CN110827527A

CN110827527A - Operation rod, remote controller, remote control system and remote control method

Info

Publication number: CN110827527A
Application number: CN201910963771.3A
Authority: CN
Inventors: 常铮; 谢芬; 张迁; 刘俭
Original assignee: Hunan Intellectual Technology Co Ltd Of Zhong Lianchong Section
Current assignee: Hunan Intellectual Technology Co Ltd Of Zhong Lianchong Section
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2020-02-21

Abstract

The invention discloses an operating rod, a remote controller, a remote control system and a remote control method, wherein the operating rod comprises: the rod body is used for completing the operation and control action under the action of external force; the human body detection module is arranged on the rod body and used for judging whether a human body contacts the rod body; and the signal generation module is connected with the rod body and used for generating a corresponding trigger signal according to the control action of a human body on the rod body and sending the trigger signal to the outside. When the rod body finishes the operation and control action, the human body detection module is used for judging whether a human body contacts the rod body, namely whether the operation and control action is finished by a user, if the human body contact is not detected, the rod body action is judged as the misoperation, and a corresponding trigger signal cannot be generated, so that the misoperation of the operation rod can be effectively identified, and the misoperation of a controlled machine caused by the misoperation is prevented.

Description

Operation rod, remote controller, remote control system and remote control method

Technical Field

The invention relates to the technical field of automatic control, in particular to an operating rod, a remote controller, a remote control system and a remote control method.

Background

The operating lever (linear proportional lever, multi-level rocker, etc.) is a component carried on the industrial wireless remote controller for generating and sending a trigger signal to the processor. However, due to the diversification and complexity of the use environment of the industrial wireless remote controller, the safety precaution of the industrial wireless remote controller needs to be improved as much as possible, and the function of the existing panel operation element is mature but not complete; the existing industrial wireless remote controller does not have the capability of processing the false touch, once the operation rod completes operation actions under the non-user subjective control, such as pressing, shifting and other false operations, the generated trigger signal can be transmitted to the receiver, so that the controlled machine causes false actions, normal industrial operation processes are influenced, and safety accidents can be caused. On the other hand, the false touch may be caused by the user's subjectivity, for example, in the case of poor light at night, the user may be difficult to recognize the numerous operation levers and the current operation positions on the remote controller under the environment, which may cause the user to subjectively want to complete/implement a certain operation, but the false touch is caused by the operation error, and the purpose cannot be achieved.

Disclosure of Invention

In view of the problems in the prior art, the invention provides an operation rod, a remote controller, a remote control system and a remote control method, which effectively prevent the operation rod from being touched by other objects by mistake, improve the identifiability of the operation rod and prevent the operation rod from being touched by mistake caused by users.

The invention discloses an operating rod, comprising:

the rod body is used for completing the operation and control action under the action of external force;

the human body detection module is arranged on the rod body and used for judging whether a human body contacts the rod body;

and the signal generation module is connected with the rod body and used for generating a corresponding trigger signal according to the control action of a human body on the rod body and sending the trigger signal to the outside.

Further, the human body detection module is a touch switch, and the touch switch is provided with a touch surface used for contacting with a human body to complete the judgment.

Further, the touch switch is a capacitive touch switch and is used for judging whether a human body contacts the rod body. The touch surface arranged on the rod body is a transparent touch surface.

Further, the touch surface is disposed at a position where an external force is applied to the rod body when the manipulation is performed.

Furthermore, a light module is arranged on the rod body and positioned below the transparent touch surface.

Furthermore, the light module is a color-changing light module, and the color-changing light module is further connected with the signal generating module and used for changing corresponding colors according to the trigger signal.

Further, the touch surface is provided with an identification module of a concave-convex structure, so that a user can identify the concave-convex structure through touching the identification module.

Furthermore, the touch switch is a resistance touch switch, and the touch surface of the resistance touch switch is arranged at the top end of the rod body and is also arranged on the side surface of the rod body in a surrounding manner.

Furthermore, the touch switch is connected to a power supply circuit of the signal generation module and is used for closing the power supply circuit to supply power to the signal generation module when the fact that a human body contacts the rod body is judged;

or the touch switch is connected to the signal sending circuit of the signal generating module and used for closing the signal sending circuit when the fact that the human body contacts the rod body is judged, so that the triggering signal is sent outwards.

Further, the signal generation module is a potentiometer; the trigger signal is an analog quantity signal.

