EP0151479B1 - Control assembly - Google Patents

Control assembly Download PDF

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Publication number
EP0151479B1
EP0151479B1 EP85101152A EP85101152A EP0151479B1 EP 0151479 B1 EP0151479 B1 EP 0151479B1 EP 85101152 A EP85101152 A EP 85101152A EP 85101152 A EP85101152 A EP 85101152A EP 0151479 B1 EP0151479 B1 EP 0151479B1
Authority
EP
European Patent Office
Prior art keywords
sensors
control rod
control
motion
control device
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.)
Expired
Application number
EP85101152A
Other languages
German (de)
French (fr)
Other versions
EP0151479A2 (en
EP0151479A3 (en
Inventor
Harald Dipl.-Ing. Fritz
Peter Dipl.-Ing. Wurll
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Siemens AG
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Siemens AG
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Publication date
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Publication of EP0151479A2 publication Critical patent/EP0151479A2/en
Publication of EP0151479A3 publication Critical patent/EP0151479A3/en
Application granted granted Critical
Publication of EP0151479B1 publication Critical patent/EP0151479B1/en
Expired legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D3/00—Diffusion processes for extraction of non-metals; Furnaces therefor
    • C21D3/02—Extraction of non-metals
    • C21D3/04—Decarburising
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D8/00—Modifying the physical properties by deformation combined with, or followed by, heat treatment
    • C21D8/02—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips
    • C21D8/04—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing
    • C21D8/0421—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing characterised by the working steps
    • C21D8/0426—Hot rolling
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D8/00—Modifying the physical properties by deformation combined with, or followed by, heat treatment
    • C21D8/02—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips
    • C21D8/04—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing
    • C21D8/0447—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing characterised by the heat treatment
    • C21D8/0457—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing characterised by the heat treatment with diffusion of elements, e.g. decarburising, nitriding
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D8/00—Modifying the physical properties by deformation combined with, or followed by, heat treatment
    • C21D8/02—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips
    • C21D8/04—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing
    • C21D8/0447—Modifying the physical properties by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips to produce plates or strips for deep-drawing characterised by the heat treatment
    • C21D8/0473—Final recrystallisation annealing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04762—Force transducer, e.g. strain gauge

