According to exemplary embodiments, the evaluation electronics are designed, for example, to stop a movement of the construction machine or a movement speed of components of the construction machine, such as an extension of the telescopic arm, when the overload is determined. In this respect, if the joystick is overloaded, i.e. if it is operated beyond the maximum range of movement, a movement of the telescopic arm of the machine, for example, is stopped and, according to further exemplary embodiments, a counter-movement is triggered, with which the operator can later free himself from the jammed situation. Here, a counter-movement is a movement in a preferred manner in the opposite direction of movement, im general case but different directions of movement compared to the current movement.

According to further exemplary embodiments, a movement speed of the construction machine or a movement speed of components of the construction machine, such as an extension of the telescopic arm, can first of all be reduced in the event of a slight overload. In this respect, depending on the force acting on the joystick, various functions can be implemented. For example, a movement speed of the telescopic arm of the machine can be halved from a first threshold and then set to zero when a second threshold is exceeded, i. H. stopping the machine or the telescopic arm, in order to then trigger a counter-movement in a further step. These thresholds can be set in accordance with exemplary embodiments.

According to further exemplary embodiments, it would be conceivable for an alarm signal to be output in the event of a specific overload. Afterwards, for example, the following scenario arises. When the joystick is deflected, a warning is first issued (e.g. on the operator's display). If the force acting on the joystick increases, a counter-movement as mentioned above can be initiated, since it can then be assumed that the machine operator can no longer operate the joystick (for example because the operator is trapped). The "threshold" for a warning signal in the event of an overload can also be set, for example using the input element on the control unit. It would also be conceivable here for the time component, that is to say a certain period of time of not reacting to the alarm signal, to be taken into account in the evaluation.

According to further exemplary embodiments, an alarm signal can also be output if the joystick is in a blocked/locked state, for example, and an attempt is nevertheless made to move it in one of the directions mentioned. This force can be recognized by the evaluation electronics with the aid of the at least one force sensor, so that the operator is then shown a corresponding message to unlock/unlock the joystick on the display or can be output in general.

According to further exemplary embodiments, the evaluation electronics are designed to store and/or store the force signal or the force signals (in the case of several force sensors). store a maximum value for the force signal or signals. The purpose of this is that what is known as “overload control” is achieved. For example, the joystick is designed for a maximum force of 300 N (30 kg). Higher forces can lead to permanent damage to the joystick or the joystick mechanism. The evaluation unit in the joystick module constantly measures the loads acting on the joystick and saves the highest values. The manufacturer of the machine can query these values in the event of service or repairs and, if necessary, preventively replace the joystick mechanism. It would preferably be possible here for the mechanics and electronics of the joystick to be separate, so that a separate exchange is possible. With regard to this separation of mechanics and electronics, it is also noted in general that, in accordance with preferred exemplary embodiments, the evaluation electronics are integrated, for example, on a printed circuit board or arranged on a printed circuit board.

The movement sensor and/or also the force sensor can be realized on the same printed circuit board or generally on a component of the base plate. Existing machines can be retrofitted with the new functionality by replacing this circuit board or generally by replacing the joystick module.

According to further exemplary embodiments, the evaluation electronics can be designed to calibrate the force/DMS sensors using the Hall sensors when the joystick is in the zero position, since the strain gauge sensors usually exhibit a temperature and aging-related drift and it can be assumed that in the neutral position of the joystick, no force should act on the force sensors. These force/DMS sensors can be monitored by the evaluation unit in such a way that a defect in the protective function or the protective elements is indicated. A corresponding warning signal can then be output to the machine operator.

At this point it should also be noted that the additional force sensors can be used to implement a kind of emergency operation, even if the motion sensor (e.g. Hall sensor system) is defective, since the force sensors (DMS sensors) are also used to evaluate an operator as an operating signal can be. The evaluation electronics could then interpret the force signal from the force sensor as a movement signal. The joystick can therefore continue to be operated until the defective module is replaced during the next maintenance or repair.

