EP1119803A1 - Operating device comprising a lever with at least two degrees of freedom of displacement - Google Patents

Operating device comprising a lever with at least two degrees of freedom of displacement

Info

Publication number
EP1119803A1
EP1119803A1 EP99965433A EP99965433A EP1119803A1 EP 1119803 A1 EP1119803 A1 EP 1119803A1 EP 99965433 A EP99965433 A EP 99965433A EP 99965433 A EP99965433 A EP 99965433A EP 1119803 A1 EP1119803 A1 EP 1119803A1
Authority
EP
European Patent Office
Prior art keywords
handle
operating device
function
torque
display
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.)
Granted
Application number
EP99965433A
Other languages
German (de)
French (fr)
Other versions
EP1119803B1 (en
Inventor
Oliver Kirsch
Guido Meier-Arendt
Ulrich Roskoni
Joachim Schulz
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.)
Siemens AG
Original Assignee
Mannesmann VDO AG
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 Mannesmann VDO AG filed Critical Mannesmann VDO AG
Publication of EP1119803A1 publication Critical patent/EP1119803A1/en
Application granted granted Critical
Publication of EP1119803B1 publication Critical patent/EP1119803B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the invention relates to an operating device with a handle with at least two degrees of freedom of adjustment, in which the position of the handle can be changed under the action of an actuating force.
  • a handle in the form of, for example, a joystick about an X axis and can be pivoted about a Y-axis
  • operating devices are known in which a handle is arranged to be displaceable within a plane.
  • joysticks are known which have at least one type of haptic feedback in the form of changeable forces acting on the handle. that these joysticks unintentionally perform their own movements when they are not being held by an operator's hand, there are additional sensor elements which detect the presence or absence of an operator's hand and the joystick in the absence of a hand in a green position
  • the object of the invention is therefore to provide an operating device in which additional sensors for determining the presence of a hand on the handle or gripping a handle by means of one hand can be dispensed with
  • the handle can be moved to a desired position as a function of the actual position by means of at least one controller and at least one drive element, the position being The force acting on the handle and / or the torque acting on the handle can be modulated as a function of the actual position
  • the invention has the advantage that the handle can take several different positions after removing the operator's hand, depending on the last position in which it was before the operator let go
  • One possibility of modulating the force and / or torque acting on the handle is that the force acting on the handle and / or the torque acting on the handle can be limited by means of a force table and / or torque table depending on the actual position As a result, different haptic feedback to the operator can be implemented in a simple manner by the handle
  • a selection function for a function selected by means of the handle can be designed in a simple manner and logically for the operator
  • the selection function can also be triggered by other input devices, such as, for example, buttons, which are preferably arranged in the vicinity of the handle
  • the operator By means of a display on which the function groups, functions and / or function values to be selected by means of the handle can be represented, the operator also receives visual feedback about the setting just made using the handle
  • the torque curve of a handle can be designed in such a way that when a display mark, which is controlled by means of the handle via the display, comes close to a special point, the handle points to a the position corresponding to the geographical point is regulated and the operator thus has the impression that the display marker is being pulled onto the geographical point and the handle is being moved to a position corresponding to the geographical point
  • the operability can be further improved by an acoustic feedback.
  • acoustic feedback For example, single tones, tone sequences or spoken words can be used
  • FIG. 1 shows an example of an operating device according to the invention
  • Figure 2 shows the exemplary ideal torque curve in a
  • Figure 3 shows a possible block diagram of the control loop for a
  • FIG. 4 shows an example of an angular profile and torque profile of the block diagram from FIG. 3,
  • Figure 5 shows an exemplary embodiment of the content of an advertisement
  • FIGS. 6 and 7 further examples of a display
  • Figure 8 shows an example of a map shown on a display
  • a handle 1 of a joystick 2, shown schematically in FIG. 1, can be rotated about an X axis and a Y axis.
  • a trigger unit not shown, such as a button
  • Two drive elements 3, 4 can each have a torque.
  • An arithmetic unit 5 can implement different torque profiles of the handle 1 by appropriately controlling the drive elements 3, 4, so that an operator can feel different haptic feedback messages FIG.