Definitions

  • the invention relates to a control device according to the preamble of claim 1.
  • control device is already known from “IBM Technical Disclosure Bulletin •, vol. 13, number 2, July 1970, pages 578 and 579.
  • the control device has three control rods, each of which has three movement or pressure-sensitive sensors at one end opposite the manipulation handle. The sensors are arranged so that all six degrees of freedom can be detected when the control device is actuated.
  • the output signals of the force- or motion-sensitive sensors are used to control electric motors, which in turn interact with aiming devices for tracking instruments.
  • hand movements of a controlling person can thus be converted into corresponding mechanical movements of an object.
  • the invention has for its object to provide a control device of the type mentioned, in which, with a simple structure, an interference-free transmission of mechanical actuations of the control rod into electrical signals and optimal utilization of all possible movements of the control rod by evaluating the signals on a screen are possible.
  • a control device of the type mentioned at the outset has the features of the characterizing part of claim 1.
  • control parameters For example, when controlling a cursor on the screen of a display device, it is advantageous not only to influence the direction of movement, but also the speed of movement of the cursor via the sensors. In the arrangement according to the invention, this can easily be achieved by detecting the extent to which the sensors are influenced. Also a change in the image representation itself, e.g. B. with regard to the location or the scale of the representation, is possible here by the large number of movement components of the control rod, so that all of these control functions can be carried out by actuating the free end of the control rod with one hand. It is also conceivable to use the arrangement according to the invention to detect a lock signal (lock) for fixing the image display in one direction of movement, as a result of which either the position of the cursor or other properties of the display can be recorded.
  • lock signal lock
  • the sensors mentioned are so-called multi-component force sensors, namely strain gauges, either semiconductor or conventional metal strain gauges, which experience a change in their electrical values when stretched.
  • control device advantageously has the features according to one of subclaims 2 to 4 or a combination of these claims.
  • a flexible section 2 is fixedly mounted on a holder 3; the other end of the section 2 carries a handle 4 with which the control rod 1 can be operated by hand.
  • the flexible section 2 carries the strain gauges made of semiconductor material as a force or. motion-sensitive sensors.
  • Strain gauges 5 and 6 lie here in the upper part transversely to the longitudinal axis 7 of the control rod 1.
  • Parallel to the course of the longitudinal axis 7 are strain gauges 8, 9, 10 and 11 attached (strain gauge 11 not visible here because it is opposite the strain gauge 9 on the other side of the section 2).
  • strain gauges 12 and 13 on the section 2, which are each arranged at 45 ° to the longitudinal axis 7 crossed one above the other.
  • the planes also show sectional planes A-A ', BB' and CC ', these sectional representations being shown separately in FIG. 2.
  • section A-A ' is visible, as a result of which the position of the two strain gauges 5 and 6 on section 2 can be seen.
  • section B-B ' is shown with the strain gauges 8, 9, 10 and 11, and in section c) the section C-C' is drawn, the two strain gauges 12 and 13 being indicated one above the other.
  • Part d) of FIG. 2 shows the forces that can be applied to the control rod 1 and thus to the flexible section 2.
  • the force K1 is effective in the direction of the longitudinal axis 7, in the illustration given here acting in the plane of the drawing, but it can also be effective in the opposite direction.
  • the forces K2 and K3 each act transversely to the longitudinal axis 7 and are at an angle of 90 ° to one another.
  • a torque M1 can also be applied, with which a torsional movement of the flexible section 2 and thus of the control rod can be carried out in the direction shown here, but also in the opposite direction. All of these actuation forces can be adapted to the human hand with which the control rod is operated.
  • the strain gauges 12 and 13 are subjected to strain and thus a change in their electrical properties and the generation of a corresponding electrical signal can be effected.
  • the strain gauge 9 (see part b) of FIG. 2) is particularly subjected to strain and the strain gauge 11 is compressed, which means that appropriate electrical signals can also be generated with these strain gauges.
  • the strain gauge 8 is subjected to strain and the strain gauge 10 to compression, whereby this movement of the control rod 1 can also be detected and converted into an electrical signal.
  • a torsional movement due to the torque M1 leads to an expansion or compression of the two strain gauges 12 and 13 and thus to a corresponding torque-dependent electrical signal.
  • FIG. 3 shows an application of the control rod 1 according to the invention, a marker point 17 called a cursor being to be moved on a screen 15 of a display device 16 in its position on the screen.
  • the forces required for this on the control rod 1 are shown in FIG. 4, the partial forces K2 and K3 detected by the strain gauges 8... 11 leading to a total force K in the movement indicated in FIG. 3 from bottom left to top right , which is determined by the size of the partial forces K2 and K3 in their direction and in their amount.
  • the control of the cursor 17 can be carried out in a simple manner in such a way that the direction of the cursor movement can be determined from the vector direction of the total force K and the speed of the cursor movement from the vector length of the total force K.
  • FIG. 4 also shows the forces K1 and M1 with which, for example, a shift or a rotation of the entire display on the screen 15 is achieved by the torque M1 or a change in the scale of the display on the screen 15 with the force K1 can.
  • the individual sensors or strain gauges 5... 13 are shown schematically in a module 20.
  • the strain gauges are supplied with voltage by a supply device 21 and can, for example, be connected together in a bridge circuit within the module 20 in such a way that they generate a corresponding electrical signal at the output 22 when a force is exerted on the sensors or strain gauges.
  • a measuring amplifier 23 which can also have an integrating effect, these signals are amplified and converted in an A / D converter 24 into a corresponding binary information.
  • the microprocessor 25 connected to it converts the signals into corresponding information for the line-type image representation required here and determines, for example, the movement direction and speed variables to be calculated from the vector direction or the vector length of the total force K.
  • the output signals of the microprocessor 25 are fed to the signal processing parts of the display device 16 via a display device control 26, so that the effects on the movable cursor 17 or on the change in the image display in the display device 16 can be carried out on the screen 15 with reference to FIGS .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Position Input By Displaying (AREA)

Description

Die Erfindung bezieht sich auf eine Steuervorrichtung gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a control device according to the preamble of claim 1.