The invention also discloses a remote controller, comprising:

an operating lever as described above;

the main controller is connected with the signal generation module and is used for receiving and processing the trigger signal to generate a control instruction;

and the sending module is connected with the main controller, and the main controller sends a control instruction to the outside through the sending module.

Further, the sending module is a wireless sending module.

The invention also discloses a remote control system, comprising:

the above-mentioned remote controller;

the receiving module is used for receiving the control instruction sent by the sending module;

the execution control module is used for receiving and processing the control instruction sent by the receiving module;

and the execution module is used for performing corresponding operation under the control of the execution control module.

The invention also discloses a remote control method, which comprises the following steps:

the rod body of the operating rod completes the operation and control action under the action of external force;

judging whether a human body contacts the rod body or not when the control action is carried out, if so, generating a corresponding trigger signal by the signal generation module according to the control action and sending the trigger signal to the outside; and if not, the signal generation module does not respond.

The invention has at least the following beneficial effects:

when the rod body finishes the operation and control action, the human body detection module is used for judging whether a human body contacts the rod body, namely whether the operation and control action is finished by a user, if the human body contact is not detected, the rod body action is judged as the misoperation, and a corresponding trigger signal cannot be generated, so that the misoperation of the operation rod can be effectively identified, and the misoperation of a controlled machine caused by the misoperation is prevented.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In the drawings:

FIG. 1 is a system flow diagram of a joystick in accordance with an embodiment of the present invention;

FIG. 2 is a front view of a mast body according to an embodiment of the present invention;

FIG. 3 is a side view of a mast body according to an embodiment of the present invention;

FIG. 4 is a front view of the multi-speed rocker according to the embodiment of the present invention;

FIG. 5 is a diagram illustrating a position structure of a remote controller according to an embodiment of the present invention;

FIG. 6 is a flow chart illustrating the use of a remote control according to an embodiment of the present invention;

FIG. 7 is a flow chart illustrating the use of an execution apparatus according to an embodiment of the present invention;

fig. 8 is a flowchart of a method according to an embodiment of the invention.

Description of reference numerals:

1-touch surface 2-stick body

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

The invention discloses an operating rod, which is mainly used for controlling an industrial device and comprises the following parts:

(1) and the rod body 2 is used for completing the operation and control action under the action of external force. Usually, the lower end of the rod body 2 is hinged to a remote controller/console or other devices, and a user can perform operation actions such as dialing and the like by operating the upper end of the rod body 2 with a hand, and different operation actions can generate corresponding trigger signals. Preferably, the rod body 2 is made of high-strength engineering plastics, and has better durability.

(2) The human body detection module is arranged on the rod body 2 and used for judging whether a human body contacts the rod body 2. The operation flow of compliance certainly is that the staff initiatively controls body of rod 2, but the foreign matter touching often can appear in the actual production operation and lead to the emergence of mistake touching, and human detection module is exactly used for judging whether the staff normally controls or the foreign matter mistake touches a key part of body of rod 2, specifically can adopt multiple type sensor to realize, for example, infrared distance sensor, linear switch etc.. The human body detection module can directly send the detection signal to the signal generation module (under the condition that the signal generation module is provided with a processor) for processing so as to judge whether the human body contacts the rod body 2 or not, and can also judge the detection signal through the processor arranged by the human body detection module and send the judgment result to the signal generation module.

(3) And the signal generation module is connected with the rod body 2 to respond to the control action of the rod body 2, and is also connected with the human body detection module to judge whether the control action is actively completed by a user or is mistakenly triggered due to the mistaken touch of foreign matters. The module can receive detection information of the human body detection module, and is used for generating corresponding trigger signals according to the control action of the human body on the rod body 2 and sending the trigger signals to the outside, and the trigger signals cannot be normally sent to corresponding receiving devices for the mistaken touch control action controlled by non-working personnel. The signal generation module can be provided with a processing chip of the existing model to generate a trigger signal of a digital signal type; the trigger signal of the analog signal does not need to be provided with a processing chip.

As shown in FIG. 1, the process of the present invention is as follows:

the rod body 2 performs and completes the operation and control action under the action of external force, but the external force can be applied actively by workers, and can also be caused by the mistaken touch of foreign matters, so that the human body detection module is required to judge whether a human body touches the operating rod at the moment so as to determine whether the mistaken touch occurs, if the human body detection module does not detect the human body touch, the operation and control action is finished, namely the signal generation module does not respond to the operation and control action, and a related receiving device does not receive a trigger signal; if the human body detection module detects human body contact, the signal generation module normally responds to the operation and control action to generate and send a trigger signal to the receiving device to complete control.