In this context, however, it would also be conceivable for the evaluation electronics to be designed to determine a position of the joystick/manual control transmitter with the movement sensor to determine and to determine a movement of the joystick / hand controller with the force sensor, although the movement sensor is not defective. Furthermore, the motion signal emitted by the force sensor could be continuously compared with the motion signal of the motion sensor by the evaluation electronics and thus checked for plausibility.

As already explained above, the evaluation electronics and the sensors (motion sensor and one or more force sensors (DMS sensors)) are preferably implemented on a circuit board. The strain gauge sensor elements are usually glued to the printed circuit board. However, a circuit board layout can also be provided corresponding to a different layout, in which the strain gauge sensors are integrated directly into the circuit board.

In the case of the force sensors integrated on the printed circuit board or generally the base plate or a component of the base plate, a deformation of the base plate or the printed circuit board or the component is determined, for example, and a force signal is output based on the determined deformation. With regard to the layout, it should also be noted that, according to exemplary embodiments, the movement sensor is arranged in the perpendicular foot point of the joystick or in the area of the perpendicular foot point, while the one or more force sensors can be provided around this perpendicular foot point.

Another embodiment relates to a construction machine such. B. an aerial work platform with a corresponding expansion element.

• Bestimmen einer Position und/oder ein Bewegen des Joysticks gegenüber der Bodenplatte und Ausgeben eines von der bestimmten Position und/oder der bestimmten Bewegung abhängigen Bewegungssignals;
• Bestimmen einer auf dem Joystick vorherrschenden Kraft, um ein Überlastsignal zu detektieren, und Ausgeben eines von der bestimmten Kraft abhängigen Kraftsignals; und
• Beeinflussung der Bewegung der Baumaschine oder von Komponenten der Baumaschine, wie beispielsweise eines Teleskoparms, in Abhängigkeit des Bewegungssignals und in Abhängigkeit des Kraftsignals.

A further exemplary embodiment relates to a method for operating the hardware components explained above, the method comprising the following steps:

• Determining a position and/or moving the joystick relative to the base plate and outputting a movement signal dependent on the determined position and/or the determined movement;
• determining a force prevailing on the joystick in order to detect an overload signal and outputting a force signal dependent on the determined force; and
• Influencing the movement of the construction machine or components of the construction machine, such as a telescopic arm, depending on the movement signal and depending on the force signal.

Fig. 1

eine schematische Darstellung einer Bedienvorrichtung gemäß einem Basisausführungsbeispiel;

Fig. 2a-c

eine schematische Darstellung einer Hubarbeitsbühne bei der Bewegung, zur Illustration, wie es zu den mittels Ausführungsbeispielen der vorliegenden Erfindung gelösten Sicherheitsproblemen kommen kann;

Fig. 3

eine schematische Darstellung einer weiteren Bedienvorrichtung gemäß einem erweiterten Ausführungsbeispiel;

Fig. 4

eine schematische Darstellung einer Bedienvorrichtung zusammen mit einem Bediener zur Illustration der möglicherweise entstehenden Gefahrensituation, ausgehend von der Bedienvorrichtung aus Fig. 3;

Fig. 5a-5b

schematische Darstellungen einer Bedienvorrichtung, insbesondere eines Handsteuergebers gemäß erweiterten Ausführungsbeispielen;

Fig. 6a-6b

schematische Darstellungen des Handsteuergebers aus den Fig. 5a bis 5b, wobei hier die Ermittlung der bei der Überlast entstehenden Kraft illustriert ist; und

Fig. 7a-7b

schematische Darstellungen zur Illustration der Verformung von Komponenten der Bedienvorrichtung gemäß Ausführungsbeispielen.