Eine solche Steuervorrichtung ist aus « IBM Technical Disclosure Bulletin •, Vol. 13, Number 2, Juli 1970, Seiten 578 und 579, bereits bekannt. Die Steuervorrichtung weist drei Steuerstäbe auf, die jeweils drei bewegungs- bzw. druckempfindliche Sensoren an einem dem Manipulationsgriff gegenüberliegenden Ende aufweisen. Die Sensoren sind so angeordnet, daß alle sechs Freiheitsgrade bei der Betätigung der Steuervorrichtung detektierbar sind.Such a control device is already known from “IBM Technical Disclosure Bulletin •, vol. 13, number 2, July 1970, pages 578 and 579. The control device has three control rods, each of which has three movement or pressure-sensitive sensors at one end opposite the manipulation handle. The sensors are arranged so that all six degrees of freedom can be detected when the control device is actuated.

Bei einer weiteren bekannten Steuervorrichtung dieser Art (DE-A-20 30 048) werden die Ausgangssignale der kraft- bzw. bewegungsempfindlichen Sensoren zur Steuerung von Elektromotoren herangezogen, die wiederum mit Richtmitteln für Zielverfolgungsinstrumente zusammenwirken. Es können somit bei der bekannten Steuervorrichtung Handbewegungen einer steuernden Person in entsprechende mechanische Bewegungen eines Objekts umgewandelt werden.In a further known control device of this type (DE-A-20 30 048), the output signals of the force- or motion-sensitive sensors are used to control electric motors, which in turn interact with aiming devices for tracking instruments. In the known control device, hand movements of a controlling person can thus be converted into corresponding mechanical movements of an object.

Es ist weiterhin bereits bekannt, von Hand bedienbare Steuerstäbe (sogenannte Joysticks) so aufzubauen, daß an einem beweglich gehaltenen Ende beispielsweise Potentiometer, Drehwinkelgeber oder Schalter angebracht werden, deren Widerstandswerte oder Schaltzustände bei einer Betätigung des Steuerstabs verändert werden können. Die Bewegung kann hier auch in mehreren Freiheitsgraden erfolgen, wobei für jede Bewegungsrichtung beispielsweise ein Potentiometer angebracht ist. Steuerstäbe mit einem solchen Aufbau werden z. B. bei Funkfernsteuerungen für Modellflugzeuge verwendet. Die Nachteile dieser Steuerstäbe sind insbesondere die Verwendung von beweglichen Teilen - z. B. die Schleifer der Potentiometer -, die störanfällig sind, und der eingeschränkte Bewegungsspielraum, der durch die Konstruktion des Steuerstabes mit den mechanisch gekoppelten Potentiometern oder Schaltern vorgegeben ist.It is also already known to set up manually operated control rods (so-called joysticks) in such a way that, for example, potentiometers, rotary encoders or switches are attached to a movably held end, the resistance values or switching states of which can be changed when the control rod is actuated. The movement can also take place here in several degrees of freedom, a potentiometer, for example, being attached for each direction of movement. Control rods with such a structure are, for. B. used in radio remote controls for model aircraft. The disadvantages of these control rods are in particular the use of moving parts - e.g. B. the grinder of the potentiometer - which are prone to failure, and the limited range of motion that is predetermined by the design of the control rod with the mechanically coupled potentiometers or switches.

