DE4317522A1 - Driving method for all wheel steered vehicles - involves using combination of joystick with rotating knob mounted on it or steering wheel - Google Patents

Driving method for all wheel steered vehicles - involves using combination of joystick with rotating knob mounted on it or steering wheel

Info

Publication number
DE4317522A1
DE4317522A1 DE19934317522 DE4317522A DE4317522A1 DE 4317522 A1 DE4317522 A1 DE 4317522A1 DE 19934317522 DE19934317522 DE 19934317522 DE 4317522 A DE4317522 A DE 4317522A DE 4317522 A1 DE4317522 A1 DE 4317522A1
Authority
DE
Germany
Prior art keywords
joystick
vehicle
deflection
angle
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19934317522
Other languages
German (de)
Inventor
Hayno Dipl Ing Rustige
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE19934317522 priority Critical patent/DE4317522A1/en
Publication of DE4317522A1 publication Critical patent/DE4317522A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/12—Hand levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring

Abstract

The method involves using a rotating knob which operates the rotation velocity of the superimposed vehicle velocity proportionally through its deflection of the angle of rotation away from the centre. The joystick operates the linear velocity vector proportionally through its deflection rate from the middle resting position. The deflection angle of the joystick relative to the vehicle defines the tangential velocity vector relative to the vehicle. USE/ADVANTAGE - Effects on intuitive easy driving of theoretically all possible all wheel steered movements enabling platforms and special vehicles to be controlled without problem.

Description

Stand der TechnikState of the art Anwendungapplication

Die Allradlenkung wird in zunehmender Weise in den verschiedenartigsten Fahrzeugen eingesetzt. Insbesondere bei Kranen, Schwertransportern mit sehr vielen Achsen, bei Hub­ geräten, Rollstühlen und Sonderfahrzeugen ergibt sich die Notwendigkeit einer freien Bewe­ gung und Drehung. Auch zur Ansteuerung anderer zweidimensionaler Bewegungen in der Ebene wie z. B. der Hilfsdüsenmanövrierung einer Motoryacht ist dieses System geeignet.All-wheel steering is increasingly used in a wide variety of vehicles used. Especially with cranes, heavy transporters with very many axles, with lifting devices, wheelchairs and special vehicles, there is a need for free movement and rotation. Also for controlling other two-dimensional movements in the Level such as B. the auxiliary nozzle maneuvering of a motor yacht, this system is suitable.

Antrieb der Achsen bzw. RäderDrive the axles or wheels

Häufig werden die teils zahlreichen Achsen durch elektronisch angesteuerte Servomotoren nach vorgegebenen Sollwerten betrieben. Andere Lösungen bedienen sich mechanischer Übertragungsglieder. Diese Techniken sind jedoch nicht Teil der Erfindung.The sometimes numerous axes are often controlled by electronically controlled servomotors operated according to specified setpoints. Other solutions are more mechanical Transmission links. However, these techniques are not part of the invention.

Bedienoberflächeuser interface

Die Erfindung beschränkt sich auf die Bedienoberfläche - also auf die Mensch/Maschine Be­ ziehung - und die Erzeugung der Sollwerte für die Stellung der einzelnen Achsen bzw. Räder. Zur Ansteuerung der Achsen bzw. Räder als auch zur Bedienung der Steuereinrichtung wur­ den in der Vergangenheit die unterschiedlichsten Ansätze und Übertragungstechniken erdacht und realisiert. Hier wird häufig in verschiedenen Programmen zwischen Normalfahrt und Sondermanövern wie (Hundegang etc.) unterschieden. Dabei lassen sich nicht immer alle physikalisch möglichen Bewegungen realisieren. Zudem erfordert dies einen Lernprozeß des Fahrers, und der Lenkprozeß ist nicht leicht intuitiv erfaßbar.The invention is limited to the user interface - that is, to the human / machine loading drawing - and the generation of the setpoints for the position of the individual axes or Bikes. For controlling the axles or wheels as well as for operating the control device who have come up with a wide variety of approaches and transmission technologies in the past and realized. Here is often in different programs between normal driving and A distinction is made between special maneuvers such as (dog walking etc.). Not everyone can always do this realize physically possible movements. In addition, this requires a learning process of Driver, and the steering process is not easy to grasp intuitively.

2. Vorteile und Beschreibung der Erfindung2. Advantages and description of the invention

Eine intuitiv leicht erfaßbare Steuerung aller theoretisch möglichen Allradlenkbewegungen erlaubt jedoch das in dieser Erfindung vorgestellten Prinzip in mathematisch geschlossener Weise. Somit können Plattformen, Stapler und andere Sonderfahrzeuge problemlos gesteuert werden.An intuitively easy to understand control of all theoretically possible all-wheel steering movements however, allows the principle presented in this invention to be mathematically closed Wise. Platforms, forklifts and other special vehicles can thus be easily controlled will.

Physikalische VoraussetzungenPhysical requirements

Jede räumliche Bewegung eines Fahrzeugs in der Ebene läßt sich durch die Überlagerung eines Lineargeschwindigkeitsvektors und eines Drehgeschwindigkeitsvektors darstellen.Every spatial movement of a vehicle in the plane can be superimposed represent a linear velocity vector and a rotational velocity vector.