In some embodiments of the present invention, the human body detection module is a touch switch, and the touch switch is provided with a touch surface 1 for contacting with a human body to complete the determination. The touch surface 1 is disposed on the surface of the rod 2, and when a user operates the rod 2, the user must touch the surface of the rod 2, and the touch switch can detect that a human body touches the rod 2. The touch switch has a simple structure, is convenient to refit, has a good detection effect and low cost, and is particularly suitable for linear proportional levers in industrial remote controllers.

The touch switch is preferably a capacitive touch switch, does not need a human body to directly contact metal, can thoroughly eliminate potential safety hazards, can be used even with gloves, is not influenced by resistance changes of dry and wet human bodies in the weather, and is more convenient to use. The sensing part can be placed behind any insulating layer (usually glass or plastic material), and the sealing performance is good. The sensing part of the capacitive touch switch can be detected through a transparent layer of 20mm, so that the touch surface 1 on the rod body 2 is made of glass, organic glass, plastic or other light-transmitting materials and is correspondingly arranged below the transparent touch surface 1. The working principle of the capacitive touch switch belongs to the prior art, and the working principle is not described in detail.

As shown in fig. 2 and 3, the touch surface 1 does not need to completely cover the surface of the rod 2, and only needs to be disposed at a position where an external force is applied to the rod 2 during the manipulation. Taking a linear proportional lever, which is a common operating lever in an industrial remote controller, as an example, the control of the relevant devices is generally realized by toggling the linear proportional lever forward and backward, and a controller usually only touches the front and the back of the side surface of the lever body 2 with hands, so that the touch surface 1 is arranged at the two positions, which are shown in fig. 2 and 3 as the position of the touch surface 1. The structure not only ensures the accuracy of detection, but also is convenient to install/refit, and effectively controls the cost.

The operation using the operation lever is also often at night, because the ambient light is not enough and the number of the operation levers on the remote controller/the operation table is large, the situation that the operation of other operation levers causes wrong control often occurs to the staff, although the operation lever is mistakenly touched, the operation lever can not be judged to be mistakenly touched and is continuously executed because the operation lever is actively operated by a human body. In order to avoid the above situation, in the embodiment of the present invention, the light module is embedded in the rod body 2 and disposed below the transparent touch surface 1, so that the light module does not occupy an excessive volume, the light can penetrate through the transparent touch surface 1 to illuminate the surrounding environment of the rod body 2, and the misoperation caused by the selection of a wrong operation rod by a worker is prevented, and the light module can adopt a light source such as a diode.

Preferably, the light module adopts the color-changing light module to send the light of different colours, can adopt high luminance RGB lamp pearl to realize, and every action bars is set for the light that has different colours for the staff is surveyable, further prevents the appearance of mistake touching. During night work, the operation action that the staff is difficult to judge that the current operating lever has accomplished because of the position change is not obvious around the operation action of the body of rod 2 still can appear, consequently, the change light optical module still is connected with foretell signal generation module in this embodiment for according to different color of different trigger signal transform, for example, the light module of linear proportion driving lever sends red light usually, stir linear proportion driving lever upwards as the staff, signal generation module produces trigger signal, the light module becomes to send green light, and to the condition that the linear proportion driving lever that the foreign matter mistake touched the emergence was dialled up, the light module sends yellow light, in order to remind the staff to have taken place the mistake and touched the condition.

Besides reminding workers in a visual mode to prevent active mistaken touch of human bodies, the intelligent alarm can remind workers in a tactile manner. Specifically, the touch surface 1 is equipped with concave-convex structure's identification module for the staff can pass through the touch identification module discerns concave-convex structure to each action bars on the remote controller, has different concave-convex structure separately, and immediately under the not enough condition of light, the staff also can distinguish the action bars through the touch, carries out "blind operation" even, prevents the emergence that human initiative was touched by mistake.

In some embodiments of the present invention, the touch switch module may also employ a resistive touch switch using a built-in transistor as a switch, using a built-in resistor to be kept grounded when there is no touch, in the fact that a human body is made conductive based on the presence of a large amount of water and salt in human tissue. When the touch surface 1 is touched, a small amount of current is conducted through the skin and flows to the position of the transistor, and when the transistor is conducted from open circuit to saturation, the trigger signal can be successfully sent to the corresponding device/component by the signal generation module. The resistance touch switch can be well adapted to a multi-gear rocker, when the multi-gear rocker is used, a worker often operates in a mode of holding the top end of the rod body 2, therefore, the touch surface 1 of the resistance touch switch is arranged at the top end of the rod body 2 and is arranged on the side surface of the rod body 2 in a surrounding mode, and the structure shown in fig. 4 is referred.