Der Erfindung liegt die Aufgabe zugrunde, eine Steuervorrichtung der eingangs genannten Art zu schaffen, bei der bei einfachem Aufbau eine störsichere Übertragung von mechanischen Betätigungen des Steuerstabes in elektrische Signale und eine optimale Ausnutzung aller Bewegungsmöglichkeiten des Steuerstabes durch Auswertung der Signale auf einem Bildschirm möglich sind.The invention has for its object to provide a control device of the type mentioned, in which, with a simple structure, an interference-free transmission of mechanical actuations of the control rod into electrical signals and optimal utilization of all possible movements of the control rod by evaluating the signals on a screen are possible.

Zur Lösung dieser Aufgabe weist eine Steuervorrichtung der eingangs genannten Art die Merkmale des Kennzeichens des Anspruchs 1 auf.To achieve this object, a control device of the type mentioned at the outset has the features of the characterizing part of claim 1.

Besonders bei der Steuerung einer Bilddarstellung auf Sichtgeräten ist es wünschenswert, eine Vielzahl von Steuerungsparametern ausnutzen zu können. Beispielsweise bei der Steuerung eines Cursors auf dem Bildschirm eines Sichtgerätes ist es vorteilhaft, nicht nur die Bewegungsrichtung, sondern auch die Bewegungsgeschwindigkeit des Cursors über die Sensoren zu beeinflussen. Bei der erfindungsgemäßen Anordnung kann dies leicht durch Erfassung des Ausmaßes der Beeinflussung der Sensoren erreicht werden. Auch eine Veränderung der Bilddarstellung an sich, z. B. hinsichtlich der Lage oder des Maßstabs der Darstellung, ist hier durch die Vielzahl der Bewegungskomponenten des Steuerstabes möglich, so daß durch eine Betätigung des freien Endes des Steuerstabes mit einer Hand alle diese Steuerfunktionen ausgeführt werden können. Es ist auch denkbar, mit der erfindungsgemäßen Anordnung in einer Bewegungsrichtung ein Verschlußsignal (Lock) für eine Fixierung der Bilddarstellung zu detektieren, wodurch entweder die Stellung des Cursors oder sonstige Eigenschaften der Darstellung festgehalten werden können.Particularly when controlling an image display on viewing devices, it is desirable to be able to use a large number of control parameters. For example, when controlling a cursor on the screen of a display device, it is advantageous not only to influence the direction of movement, but also the speed of movement of the cursor via the sensors. In the arrangement according to the invention, this can easily be achieved by detecting the extent to which the sensors are influenced. Also a change in the image representation itself, e.g. B. with regard to the location or the scale of the representation, is possible here by the large number of movement components of the control rod, so that all of these control functions can be carried out by actuating the free end of the control rod with one hand. It is also conceivable to use the arrangement according to the invention to detect a lock signal (lock) for fixing the image display in one direction of movement, as a result of which either the position of the cursor or other properties of the display can be recorded.

In vorteilhafter Weise sind die genannten Sensoren sogenannte Mehrkomponenten-Kraftsensoren, nämlich Dehnungsmeßstreifen, wahlweise Halbleiter- oder konventionelle Metall-Dehnungsmeßstreifen, die bei Dehnung eine Änderung ihrer elektrischen Werte erfahren.Advantageously, the sensors mentioned are so-called multi-component force sensors, namely strain gauges, either semiconductor or conventional metal strain gauges, which experience a change in their electrical values when stretched.

Um eine komfortable Bildschirmsteuerung zu erreichen, weist die erfindungsgemäße Steuervorrichtung in vorteilhafter Weise die Merkmale nach einem der Unteransprüche 2 bis 4 oder einer Kombination dieser Ansprüche auf.In order to achieve comfortable screen control, the control device according to the invention advantageously has the features according to one of subclaims 2 to 4 or a combination of these claims.