  • FIG. 2 shows an example of a torque curve, for example a rotation of the handle 1 about the X-axis, represents notches of the same size. If the handle 1 is in the angular range between a and c, for example, it is moved into position b by the drive element 3 without external force moved In the angular ranges c - e or e - g the handle 1 is moved to position d or f accordingly without external force.
  • the drive element 3 If an operator moves the handle from position b in the positive direction, the drive element 3 first generates a torque M DX , which is opposite to the movement, so that the operator becomes an ever larger nde force must to continue the movement If the handle 1 is moved over the point c, the drive element 3 generates a torque which acts in the direction of movement, so that the handle 1 is pulled to the point d, the operator has a feeling a detent at point d Due to the different shape of the torque curve, different noticeable detent steps (e.g. soft, soft, hard) can be simulated
  • FIG. 3 shows an embodiment of the control circuit according to the invention using the example of the drive element 3.
  • the control circuit comprises the joystick 2 with the handle 1, an angle detection device 6, a target position specification device 7, an adder 8, a controller 9, a torque table 10 and the drive element 3
  • Angle detection device 6 detects the position of the handle 1.
  • the target position specification device 7 determines according to the position of the handle 1 and the predefined torque curve (for example the torque curve from FIG. 2) the desired position of the handle 1.
  • the predefined torque curves can vary depending on the operating task being carried out in order to inform the operator about the current function.
  • the control difference between the actual position and the target position is formed in the adder 8 and passed to the controller 9, which determines a corresponding manipulated variable.
  • This manipulated variable is compared with the torque table 10, in which, for example, the torque curve shown in FIG. 2 is stored. If the manipulated variable is greater than the value of the torque table 10, it is limited to the value D of the torque table, otherwise the unchanged manipulated variable R controls the drive element 3 and generates a corresponding torque M DX , M DY on the handle 1.
  • the time course of the control difference and the modulated manipulated variable S is shown in FIG. 4 using the example of control to a target position.
  • the handle 1 is at a target position ⁇ SoH at the time t 0 .
  • the handle 1 is deflected by the operator by the angle ⁇ at the time t and a control difference ⁇ arises at the time t 2 .
  • the operator 1 then releases the handle (t 3 ).
  • the controller reacts to the control difference ⁇ with the manipulated variable R.
  • the torque curve D which is stored in Table 10, modulates or limits the value of the manipulated variable R to its value, provided that the amount is smaller than the value of the manipulated variable R. So the drive element 3 is controlled in the areas between the times t 1 to 1 3 and t 4 to 1 5 with the value of the torque curve D. During the remaining time, the manipulated variable R controls the drive element 3 unchanged.
  • the control for the drive element 4 is constructed identically. Compound torque profiles can also be generated by means of the drive elements 3 and 4.
  • the controller 9, torque tables 10 and the target position setting device 7 can be implemented by the computing unit 5.
  • FIG. 5 shows a possible representation of an additional display 11.
  • Five different functions F1-F5 can be selected, the next higher or lower function being selected by rotating the handle 1 about the X axis.
  • the currently selected function can be displayed, for example, by changing the color of the selected function.
  • the switchover to the next function can be perceived by a torque curve as in FIG. 2 by noticeable notches, each notch F1-F5 being assigned a notch.
  • the selected functions can be selected, for example, either by rotating the handle 1 about the X axis or by moving the handle in its axial direction.
  • the selection can also be made by a selection element, not shown, arranged on the handle 1 or in its vicinity, for example a push button. If only two functions can be selected, as shown in FIG.
  • function F6 offers the possibility of leaving this menu. If the function F6 is selected, this can be represented, for example, by a special feel of the handle 1, for example the simulation of a rutting machine.
  • a cursor or a display mark 12 can be controlled by means of the handle 1 via the display 11, for example the display mark 12 moves when it rotates the handle 1 around the X axis in the vertical direction and when the handle 1 rotates around the Y axis in the horizontal direction.
  • the indicator mark 12 comes close to particular points 13, for example of a hotel, an airport or a train station, a torque is generated generated, the direction of which corresponds to the direction of the indicator mark to the particular point, so that an operator is given the feeling that the indicator mark 12 is drawn to the special point 13.