No matter what type of touch switch is adopted, its purpose is that prevent that the foreign matter from touching by mistake and leading to signal generation module to send trigger signal successfully, and concrete implementation structure includes following several:

the touch switch is connected to a power supply circuit of the signal generation module and used for closing the power supply circuit to supply power to the signal generation module when the human body is judged to contact the rod body 2. This structure has restricted trigger signal's production, and signal generation module power supply circuit is usually in the off-state, does not have power supply signal generation module and can't produce trigger signal naturally, only detects human touch body of rod body 2 and just can make its power supply circuit closed, and signal generation module normally works.

And secondly, the touch switch is connected with a signal sending circuit of the signal generating module and is used for closing the signal sending circuit when the fact that the human body contacts the rod body 2 is judged so as to finish the outward sending of the trigger signal. This structure has restricted trigger signal's transmission, just can produce trigger signal as long as body of rod 2 accomplishes the action of controlling, but because sending circuit is normally open, only just closed when judging human contact body of rod 2, effectively prevent the mistake and touch the sending of the trigger signal that produces.

Thirdly, to the industry remote controller, the trigger signal that produces will send for controller (MCU) to handle usually, the collection of controller mainly used processing data, transmission and logical operation, touch switch can with the controller is connected to can send detected signal and judge for the controller whether for the mistake touches for the controller, when judging for the mistake touches, the controller can not handle trigger signal, and control flow terminates.

The above are only some preferred structures, and the present invention can also adopt other existing circuit structures to realize the above functions, which are not described one by one herein.

In some embodiments of the present invention, the signal generating module is a potentiometer, and the trigger signal is an analog signal. The potentiometer is used for changing voltage and current through sliding variable resistance to form a continuous analog quantity signal.

The invention also discloses a remote controller, the structure of which after the assembly is as shown in figure 5, comprising:

(1) the operating rod of any of the above embodiments includes a linear proportional rod, a multi-gear rocker, etc.;

(2) the main controller (controller) is connected with the signal generation module and is used for receiving and processing the trigger signal to generate a control instruction;

(3) and the sending module is connected with the main controller, and the main controller sends a control instruction to the outside through the sending module.

In some embodiments of the present invention, the sending module is a wireless sending module, and is specifically divided into a data transmission module part, which is used for processing signals such as received and sent control commands; and the antenna part is used for receiving and transmitting signals such as remote control commands and the like.

As shown in fig. 6, the control flow of the remote controller disclosed in the embodiment of the present invention is as follows:

the staff controls the operation rods such as the linear proportional lever and the like according to the requirements, the capacitance touch module detects whether a human body contacts the rod body 2, if not, the foreign body is touched by mistake, and the operation is finished; if so, the potentiometer generates a trigger signal and sends the trigger signal to the main controller, and the main controller further processes the trigger signal and sends the trigger signal to the wireless sending module for sending the trigger signal to the outside so as to finish the process.

The invention also discloses a remote control system, comprising:

(1) a remote controller as disclosed above;

(2) the receiving module is used for receiving the control instruction sent by the sending module;

(3) the execution control module is used for receiving and processing the control instruction sent by the receiving module;

(4) and the execution module is used for performing corresponding operation under the control of the execution control module. Specifically, various industrial devices, instruments, and the like can be used.

As shown in fig. 7, the control flow of the remote control system disclosed in the embodiment of the present invention is as follows:

the staff controls the operation rods such as the linear proportional lever and the like according to the requirements, the capacitance touch module detects whether a human body contacts the rod body 2, if not, the foreign body is touched by mistake, and the operation is finished; if so, the potentiometer generates a trigger signal and sends the trigger signal to the main controller, the main controller further processes the trigger signal and sends the trigger signal to the wireless sending module for sending the trigger signal to the outside, the receiving module receives the control instruction and sends the control instruction to the execution control module for processing, and the execution control module controls the execution module to complete corresponding operation according to processed data.

As shown in fig. 8, the present invention also discloses a remote control method, comprising:

s1: the operating rod of any one of the above embodiments completes the operation and control action under the action of external force;

s2: judging whether a human body contacts the rod body 2 or not when the control action is carried out, if so, generating a corresponding trigger signal by a signal generation module according to the control action and sending the trigger signal to the outside; and if not, the signal generation module does not respond.