Die Erfindung wird anhand der Figuren erläutert, wobei Figur 1 eine Ansicht eines Ausführungsbeispiels der erfindungsgemaßen Steuervorrichtung,

  • Figur 2 Schnittdarstellungen durch verschiedene Schnittebenen des flexiblen Teilstücks eines Steuerstabes,
  • Figur 3 einen Anwendungsfall zur Steuerung eines Cursors auf einem Bildschirm,
  • Figur 4 eine Zerlegung der Kraft- bzw. Bewegungskomponenten des Steuerstabes und
  • Figur 5 ein elektrisches Blockschaltbild für eine Anwendung des Steuerstabes zur Steuerung der Darstellung auf dem Bildschirm eines Sichtgerätes zeigen.
The invention is explained with reference to the figures, in which FIG. 1 is a view of an embodiment of the control device according to the invention,
  • FIG. 2 shows sectional views through different sectional planes of the flexible section of a control rod,
  • FIG. 3 shows an application for controlling a cursor on a screen,
  • Figure 4 is a decomposition of the force or movement components of the control rod and
  • Figure 5 shows an electrical block diagram for an application of the control rod for controlling the display on the screen of a display device.

Bei dem in der Figur 1 dargestellten Ausführungsbeispiel eines Steuerstabes 1 ist ein flexibles Teilstück 2 an einer Halterung 3 fest montiert ; das andere Ende des Teilstücks 2 trägt einen Griff 4, mit dem der Steuerstab 1 von Hand betätigbar ist. Das flexible Teilstück 2 trägt die Dehnungsmeßstreifen aus Halbleitermaterial als kraftbzw. bewegungsempfindliche Sensoren. Dehnungsmeßstreifen 5 und 6 (Dehnungsmeßstreifen 6 hier nicht sichtbar, da er auf der gegenüberliegenden Seite des Teilstücks 2 liegt) liegen hier im oberen Teil quer zur Längsachse 7 des Steuerstabs 1. Parallel zum Verlauf der Längsachse 7 sind Dehnungsmeßstreifen 8, 9, 10 und 11 angebracht (Dehnungsmeßstreifen 11 hier nicht sichtbar, da er dem Dehnungsmeßstreifen 9 auf der anderen Seite des Teilstücks 2 gegenüberliegt). Weiterhin befinden sich zusätzliche Dehnungsmeßstreifen 12 und 13 auf dem Teilstück 2, die jeweils in 45° zur Längsachse 7 gekreuzt übereinander angeordnet sind. In der Figur sind ferner Schnittebenen A-A', B-B' und C-C' angegeben, wobei diese Schnittdarstellungen in der Figur 2 gesondert gezeichnet sind.In the exemplary embodiment of a control rod 1 shown in FIG. 1, a flexible section 2 is fixedly mounted on a holder 3; the other end of the section 2 carries a handle 4 with which the control rod 1 can be operated by hand. The flexible section 2 carries the strain gauges made of semiconductor material as a force or. motion-sensitive sensors. Strain gauges 5 and 6 (strain gauges 6 not visible here since it lies on the opposite side of section 2) lie here in the upper part transversely to the longitudinal axis 7 of the control rod 1. Parallel to the course of the longitudinal axis 7 are strain gauges 8, 9, 10 and 11 attached (strain gauge 11 not visible here because it is opposite the strain gauge 9 on the other side of the section 2). There are also additional strain gauges 12 and 13 on the section 2, which are each arranged at 45 ° to the longitudinal axis 7 crossed one above the other. The planes also show sectional planes A-A ', BB' and CC ', these sectional representations being shown separately in FIG. 2.