  • the special point 13 can then be moved by moving the handle 1 in its axial direction or selected by pressing a separate button.
  • the destination can be entered for a navigation system located in the motor vehicle. It is of course also possible to select any other point on the map by moving the display marker 12 accordingly to the corresponding point and in the one described above Way to choose
  • every conceivable object can be shown on the display and every point on the display can be selected. For example, a technical drawing can be displayed

Abstract

The invention relates to an operating device comprising a lever with at least two degrees of freedom of displacement. According to the invention, the position of the lever can be varied by effecting a manual operating force, and the lever has at least one type of haptic feedback in the form of forces and/or turning moments at its disposal, said forces and/or turning moments acting upon said lever. The invention provides that the lever (1) can be displaced according to the actual position thereof to a specified position by means of at least one controller (9) and by at least one drive element (3), whereby the force acting upon the lever, and/or the turning moment acting upon the lever (1) can be modulated according to the actual position.

Description

Beschreibung description
Bedienvorrichtung mit einer Handhabe mit mindestens zwei VerstellfreiheitsgradenOperating device with a handle with at least two degrees of freedom of adjustment
Die Erfindung betrifft eine Bedienvorrichtung mit einer Handhabe mit mindestens zwei Verstellfreiheitsgraden, bei der die Stellung der Handhabe unter Einwirkung einer Betatigungskraft veränderbar ist Aus dem Stand der Technik sind beispielsweise sogenannte Joysticks bekannt, bei denen eine Handhabe in Form beispielsweise eines Steuerknüppels um eine X- Achse und um eine Y-Achse schwenkbar ist Weiterhin sind Bedienvorrichtungen bekannt, bei denen eine Handhabe innerhalb einer Ebene verschiebbar angeordnet ist Schließlich sind Joysticks bekannt, die über mindestens eine Art der haptischen Ruckmeldung in Form von auf die Handhabe wirkenden veränderbaren Kraften verfugen Um zu verhindern, daß diese Joysticks ungewollt Eigenbewegungen ausfuhren, wenn sie nicht von einer Hand einer Bedienperson festgehalten werden, sind zusätzliche Sensorelemente vorhanden, die das Vorhandensein bzw Fehlen der Hand einer Bedienperson feststellen und den Steuerknüppel beim Fehlen der Hand in eine Grundposition bringenThe invention relates to an operating device with a handle with at least two degrees of freedom of adjustment, in which the position of the handle can be changed under the action of an actuating force. For example, so-called joysticks are known from the prior art, in which a handle in the form of, for example, a joystick about an X axis and can be pivoted about a Y-axis Furthermore, operating devices are known in which a handle is arranged to be displaceable within a plane. Finally, joysticks are known which have at least one type of haptic feedback in the form of changeable forces acting on the handle. that these joysticks unintentionally perform their own movements when they are not being held by an operator's hand, there are additional sensor elements which detect the presence or absence of an operator's hand and the joystick in the absence of a hand in a green position
Aufgabe der Erfindung ist es daher eine Bedienvorrichtung anzugeben, bei der auf zusätzliche Sensoren zum Feststellen des Vorhandenseins einer Hand an der Handhabe bzw Umgreifen einer Handhabe mittels einer Hand verzichtet werden kannThe object of the invention is therefore to provide an operating device in which additional sensors for determining the presence of a hand on the handle or gripping a handle by means of one hand can be dispensed with
Diese Aufgabe wird dadurch gelost, daß die Handhabe in Abhängigkeit der Ist-Position mittels wenigstens eines Reglers und mindestens eines Antriebselementes auf eine Sollposition bewegbar ist, wobei die auf die Handhabe wirkende Kraft und/oder das auf die Handhabe wirkende Drehmoment in Abhängigkeit der Ist-Position modulierbar istThis object is achieved in that the handle can be moved to a desired position as a function of the actual position by means of at least one controller and at least one drive element, the position being The force acting on the handle and / or the torque acting on the handle can be modulated as a function of the actual position