Further developments are defined accordingly below. Exemplary embodiments of the present invention are explained below with reference to the accompanying drawings:

1

a schematic representation of an operating device according to a basic embodiment;

Fig. 2a-c

a schematic representation of an aerial work platform during movement, to illustrate how the safety problems solved by means of exemplary embodiments of the present invention can arise;

3

a schematic representation of a further operating device according to an extended embodiment;

4

a schematic representation of an operating device together with an operator to illustrate the possibly arising dangerous situation, starting from the operating device 3 ;

Figures 5a-5b

schematic representations of an operating device, in particular a manual control transmitter according to extended exemplary embodiments;

Figures 6a-6b

schematic representations of the manual control transmitter from the Figures 5a to 5b , whereby the determination of the force arising from the overload is illustrated here; and

Figures 7a-7b

schematic representations to illustrate the deformation of components of the operating device according to embodiments.

Before exemplary embodiments of the present invention are explained in detail below with reference to the accompanying drawings, it should be noted that elements and structures that have the same effect are provided with the same reference symbols, so that the description of them can be applied to one another or are interchangeable.

1 shows a control unit 150 with a manual control transmitter 300, which can also be referred to as a joystick. This manual control transmitter 300 is arranged at an angle relative to a base plate or printed circuit board 430 and is designed to be movable. For example, is the manual control transmitter 300 can be moved vertically in relation to the base plate 430 and at least in one axis (e.g. front-back, cf. arrow X) or in two axes (plus left-right, cf. arrow Y) or even in three axes (plus push-pull, cf. arrow Z). .

The movement is detected by means of a movement sensor 400 belonging to the scope of the operating device 150, e.g. B. a Hall sensor, monitored in the X, Y and / or Z direction. This movement sensor 400 determines the movement of the joystick 300 in relation to the base plate 430 or the printed circuit board 430 on one, two or three axes and outputs a so-called movement signal 401 on the basis of this. This movement signal is received by the optional evaluation unit 500 and evaluated.

In addition, the operating device 150 has a force sensor 410, such as. B. on a strain gauge sensor. This can e.g. B. on the joystick 300 can be arranged. Alternatively, an arrangement of the force sensor in the base plate or printed circuit board 430 would also be conceivable, as illustrated here by the component marked with the reference number 410′. The force sensor 410 (410') outputs a force signal 411, which is also received by the evaluation device 500, for example.

The force signal 411 is, for example, dependent on the deformation of the joystick 300 or dependent on the deformation of the base plate or printed circuit board 430. If the force signal 411 has a predetermined value, such as. B. correspondingly exceeds 300 Newtons, the evaluation device 500 can detect a so-called overload. These 300 Newtons are only an example and can also vary depending on the application, e.g. B. in the range between 10 Newton and 1000 Newton.

As soon as an overload is detected, according to exemplary embodiments, intervention can be made in the control of the aerial work platform. If one assumes, for example, that joystick 300 is moved forward in direction A, so that the aerial work platform is extended, for example, then if there is an overload as a result of a movement in direction A, the corresponding control signal from evaluation unit 500 can no longer be passed on but stop the movement of the boom. Alternatively, it would also be conceivable for the movement to be reversed, as if the joystick 300 were moved in the opposite direction, in order to free the operator from the pinching situation again in the event of damage outlined above. The structure of the operating device is explained in detail below, and in particular exemplary installation situations of the same in an aerial work platform.

Figure 2a shows a working platform 10, which essentially consists of a chassis 11 and a crane mechanism 12 arranged thereon. The crane mechanism 12 is arranged such that it can rotate with respect to the chassis 11 and its angle of attack can be changed by the lifting cylinder 16 . The crane mechanism 12 includes a retractable and extendable telescopic boom 13, at the end of which a basket 14 is arranged. A person 1 can be transported in the basket 14, as shown, or work materials can also be transported.