Im Teil a) der Figur 2 ist der Schnitt A-A' sichtbar, wodurch die Lage der beiden Dehnungsmeßstreifen 5 und 6 am Teilstück 2 erkennbar ist. Im Teil b) ist der Schnitt B-B' mit den Dehnungsmeßstreifen 8, 9, 10 und 11 dargestellt, und im Teil c) ist der Schnitt C-C' gezeichnet, wobei die beiden Dehnungsmeßstreifen 12 und 13 übereinanderliegend angegeben sind. Im Teil d) der Figur 2 sind die Kräfte eingezeichnet, die auf den Steuerstab 1 und somit auf das flexible Teilstück 2 aufbringbar sind. Die Kraft K1 ist in Richtung der Längsachse 7 wirksam, wobei sie in der hier angegebenen Darstellung in die Zeichenebene hineinwirkt, sie kann jedoch auch in entgegengesetzter Richtung wirksam sein. Die Kräfte K2 und K3 wirken jeweils quer zur Längsachse 7 und befinden sich in einem Winkel von 90° zueinander. Außerdem kann noch ein Drehmoment M1 aufgebracht werden, mit dem eine Torsionsbewegung des flexiblen Teilstücks 2 und somit des Steuerstabs in der hier dargestellten Richtung, aber auch in der entgegengesetzten Richtung durchgeführt werden kann. Alle diese Betätigungskräfte können in ihrem Ausmaß an die menschliche Hand angepaßt werden, mit der die Bedienung des Steuerstabs vorgenommen wird.In section a) of FIG. 2, section A-A 'is visible, as a result of which the position of the two strain gauges 5 and 6 on section 2 can be seen. In part b) the section B-B 'is shown with the strain gauges 8, 9, 10 and 11, and in section c) the section C-C' is drawn, the two strain gauges 12 and 13 being indicated one above the other. Part d) of FIG. 2 shows the forces that can be applied to the control rod 1 and thus to the flexible section 2. The force K1 is effective in the direction of the longitudinal axis 7, in the illustration given here acting in the plane of the drawing, but it can also be effective in the opposite direction. The forces K2 and K3 each act transversely to the longitudinal axis 7 and are at an angle of 90 ° to one another. In addition, a torque M1 can also be applied, with which a torsional movement of the flexible section 2 and thus of the control rod can be carried out in the direction shown here, but also in the opposite direction. All of these actuation forces can be adapted to the human hand with which the control rod is operated.

Aus den Darstellungen nach der Figur 2 ist entnehmbar, daß beispielsweise bei einer durch eine entsprechende Bewegung des Steuerstabs verursachten Kraft K1 die Dehnungsmeßstreifen 12 und 13 auf Dehnung beansprucht werden und somit eine Veränderung ihrer elektrischen Eigenschaften und die Erzeugung eines entsprechenden elektrischen Signals bewirkt werden kann. Bei Einwirkung einer Kraft K2 durch eine entsprechende Bewegung des Steuerstabs 1 wird insbesondere der Dehnungsmeßstreifen 9 (vergleiche Teil b) der Figur 2) auf Dehnung beansprucht und der Dehnungsmeßstreifen 11 gestaucht, wodurch auch mit diesen Dehnungsmeßstreifen entsprechende elektrische Signale erzeugt werden können. Bei Einwirkung einer Kraft K3 wird insbesondere der Dehnungsmeßstreifen 8 auf Dehnung und der Dehnungsmeßstreifen 10 auf Stauchung beansprucht, wodurch auch diese Bewegung des Steuerstabs 1 detektiert und in ein elektrisches Signal umgesetzt werden kann. Eine Torsionsbewegung aufgrund des Drehmomentes M1 führt zu einer Dehnung bzw. Stauchung der beiden Dehnungsmeßstreifen 12 bzw. 13 und somit zu einem entsprechenden drehmomentabhängigen, elektrischen Signal.From the representations according to FIG. 2 it can be seen that, for example, with a force K1 caused by a corresponding movement of the control rod, the strain gauges 12 and 13 are subjected to strain and thus a change in their electrical properties and the generation of a corresponding electrical signal can be effected. When a force K2 is acted upon by a corresponding movement of the control rod 1, the strain gauge 9 (see part b) of FIG. 2) is particularly subjected to strain and the strain gauge 11 is compressed, which means that appropriate electrical signals can also be generated with these strain gauges. When a force K3 is applied, the strain gauge 8 is subjected to strain and the strain gauge 10 to compression, whereby this movement of the control rod 1 can also be detected and converted into an electrical signal. A torsional movement due to the torque M1 leads to an expansion or compression of the two strain gauges 12 and 13 and thus to a corresponding torque-dependent electrical signal.