Die Erfindung hat den Vorteil, daß die Handhabe nach dem Entfernen der Hand der Bedienperson mehrere verschiedene Positionen einnehmen kann in Abhängigkeit der letzten Position, auf der sie sich vor dem Loslassen durch die Bedienperson befunden hatThe invention has the advantage that the handle can take several different positions after removing the operator's hand, depending on the last position in which it was before the operator let go
Eine Möglichkeit, das die auf die Handhabe wirkende Kraft und/oder Drehmoment zu modulieren ist die, daß die auf die Handhabe wirkende Kraft und/oder das auf die Handhabe wirkende Drehmoment mittels einer Krafttabelle und/oder Drehmomenttabelle in Abhängigkeit der Ist-Position begrenzbar ist Hierdurch lassen sich in einfacher Weise unterschiedliche haptische Rückmeldungen an die Bedienperson durch die Handhabe realisierenOne possibility of modulating the force and / or torque acting on the handle is that the force acting on the handle and / or the torque acting on the handle can be limited by means of a force table and / or torque table depending on the actual position As a result, different haptic feedback to the operator can be implemented in a simple manner by the handle
Dadurch, daß für jeden Verstellfreiheitsgrad eine separate Regelung vorhanden ist, laßt sich die Regelung einfach realisierenThe fact that a separate regulation is available for each degree of freedom of adjustment makes it easy to implement the regulation
Durch eine axiale Bewegung der Handhabe laßt sich insbesondere eine Auswahlfunktion für eine mittels der Handhabe angewählten Funktion einfach und für die Bedienperson logisch ausgestaltenBy means of an axial movement of the handle, in particular a selection function for a function selected by means of the handle can be designed in a simple manner and logically for the operator
Die Auswahlfunktion kann auch durch andere Eingabevorrichtungen, wie beispielsweise Taster, die vorzugsweise in der Nahe der Handhabe angeordnet sind, ausgelost werdenThe selection function can also be triggered by other input devices, such as, for example, buttons, which are preferably arranged in the vicinity of the handle
Durch eine Anzeige, auf der die mittels der Handhabe anzuwählenden Funktionsgruppen, Funktionen und/oder Funktionswerte darstellbar sind, erhalt die Bedienperson auch eine visuelle Ruckmeldung über die mittels der Handhabe gerade ausgeführte EinstellungBy means of a display on which the function groups, functions and / or function values to be selected by means of the handle can be represented, the operator also receives visual feedback about the setting just made using the handle
Durch besonders ausgeprägte haptische Ruckmeldungen über bestimmte Funktionsgruppen, Funktionen und/oder Funktionswerte kann die Bedienperson davor gewarnt werden, die angewählte Funktion auch auszuwählen, z B bei einer Funktion zum Loschen von Daten wie z B bei Adress- bucheintragenThrough particularly pronounced haptic feedback messages about certain function groups, functions and / or function values, the operator can be warned against also selecting the selected function, for example in the case of a function for deleting data, for example in the case of address book entries
Bei der Darstellung beispielsweise einer Land- oder Seekarte auf der Anzeige kann der Drehmomentverlauf einer Handhabe derart ausgestaltet sein, daß dann, wenn eine Anzeigemarke, die mittels der Handhabe über die Anzeige gesteuert wird, in die Nahe eines besonderen Punktes gelangt, die Handhabe auf eine dem geographischen Punkt entsprechende Position geregelt wird und so bei der Bedienperson der Eindruck entsteht, als werde die Anzeigemarke auf den geographischen Punkt und die Handhabe auf eine dem geographischen Punkt entsprechende Position gezogenWhen, for example, a map or sea map is shown on the display, the torque curve of a handle can be designed in such a way that when a display mark, which is controlled by means of the handle via the display, comes close to a special point, the handle points to a the position corresponding to the geographical point is regulated and the operator thus has the impression that the display marker is being pulled onto the geographical point and the handle is being moved to a position corresponding to the geographical point