In order to control the crane mechanism 12, the telescopic boom 13 and/or basket 14 of the work platform 10, ie to move the basket 14 to a required working position, for example, an operating unit 15 is arranged in the basket 14. This operating unit 15 essentially comprises operating levers/manual control devices (or so-called joysticks 30) and optionally also keyboard elements 21, as in 3 shown closer. A working position could be, for example, a porch 6 attached to a building wall 5, such as in Figure 2a shown a balcony. It is usual for an operating unit 15 to be arranged in the cage 14 in the direction of the aerial work platform 10 and for the operator 1 to look in the cage 14 in the direction of the machine 10 . Consequently, when the telescopic boom 13 is extended, the operator 1 moves with his back to the corresponding working position. The arrangement of the operating unit 15 in the basket 14 enables the operator 1 to work more easily and better at the working position, since there are then no parts that would impede his work, such as the operating unit 15, for example.

The disadvantage of the arrangement of the operating unit 15 in the cage 14 is that when approaching the working position, an obstacle, such as a building porch 6, can easily be overlooked by the operator 1 and the operator 1 may collide with the building porch 6. Since the telescopic boom 13 extends further in a movement direction B in the event of a collision between the operator 1 and the front part of the building 6 , the operator 1 is pressed directly onto the operating unit 15 with his upper body 2 . The operator 1 is then no longer able to bring the operating lever or joystick 30 into a zero position and thus stop further extension of the telescopic boom 13 . Such a collision situation is in the Figures 2b and 2c shown. Such accidents lead to the operator 1 becoming trapped between the front part of the building 6 and the operating unit 15.

3 shows an example of an operating unit 15 for controlling the construction machine or the in Figures 2a-2c illustrated system 10 comprising crane mechanism 12 and / or telescopic boom 13 and / or basket 14 of the work platform 10 (or a component of the system). The individual movements of the basket 14 can be changed with the aid of the joysticks 30 , for example the telescopic boom 13 can be retracted and extended or the angle of the crane mechanism 12 can be changed by the lifting cylinder 16 . These joysticks 30 are each arranged on a module 20a and 20b, which can be easily replaced in the event of a defect, for example, without the entire operating unit 15 having to be replaced. A keyboard module 21 and a display 22 for displaying machine-relevant data and parameters are arranged in the operating unit 15 for further functionalities.

4 shows how the operator 1 in the event of a collision with a building porch 6 (see Figure 2c ) is pressed with his upper body 2 directly on the knob 31 of the operating lever or joystick 30 of the operating unit 15 and exerts a force F, FOL on the knob 31. In this situation, the operator 1 would no longer be able to bring the operating lever or joystick 30 into a zero position and thus stop further extension of the telescopic boom 13 .

The Figures 5a and 5b show a joystick module 20a/b in a side view. The mechanical components of the joystick 30 are arranged on a circuit board 43, preferably screwed to it. The joystick lever 30 essentially consists of a knob 31, which the operator 1 uses to actuate the joystick 30 in different directions. Directly below the knob 31 is a latch 33 that must be pulled up each time the joystick is operated. This prevents an unconscious or unintentional actuation of the joystick 30 and thus an unconscious or unintentional movement of the crane mechanism 12, the telescopic boom 13 and/or the basket 14 of the work platform 10. This can happen if the operator 1 turns around in the basket 14, for example and accidentally hits the joystick lever 30 with his elbow. In order to protect the mechanics inside the joystick 30, a so-called bellows 32, which consists of a movable material, is arranged in the lower part. With a lateral movement of the joystick 30, as in Figure 5b shown, the bellows 32 is compressed on one side and on the other side pulled apart. The electronics required for recognizing and evaluating the joystick movements are ideally located below the printed circuit board 43 and essentially consist of a Hall sensor 40. Joystick movements are recognized by a magnet attached to the mechanism, not shown here.

The joystick module 20a/b is preferably detachably fastened to holders 35a/b in the outer edge regions of the printed circuit board 43 by means of fastening means 36. When a force F acts on the knob 31 of the operating lever or joystick 30 of the operating unit 15, a force is thus also exerted on the printed circuit board 43, which leads to mechanical stresses or mechanical deformations of the printed circuit board 43. Such mechanical stresses can be measured with the present invention using at least one strain gauge sensor 41 and/or 42 arranged on the printed circuit board 43 .