The operating rod, the remote controller, the remote control system and the remote control method disclosed by the invention can be applied to emergency situations which may occur in each use scene, can prevent foreign matter from being touched by mistake, and can effectively reduce the time required by an operator to make a correct response action, and the specific application examples are as follows:

applied to the workshop: driving and fork truck. The function of judging whether the operation is manual operation is provided, misoperation caused by foreign matter touch is prevented, and accidents are prevented.

Applied to outdoor construction sites:

pump trucks (tower pumps). Before the first and second arms reach the correct position, a series of unstable conditions such as strong wind may occur at the high altitude, when an emergency treatment operation is required, the operator can quickly find the correct poking rod head with the corresponding function in the poking rod head with the self-defined shape (concave-convex structure) through the touch sense, so that the operator can be completely conscious of performing the correct operation under the emergency condition, and the time spent in coping with the emergency condition can be greatly reduced by using blind operation.

Provided is a tower crane. In the hoisting process of the tower crane, if the tower arm moves horizontally, hoisted objects can possibly contact with the wall. If the pre-collision system originally equipped on the tower crane has a fault, an operator is required to perform manual operation to perform emergency braking. The shorter the operation time, the better, at this moment, because each operating lever can be conveniently and effectively distinguished by vision and touch, the time for searching and distinguishing the operating lever can be omitted when emergency braking is carried out. If the building distances of the plurality of tower cranes are too close or the tower cranes are overlapped in a three-dimensional mode, the hoisted objects or the arm main bodies of the tower cranes have the possibility of collision. The industrial wireless remote controller has the advantages that the observation point can be selected at will, and the limited visual field in the cab of the tower crane is not limited. Has better operation visual field to avoid accidents.

Truck cranes (crawler cranes). The working environment of an all-terrain truck crane (crawler crane) is not fixed on a certain specific site. Sometimes, the torque limiter is arranged beside a common street, and can restrict the boarding rotation angle of a truck crane (crawler crane) under the function of the torque limiter, so that the safety is improved to a certain extent. But at the side of a common street, indefinite variables such as pedestrians, electric vehicles and automobiles are not avoided. If the operation is carried out in the cab, the visual field is limited, even if the rotation angle is limited, the danger can not be avoided to the maximum extent, the working visual angle can be freely selected by using the remote controller, and when the danger occurs, the emergency stop can be carried out at the fastest speed. In addition, the response time for emergency situations is limited, and in such situations, the blind operation of the key function shift lever can be quickly identified, so that the implementation time of first aid after the danger is detected by an operator can be reduced as much as possible.

Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.

Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims

1. An operating lever, comprising:

2. The joystick of claim 1, wherein the human body detection module is a touch switch provided with a touch surface for contacting a human body to complete the determination.

3. The lever according to claim 2,

the touch switch is a capacitive touch switch and is used for judging whether a human body contacts the rod body;

the touch surface arranged on the rod body is a transparent touch surface.

4. The joystick of claim 3, wherein the touch surface is provided at a position where an external force is applied to the stick body when the manipulation is performed.

5. The joystick of claim 3, wherein a light module is further disposed on the shaft body below the transparent touch surface.

6. The joystick of claim 5, wherein the light module is a color-changing light module, and the color-changing light module is further connected with the signal generation module and is used for changing corresponding colors according to the trigger signal.

7. The joystick of claim 2, wherein the touch surface is provided with a relief-structured recognition module so that a user can recognize the relief structure by touching the recognition module.

8. The joystick of claim 2, wherein the tactile switch is a resistive tactile switch, and the tactile surface of the resistive tactile switch is disposed at the top end of the shaft and is disposed around the side of the shaft.

9. The lever according to claim 2,

the touch switch is connected with a power supply circuit of the signal generation module and is used for closing the power supply circuit to supply power to the signal generation module when judging that a human body contacts the rod body;

10. The joystick of claim 2, wherein the signal generating module is a potentiometer; the trigger signal is an analog quantity signal.

11. A remote control, comprising:

the lever of any one of claims 1-10;

12. The remote controller according to claim 11, wherein the transmission module is a wireless transmission module.

13. A remote control system, comprising:

the remote controller of claim 11 or 12;

14. A remote control method, comprising:

the operating rod according to any one of claims 1-10, wherein the operating rod performs a manipulation action under the action of an external force;