Durch eine akustische Ruckmeldung kann die Bedienbarkeit weiter verbessert werden So können beispielsweise Einzeltone, Tonfolgen oder gesprochene Worte Verwendung findenThe operability can be further improved by an acoustic feedback. For example, single tones, tone sequences or spoken words can be used
Wenn die Bedienvorrichtung nicht in der Lage ist, die Eingaben der Bedienperson zu verarbeiten, kann dies der Bedienperson durch eine spezielle Haptik der Handhabe mitgeteilt und dadurch Fehlbedienungen vermieden werdenIf the operating device is not able to process the operator's inputs, this can be communicated to the operator by means of a special haptic of the handle and incorrect operations can thereby be avoided
Die Erfindung wird nachfolgend anhand der Figuren für ein Ausfuhrungs- beispiel naher erläutert Es zeigenThe invention is explained in more detail below with reference to the figures for an exemplary embodiment Show it
Figur 1 ein Beispiel einer erfindungsgemaßen Bedienvorrichtung,FIG. 1 shows an example of an operating device according to the invention,
Figur 2 den beispielhaften idealen Drehmomentverlauf in einerFigure 2 shows the exemplary ideal torque curve in a
Ebene für ein rastendes Verhalten einer Handhabe der erfindungsgemaßen Bedienvorrichtung,Level for a latching behavior of a handle of the operating device according to the invention,
Figur 3 ein mögliches Blockschaltbild des Regelkreises für eineFigure 3 shows a possible block diagram of the control loop for a
Bewegungsrichtung eines erfindungsgemaßen Ausfuh- rungsbeispiels aus Figur 1 ,Direction of movement of an exemplary embodiment according to the invention from FIG. 1,
Figur 4 ein Beispiel eines Winkelverlaufs und Drehmomentverlaufs des Blockschaltbilds aus Figur 3,FIG. 4 shows an example of an angular profile and torque profile of the block diagram from FIG. 3,
Figur 5 ein Ausfuhrungsbeispiel des Inhalts einer Anzeige einesFigure 5 shows an exemplary embodiment of the content of an advertisement
Ausfuhrungsbeispiels eines erfindungsgemaßen Bediensystems,Exemplary embodiment of an operating system according to the invention,
Figur 6 und 7 weitere Beispiele einer Anzeige,FIGS. 6 and 7 further examples of a display,
Figur 8 ein Beispiel einer auf einer Anzeige dargestellten LandkarteFigure 8 shows an example of a map shown on a display
Eine in Figur 1 schematisch dargestellte Handhabe 1 eines Joysticks 2 laßt sich um eine X-Achse und eine Y-Achse drehen Durch eine Bewegung der Handhabe 1 in deren axialer Richtung (in der dargestellten senkrechten Stellung entspricht dies der dargestellten Z-Achse) ist beispielsweise eine nicht dargestellte Ausloseeinheit, wie beispielsweise eine Taste, betatigbar Zwei Antriebselemente 3, 4 können jeweils ein Drehmo- ment MDX MDY um die X-Achse bzw Y-Achse an der Handhabe 1 erzeugen Eine Recheneinheit 5 kann durch eine entsprechende Ansteuerung der Antriebselemente 3, 4 verschiedene Drehmomentverlaufe der Handhabe 1 realisieren, so daß eine Bedienperson verschiedene haptische Ruckmeldungen erfühlen kann Der in Figur 2 beispielhaft dargestellte Drehmomentverlauf, beispielsweise einer Drehung der Handhabe 1 um die X-Achse, stellt gleich große Rasten dar Sofern sich die Handhabe 1 beispielsweise im Winkeibereich zwischen a und c befindet, wird sie ohne äußere Krafteinwirkung durch das Antriebselement 3 in die Position b bewegt In den Winkelbereichen c - e bzw e - g wird die Handhabe 1 ohne äußere Krafteinwirkung entsprechend auf die Position d bzw f bewegt Wenn eine Bedienperson die Handhabe von Position b ausgehend in positiver Richtung bewegt, erzeugt das Antriebselement 3 zunächst ein Drehmoment MDX, das der Bewegung entgegengesetzt ist, so daß die Bedienperson eine immer großer werdende Kraft aufwenden muß, um die Bewegung fortzusetzen Wird die Handhabe 1 über den Punkt c bewegt, erzeugt das Antriebselement 3 ein Drehmoment, welches in die Bewegungsrichtung wirkt, so daß die Handhabe 1 auf den Punkt d gezogen wird es entsteht bei der Bedienperson ein Gefühl einer Raste beim Punkt d Durch unterschiedlich geformte Drehmomentverlaufe können auch verschieden wahrnehmbare Raststufen (beispielsweise sanft, weich, hart) nachgebildet werdenA handle 1 of a joystick 2, shown schematically in FIG. 1, can be rotated about an X axis and a Y axis. For example, moving the handle 1 in its axial direction (in the vertical position shown this corresponds to the Z axis) a trigger unit, not shown, such as a button, can be actuated. Two drive elements 3, 4 can each have a torque. Generate M DX M DY around the X-axis or Y-axis on the handle 1. An arithmetic unit 5 can implement different torque profiles of the handle 1 by appropriately controlling the drive elements 3, 4, so that an operator can feel different haptic feedback messages FIG. 2 shows an example of a torque curve, for example a rotation of the handle 1 about the X-axis, represents notches of the same size. If the handle 1 is in the angular range between a and c, for example, it is moved into position b by the drive element 3 without external force moved In the angular ranges c - e or e - g the handle 1 is moved to position d or f accordingly without external force. If an operator moves the handle from position b in the positive direction, the drive element 3 first generates a torque M DX , which is opposite to the movement, so that the operator becomes an ever larger nde force must to continue the movement If the handle 1 is moved over the point c, the drive element 3 generates a torque which acts in the direction of movement, so that the handle 1 is pulled to the point d, the operator has a feeling a detent at point d Due to the different shape of the torque curve, different noticeable detent steps (e.g. soft, soft, hard) can be simulated
Figur 3 zeigt eine Ausgestaltung des erfindungsgemaßen Regelkreises am Beispiel des Antriebselementes 3 Der Regelkreis umfaßt den Joystick 2 mit der Handhabe 1 , eine Winkelerfassungseinrichtung 6, eine Sollposi- tionsvorgabeeinnchtung 7, einen Addierer 8, einen Regler 9, eine Drehmomenttabelle 10 und das Antriebselement 3 Die Winkelerfassungseinrichtung 6 erfaßt die Stellung der Handhabe 1 Die Sollpositions- vorgabeeinnchtung 7 ermittelt entsprechend der Position der Handhabe 1 und des vorgegebenen Drehmomentverlaufes (beispielsweise des Drehmomentverlaufs aus Figur 2) die Sollposition der Handhabe 1. Die vorgegebenen Drehmomentverläufe können je nach der gerade ausgeführten Bedienaufgabe variieren, um die Bedienperson über die derzeitige Funktion zu informieren. Im Addierer 8 wird die Regeldifferenz zwischen der Ist-Position und der Sollposition gebildet und an den Regler 9 gegeben, der eine entsprechende Stellgröße ermittelt. Diese Stellgröße wird mit der Drehmomenttabelle 10, in der beispielsweise der in Figur 2 dargestellte Drehmomentverlauf abgespeichert ist, verglichen. Sofern die Stellgröße größer als der Wert der Drehmomenttabelle 10 ist, wird sie auf den Wert D der Drehmomenttabelle begrenzt, ansonsten wird mit der unveränderten Stellgröße R das Antriebselement 3 angesteuert und an der Handhabe 1 ein entsprechendes Drehmoment MDX , MDY erzeugt.FIG. 3 shows an embodiment of the control circuit according to the invention using the example of the drive element 3. The control circuit comprises the joystick 2 with the handle 1, an angle detection device 6, a target position specification device 7, an adder 8, a controller 9, a torque table 10 and the drive element 3 Angle detection device 6 detects the position of the handle 1. The target position specification device 7 determines according to the position of the handle 1 and the predefined torque curve (for example the torque curve from FIG. 2) the desired position of the handle 1. The predefined torque curves can vary depending on the operating task being carried out in order to inform the operator about the current function. The control difference between the actual position and the target position is formed in the adder 8 and passed to the controller 9, which determines a corresponding manipulated variable. This manipulated variable is compared with the torque table 10, in which, for example, the torque curve shown in FIG. 2 is stored. If the manipulated variable is greater than the value of the torque table 10, it is limited to the value D of the torque table, otherwise the unchanged manipulated variable R controls the drive element 3 and generates a corresponding torque M DX , M DY on the handle 1.