Also, an overload, ie a force that goes beyond the maximum permissible load limit on the joystick lever 30, as shown schematically in FIGS Figures 6a and 6b shown, with which at least one strain gauge sensor 41 and/or 42 arranged on the printed circuit board 43 is detected. The overloading of the joystick lever 30 is indicated schematically by the dashed line 44, which shows that the joystick 30 compared to the illustration in Figure 5b was pressed with a stronger force FOL. When the joystick is overloaded in this way, there is greater mechanical tension and also significant deformation of the printed circuit board 43. In the areas designated by the reference symbols 45a and 45b, the printed circuit board 43 lowers or rises in the event of an overload. This should also be made clear by the two arrows FD and FU, which show an upward and downward movement direction of the printed circuit board areas 45a and 45b. Such mechanical overloads can also be measured with the present invention using the DMS sensors 41 and/or 42 arranged on the printed circuit board 43 . If such an overuse or overload is detected by an evaluation unit (see 1 ), a collision situation such as that described above may exist, for example, i.e. the operator could be trapped between the building porch 6 and the operating unit 15, with the upper body 2 of the operator 1 then pressing the joystick lever 30 with a force FOL that exceeds the maximum permissible load limit .

In the case of the above exemplary embodiments, it was assumed in particular that the force sensors/strain measurement sensors are located in the area of the base plate or in a printed circuit board, which is arranged on the bottom plate are provided. The Figures 7a to 7b illustrate, indicated by hatching, the stress conditions in the baseplate/PCB 43 when the joystick 30 is deflected from the rest position shown in dashed line. The rest position is marked with dashed lines, with the deflection or the force leading to the deflection being marked with F.

Even if it was assumed in the above exemplary embodiment in particular that this is a two-dimensional joystick which, for. B. can protrude vertically from the base plate / printed circuit board, it should be noted at this point that it is also another movable element z. B. is pre-angled at a different angle, can act.

In addition, it should also be pointed out that the operating device is not only suitable for the work platforms explained in the above exemplary embodiments, but also for other construction machines.

According to further exemplary embodiments, the movement sensor can be implemented, for example, by an inductive element or a capacitive element. The force sensor also does not necessarily have to be implemented as a strain gauge, but can also be implemented differently.

Further exemplary embodiments relate to a method for operating the aerial work platform. The method comprises the steps of monitoring the movement/position of the joystick and outputting a corresponding movement signal, monitoring a force acting on the joystick and outputting a corresponding force signal, and controlling the construction machine as a function of the two monitored variables.

Although some aspects have been described in the context of a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also constitute a description of a corresponding block or detail or feature of a corresponding device. Some or all of the method steps may be performed by hardware apparatus (or using a hardware apparatus) such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the essential process steps can be performed by such an apparatus.

Depending on particular implementation requirements, embodiments of the invention may be implemented in hardware or in software. Implementation can be performed using a digital storage medium such as a floppy disk, DVD, Blu-ray Disc, CD, ROM, PROM, EPROM, EEPROM or FLASH memory, hard disk or other magnetic or optical memory, on which electronically readable control signals are stored, which can interact or interact with a programmable computer system in such a way that the respective method is carried out. Therefore, the digital storage medium can be computer-readable.

Thus, some embodiments according to the invention comprise a data carrier having electronically readable control signals capable of interacting with a programmable computer system in such a way that one of the methods described herein is carried out.

In general, embodiments of the present invention can be implemented as a computer program product with a program code, wherein the program code is operative to perform one of the methods when the computer program product runs on a computer.

The program code can also be stored on a machine-readable carrier, for example.

Other exemplary embodiments include the computer program for performing one of the methods described herein, the computer program being stored on a machine-readable carrier.

In other words, an exemplary embodiment of the method according to the invention is therefore a computer program that has a program code for performing one of the methods described herein when the computer program runs on a computer.

A further exemplary embodiment of the method according to the invention is therefore a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for carrying out one of the methods described herein is recorded. The data carrier, digital storage medium, or computer-readable medium is typically tangible and/or non-transitory.