in der Figur 3 ist ein Anwendungsfall des erfindungsgemäßen Steuerstabs 1 dargestellt, wobei auf einem Bildschirm 15 eines Sichtgeräts 16 ein Cursor genannter Markierungspunkt 17 in seiner Lage auf dem Bildschirm verschoben werden soll. Die hierfür erforderlichen Kräfte am Steuerstab 1 sind in der Figur 4 dargestellt, wobei bei der in der Figur 3 angedeuteten Bewegung von links unten nach rechts oben die von den Dehnungsmeßstre.ifen 8 ... 11 detektierten Teilkräfte K2 und K3 zu einer Gesamtkraft K führen, die durch die Größe der Teilkräfte K2 und K3 in ihrer Richtung und in ihrem Betrag festgelegt ist. Die Steuerung des Cursors 17 kann in einfacher Weise derart vorgenommen werden, daß aus der Vektorrichtung der Gesamtkraft K die Cursorbewegungsrichtung und aus der Vektorlänge der Gesamtkraft K die Cursorbewegungsgeschwindigkeit erfaßt werden kann. In der Figur 4 sind außerdem noch die Kräfte K1 und M1 dargestellt, mit denen beispielsweise eine Verschiebung oder eine Drehung der gesamten Darstellung auf dem Bildschirm 15 durch das Drehmoment M1 oder eine Veränderung des Maßstabs der Darstellung auf dem Bildschirm 15 mit der Kraft K1 erreicht werden kann.FIG. 3 shows an application of the control rod 1 according to the invention, a marker point 17 called a cursor being to be moved on a screen 15 of a display device 16 in its position on the screen. The forces required for this on the control rod 1 are shown in FIG. 4, the partial forces K2 and K3 detected by the strain gauges 8... 11 leading to a total force K in the movement indicated in FIG. 3 from bottom left to top right , which is determined by the size of the partial forces K2 and K3 in their direction and in their amount. The control of the cursor 17 can be carried out in a simple manner in such a way that the direction of the cursor movement can be determined from the vector direction of the total force K and the speed of the cursor movement from the vector length of the total force K. FIG. 4 also shows the forces K1 and M1 with which, for example, a shift or a rotation of the entire display on the screen 15 is achieved by the torque M1 or a change in the scale of the display on the screen 15 with the force K1 can.

Bei dem in der Figur 5 dargestellten elektrischen Biockschaitbiid sind die einzelnen Sensoren bzw. Dehnungsmeßstreifen 5 ... 13 (vergleiche Figur 1) schematisch in einem Baustein 20 dargestellt. Die Dehnungsmeßstreifen werden von einem Speisegerät 21 mit einer Spannung versorgt und können beispielsweise innerhalb des Bausteins 20 in einer Brückenschaltung so zusammengeschaltet werden, daß sie bei einer Krafteinwirkung auf die Sensoren bzw. Dehnungsmeßstreifen ein entsprechendes elektrisches Signal am Ausgang 22 erzeugen. In einem Meßverstärker 23, der auch eine integrierende Wirkung aufweisen kann, werden diese Signale verstärkt und in einem A/D-Wandler 24 in eine entsprechende binäre Information umgewandelt. Der daran angeschlossene Mikroprozessor 25 formt die Signale in entsprechende Informationen für die hier geforderte zeilenmäßige Bilddarstellung um und ermittelt beispielsweise die aus der Vektorrichtung bzw. der Vektorlänge der Gesamtkraft K zu berechnenden Bewegungsrichtungs- und Geschwindigkeitsgrößen. Die Ausgangssignale des Mikroprozessors 25 werden über eine Sichtgerätesteuerung 26 den Signalverarbeitungsteilen des Sichtgeräts 16 zugeführt, so daß auf dem Bildschirm 15 die anhand der Figuren 2 bis 4 dargelegten Auswirkungen auf den beweglichen Cursor 17 bzw. auf die Veränderung der Bilddarstellung im Sichtgerät 16 durchgeführt werden können.In the electrical block diagram shown in FIG. 5, the individual sensors or strain gauges 5... 13 (compare FIG. 1) are shown schematically in a module 20. The strain gauges are supplied with voltage by a supply device 21 and can, for example, be connected together in a bridge circuit within the module 20 in such a way that they generate a corresponding electrical signal at the output 22 when a force is exerted on the sensors or strain gauges. In a measuring amplifier 23, which can also have an integrating effect, these signals are amplified and converted in an A / D converter 24 into a corresponding binary information. The microprocessor 25 connected to it converts the signals into corresponding information for the line-type image representation required here and determines, for example, the movement direction and speed variables to be calculated from the vector direction or the vector length of the total force K. The output signals of the microprocessor 25 are fed to the signal processing parts of the display device 16 via a display device control 26, so that the effects on the movable cursor 17 or on the change in the image display in the display device 16 can be carried out on the screen 15 with reference to FIGS .