Erfindungsgemäße AnordnungArrangement according to the invention

Die Ansteuerung der Fahrzeugbewegungen soll erfindungsgemaß durch ein besonderes An­ steuerungselement realisiert werden. Dieses Ansteuerungselement besteht aus einem sog. Joystick und einem Drehknopf, welcher vorzugsweise auf dem Joystick plaziert wurde. The control of the vehicle movements is intended according to the invention by a special type control element can be realized. This control element consists of a so-called Joystick and a rotary knob, which was preferably placed on the joystick.  

Der Drehknopf wirkt durch seine Auslenkung des aus der Mitte proportional auf den Drehgeschwindigkeitsvektor der überlagerten Fahrzeugdrehung, die Joystick-Bewegung wirkt durch ihre betragsmäßige Auslenkung aus der mittigen Ruhestellung proportional auf den Lineargeschwindigkeitsvektor. Der Auslenkungswinkel des Joysticks relativ zum Fahr­ zeug definiert den Winkel des Lineargeschwindigkeitsvektors relativ zum Fahrzeug. Damit lassen sich alle Steuerungs-, Beschleunigungs- und Abbremsvorgänge intuitiv logisch und leicht erfaßbar mit einer Hand ansteuern. Dies bedeutet:
Eine leichte/starke Drehung am Drehknopf nach rechts oder links ohne Joystickauslenkung bewirkt eine langsame/schnelle Fahrzeugdrehung nach rechts oder links. Die Drehung erfolgt dann um einen frei auf dem Fahrzeug per Programm festgelegten Drehpunkt. Die Joystickbewegung ohne Drehknopfauslenkung bewirkt eine Linearfahrt in die Richtung, in welche der Joystick zeigt, welche um so schneller erfolgt, je weiter der Joystick ausge­ lenkt ist.The rotary knob acts proportionally on the rotational speed vector of the superimposed vehicle rotation due to its deflection, the joystick movement acts proportionally on the linear speed vector due to its amount deflection from the central rest position. The deflection angle of the joystick relative to the vehicle defines the angle of the linear velocity vector relative to the vehicle. This means that all control, acceleration and braking processes can be controlled intuitively, logically and easily with one hand. This means:
A slight / strong turn of the rotary button to the right or left without joystick deflection causes a slow / fast turn of the vehicle to the right or left. The rotation then takes place around a pivot point freely defined on the vehicle by the program. The joystick movement without the rotary knob deflection causes a linear movement in the direction in which the joystick points, which occurs the faster the further the joystick is deflected.

Claims (1)

Ansteuerung zweidimensionaler Bewegungen insbesondere eines allradgelenkten Fahr­ zeuges, dadurch gekennzeichnet, daß diese durch eine Kombination eines sog. Joysticks mit vorzugsweise aufmontiertem Drehknopf oder Lenkrad erfolgt. Dabei wirkt der Drehknopf durch seine Auslenkung des Drehwinkels aus der Mitte proportional auf den Drehgeschwin­ digkeitsvektor der überlagerten Fahrzeugdrehung, und die Joystickbewegung wirkt durch ihre betragsmäßige Auslenkung aus der mittigen Ruhestellung proportional auf den Linearge­ schwindigkeitsvektor. Weiterhin definiert der Auslenkungswinkel des Joysticks relativ zum Fahrzeug den Winkel des Tangentialgeschwindigkeitsvektors relativ zum Fahrzeug.Control of two-dimensional movements, in particular of a four-wheel drive vehicle, characterized in that this is carried out by a combination of a so-called joystick with a preferably mounted rotary knob or steering wheel. The rotary knob acts proportionally to the rotary speed vector of the superimposed vehicle rotation due to its deflection of the angle of rotation from the center, and the joystick movement acts proportionally to the linear speed vector due to its amount deflection from the central rest position. Furthermore, the deflection angle of the joystick relative to the vehicle defines the angle of the tangential speed vector relative to the vehicle.
DE19934317522 1993-05-26 1993-05-26 Driving method for all wheel steered vehicles - involves using combination of joystick with rotating knob mounted on it or steering wheel Withdrawn DE4317522A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19934317522 DE4317522A1 (en) 1993-05-26 1993-05-26 Driving method for all wheel steered vehicles - involves using combination of joystick with rotating knob mounted on it or steering wheel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19934317522 DE4317522A1 (en) 1993-05-26 1993-05-26 Driving method for all wheel steered vehicles - involves using combination of joystick with rotating knob mounted on it or steering wheel

Publications (1)

Publication Number Publication Date
DE4317522A1 true DE4317522A1 (en) 1993-11-04

Family

ID=6488966

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19934317522 Withdrawn DE4317522A1 (en) 1993-05-26 1993-05-26 Driving method for all wheel steered vehicles - involves using combination of joystick with rotating knob mounted on it or steering wheel

Country Status (1)

Country Link
DE (1) DE4317522A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7190513B2 (en) 2003-08-04 2007-03-13 Carl Zeiss Ag Microscopy system and method
DE102018206747A1 (en) * 2018-05-02 2019-11-07 Bayerische Motoren Werke Aktiengesellschaft Steering handle of a vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7190513B2 (en) 2003-08-04 2007-03-13 Carl Zeiss Ag Microscopy system and method
DE102018206747A1 (en) * 2018-05-02 2019-11-07 Bayerische Motoren Werke Aktiengesellschaft Steering handle of a vehicle

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Legal Events

Date Code Title Description
OAV Applicant agreed to the publication of the unexamined application as to paragraph 31 lit. 2 z1
8122 Nonbinding interest in granting licenses declared
8139 Disposal/non-payment of the annual fee