A further exemplary embodiment of the method according to the invention is therefore a data stream or a sequence of signals which represents the computer program for carrying out one of the methods described herein. For example, the data stream or sequence of signals may be configured to be transferred over a data communication link, such as the Internet.

Another embodiment includes a processing device, such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.

Another embodiment includes a computer on which the computer program for performing one of the methods described herein is installed.

A further exemplary embodiment according to the invention comprises a device or a system which is designed to transmit a computer program for carrying out at least one of the methods described herein to a recipient. The transmission can take place electronically or optically, for example. For example, the recipient may be a computer, mobile device, storage device, or similar device. The device or the system can, for example, comprise a file server for transmission of the computer program to the recipient.

In some embodiments, a programmable logic device (e.g., a field programmable gate array, an FPGA) may be used to perform some or all of the functionality of the methods described herein. In some embodiments, a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein. In general, in some embodiments, the methods are performed by a any hardware device. This can be hardware that can be used universally, such as a computer processor (CPU), or hardware that is specific to the method, such as an ASIC.

The devices described herein may be implemented, for example, using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.

The devices described herein, or any components of the devices described herein, may be implemented at least partially in hardware and/or in software (computer program).

The methods described herein may be implemented, for example, using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.

The methods described herein, or any components of the methods described herein, may be performed at least in part by hardware and/or by software.

The embodiments described above are merely illustrative of the principles of the present invention. It is understood that modifications and variations to the arrangements and details described herein will occur to those skilled in the art. Therefore, it is intended that the invention be limited only by the scope of the following claims and not by the specific details presented in the description and explanation of the embodiments herein.

Reference List

1

person / operator

2

Upper body of person / operator

5

building wall

6

Building extension/pre-construction (e.g. balcony)

10

aerial work platform

11

vehicle chassis

12

crane mechanism

13

telescopic boom

14

Basket

15

operating unit

16

lifting cylinder

20a/b

joystick module

21

keyboard module

22

screen

30

joystick

31

joystick knob

32

bellows

33

locking

35a/b

bracket

36

fasteners

40

Hall sensor

41

strain gauge sensor

42

strain gauge sensor

43

circuit board

44

Limit line to overload

45a/b

circuit board areas

B

Direction of movement telescopic boom

FD, FU

forces circuit board

F, FOL

Forces on joystick knob

X,Y,Z

Directions of movement joystick / hand control

150

Operating unit / operating device

300

hand controller / joystick

301

nadir point

401

power signal

411

motion signal

410,410`

force sensor

430

base plate / circuit board

500

evaluation unit

Claims (14)

1. Elevating work platform including a crane mechanism (12) and a cage (14), wherein an operating device (15) including a protective function in case of an overload of a hand control device (30, 300), caused by squeezing/jamming of a person in the cage (14), is disposed in the cage (14), the operating device (150, 15) comprising:

   a bottom plate (430, 43);

   the hand control device (30, 300) disposed in an angular relation to the bottom plate (430, 43) and moveable at least one-dimensionally with respect to the bottom plate (430, 43); and