Claims (4)

1. Control device for the representation on the display screen of a visual display unit using output signals of electric sensors (5...13) of a flexible control rod (1), which are controlled by the motion of the control rod (1), whereby
a flexible part (2) of the control rod (1) is securely mounted at one point and is otherwise able to bend in at least one direction of motion and
the sensors (5...13) which are sensitive to power or motion are attached in such a way to the control device that with movement of the control rod (1) in at least one direction of motion a control of the sensors (5...13) is able to be achieved, characterised in that
the sensors (5...13) are applied directly on the surface of the flexible part (2) and detect a change in the surface of the flexible part (2) in such a way that
with the control of the sensors (8, 9, 10, 11) with movement transverse to the longitudinal axis (7) the direction of motion of a cursor (17) on the screen is able to be altered,
by compressing the control rod (1) an enlargement or diminution of the scale of the pictorial representation and with extension an alteration of the scale opposed up to this is able to be reached and that
with rotation of the control rod (1) a displacement and/or rotation of the picture represented on the display screen (15) of the visual display unit is able to be carried out.
2. Control device according to claim 1, characterised in that the output signals of the sensors (5...13) are processed such that the velocity of motion of the cursor or the speed of alteration of ° the screen displayalters with the degree of.deflection of the sensors (5...13).
3. Control device according to claim 2, characterised in that when terminating the deflection of the sensors (5...13) the cursor or the screen display remains in the state arrived at last.
4. Control device according to claim 2 or claim 3, characterised in that the output signals of the sensors (5...13) are processed by an integrating amplifier (23).
EP85101152A 1984-02-06 1985-02-04 Control assembly Expired EP0151479B1 (en)

Applications Claiming Priority (2)

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DE19843404047 DE3404047A1 (en) 1984-02-06 1984-02-06 CONTROL STAFF
DE3404047 1984-02-06

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EP0151479A2 EP0151479A2 (en) 1985-08-14
EP0151479A3 EP0151479A3 (en) 1985-09-18
EP0151479B1 true EP0151479B1 (en) 1989-05-17

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US9295527B2 (en) 2008-03-27 2016-03-29 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system with dynamic response
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US9314594B2 (en) 2008-03-27 2016-04-19 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter manipulator assembly
US9314310B2 (en) 2008-03-27 2016-04-19 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system input device
US9439736B2 (en) 2009-07-22 2016-09-13 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for controlling a remote medical device guidance system in three-dimensions using gestures
US9330497B2 (en) 2011-08-12 2016-05-03 St. Jude Medical, Atrial Fibrillation Division, Inc. User interface devices for electrophysiology lab diagnostic and therapeutic equipment

Also Published As

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EP0151479A2 (en) 1985-08-14
EP0151479A3 (en) 1985-09-18
DE3404047A1 (en) 1985-08-08
DE3570301D1 (en) 1989-06-22

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