   a movement sensor (40, 400) configured to determine a position and/or a movement of the hand control device (30, 300) with respect to the bottom plate (430, 43) and to output a movement signal depending on the determined position and/or the determined movement; and characterized in that the elevating work platform further comprises a force sensor (410, 410',41, 42) disposed in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43) and configured to determine a force acting on the hand control device (30, 300) and transmitted by the hand control device (30, 300) to the bottom plate (430, 43) and to output a force signal (401) depending on the determined force.
2. Elevating work platform according to claim 1, further comprising evaluation electronics (500), wherein the evaluation electronics (500) are configured to receive the force signal (401) and to determine an overload when a predetermined threshold value is exceeded.
3. Elevating work platform according to any one of the preceding claims, wherein the force sensor (410, 410', 41, 42), is realized by means of strain gauge.
4. Elevating work platform according to claim 1, 2, or 3, wherein the force sensor (410, 410' 41, 42) or the force sensor (410, 410', 41, 42) configured as strain gauge is configured to determine a deformation of the bottom plate (430, 43) or the component (43) connected to the bottom plate, (430, 43) and to output a force signal (401) depending on the deformation.
5. Elevating work platform according to any one of the preceding claims, wherein, in addition to the force sensor (410, 410', 41, 42), the operating device includes an additional force sensor (410, 410', 41, 42) and the force sensor (410, 410', 41, 42) as well as the additional force sensor (410, 410', 41, 42) are integrated in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43) such that they are disposed around a foot of a dropped perpendicular (301) of the hand control device (30, 300) on the bottom plate (430, 43) or the component (43) connected to the bottom plate (430, 43).
6. Elevating work platform according to any one of the preceding claims, wherein the movement sensor (40, 400) is integrated in the bottom plate, (430, 43) or in a component (43) connected to the bottom plate (430, 43); and/or
   wherein the movement sensor (40, 400) is disposed in a foot of a dropped perpendicular (301) of the hand control device (30, 300) on the bottom plate (430, 43) or the component (43) connected to the bottom plate (430, 43).
7. Elevating work platform according to any one of the preceding claims, wherein the movement sensor (40, 400) is a Hall sensor (40).
8. Elevating work platform according to claims 3, 4, 5, 6, or 7, wherein the component (43) connected to the bottom plate (430, 43) includes a circuit board in which the force sensor (410, 410', 41, 42) and/or the movement sensor (40, 400) are integrated.
9. Elevating work platform according to claim 2 or any one of claims 3 to 8 in combination with claim 2, wherein the evaluation electronics (500) are configured, in case of the determined overload, to stop movement of the construction machine (10) and/or, in case of a small overload, to reduce movement speed of the construction machine (10).
10. Elevating work platform according to claim 2 or any one of claims 3 to 9 in combination with claim 2, wherein the evaluation electronics (500) are configured, in case of an overload, to trigger a counter movement, the counter movement being a movement that is different from a current movement of the construction machine (10).
11. Elevating work platform according to claim 2 or any one of claims 3 to 10 in combination with claim 2, wherein the evaluation electronics (500) are configured, in case of an overload and in case of a locked hand control device (30, 300), to output a prompt for unlocking the hand control device (30, 300) and/or, in case of an overload, to output a prompt with respect to the overload.
12. Elevating work platform according to claim 2 or any one of claims 3 to 11 in combination with claim 2, wherein the evaluation electronics (500) are configured to store the force signal (401) and/or store a maximum value for the force signal (401).
13. Elevating work platform according to claim 2 or any one of claims 3 to 12 in combination with claim 2, wherein the evaluation electronics (500) are configured to detect a drift of the force sensor (410, 410', 41, 42) and/or a drift of the movement sensor (40, 400).
14. Method for operating a elevating work platform including a crane mechanism (12) and a cage (14), wherein an operating device (15) including a protective function in case of an overload of a hand control device (30, 300), caused by squeezing/jamming of a person in the cage, is disposed in the cage (14), wherein the operating device (150, 15) comprises: a bottom plate (430, 43); the hand control device (30, 300) disposed in an angular relation to the bottom plate (430, 43) and moveable at least one-dimensionally with respect to the bottom plate (430, 43); a movement sensor (40, 400); and a force sensor (410, 410', 41, 42) disposed in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43), the method comprising:

    determining a position and/or a movement of the hand control device (30, 300) with respect to the bottom plate (430, 43) and outputting a movement signal (411) depending on the determined position and/or the determined movement;

    determining, by means of the force sensor (410, 410', 41, 42), a force prevalent on the hand control device (30, 300) in order to detect an overload, and outputting a force signal (401) depending on the determined force; and

    influencing the movement of the construction machine (10) or of components (12, 13, 16) of the construction machine (10) depending on the movement signal (411) and depending on the force signal (401).

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