Den zeitlichen Verlauf der Regeldifferenz und der modulierten Stellgröße S zeigt Figur 4 am Beispiel einer Regelung auf eine Sollposition. Zunächst befindet sich die Handhabe 1 zum Zeitpunkt t0 auf einer Sollposition φSoH. Dann wird die Handhabe 1 zum Zeitpunkt t, von einer Bedienperson um den Winkel Δφ ausgelenkt und es entsteht eine Regeldifferenz Δ zum Zeitpunkt t2. Danach wird die Handhabe 1 von der Bedienperson losgelassen (t3).The time course of the control difference and the modulated manipulated variable S is shown in FIG. 4 using the example of control to a target position. First, the handle 1 is at a target position φ SoH at the time t 0 . Then the handle 1 is deflected by the operator by the angle Δφ at the time t and a control difference Δ arises at the time t 2 . The operator 1 then releases the handle (t 3 ).
Der Regler reagiert auf die Regeldifferenz Δ mit der Stellgröße R. Die Drehmomentkurve D, die in der Tabelle 10 abgelegt ist, moduliert bzw. begrenzt den Wert der Stellgröße R auf ihren Wert, sofern dieser betragsmäßig kleiner ist als der Wert der Stellgröße R. So wird das Antriebselement 3 in den Bereichen zwischen den Zeitpunkten t, bis 13 und t4 bis 15 mit dem Wert der Drehmomentkurve D angesteuert. Während der übrigen Zeit steuert die Stellgröße R unverändert das Antriebselement 3 an. Die Regelung für das Antriebselement 4 ist identisch aufgebaut. Es können mittels der Antriebseiemente 3 und 4 auch zusammengesetzte Drehmomentverläufe erzeugt werden. Die Regler 9, Drehmomenttabellen 10 und die Sollpositionsvorgabeeinrichtung 7 können durch die Recheneinheit 5 realisiert sein.The controller reacts to the control difference Δ with the manipulated variable R. The torque curve D, which is stored in Table 10, modulates or limits the value of the manipulated variable R to its value, provided that the amount is smaller than the value of the manipulated variable R. So the drive element 3 is controlled in the areas between the times t 1 to 1 3 and t 4 to 1 5 with the value of the torque curve D. During the remaining time, the manipulated variable R controls the drive element 3 unchanged. The control for the drive element 4 is constructed identically. Compound torque profiles can also be generated by means of the drive elements 3 and 4. The controller 9, torque tables 10 and the target position setting device 7 can be implemented by the computing unit 5.
Eine mögliche Darstellung einer zusätzlich vorhandenen Anzeige 11 zeigt Figur 5. Es sind 5 verschiedene Funktionen F1 - F5 anwählbar, wobei mittels des Drehens der Handhabe 1 um die X- Achse die nächsthöhere oder nächsttiefere Funktion angewählt wird. Die Darstellung der gerade angewählten Funktion kann beispielsweise durch eine veränderte Farbdarstellung der angewählten Funktion erfolgen. Das Umschalten auf die nächste Funktion ist durch einen Drehmomentverlauf wie in Figur 2 durch fühlbare Rasten wahrnehmbar, wobei jeder Funktion F1 - F5 eine Raste zugeordnet ist. Die angewählten Funktionen sind beispielsweise entweder durch eine Drehung der Handhabe 1 um die X-Achse oder eine Bewegung der Handhabe in deren axialer Richtung auswählbar. Die Auswahl kann auch durch ein auf der Handhabe 1 oder deren Nähe angeordnetes, nicht dargestelltes Auswahlelement, beispielsweise einen Taster erfolgen. Bei einer Anwahlmöglichkeit von nur zwei Funktionen, wie in Figur 6 dargestellt sind entsprechend nur 2 Rastpunkte nachgebildet. Bei dem in Figur 7 dargestellten Menü besteht durch die Funktion F6 die Möglichkeit, dieses Menü zu verlassen. Sofern die Funktion F6 angewählt ist, läßt sich dies beispielsweise durch eine besondere Haptik der Handhabe 1 , beispielsweise der Nachbildung eines Rütteins, darstellen.FIG. 5 shows a possible representation of an additional display 11. Five different functions F1-F5 can be selected, the next higher or lower function being selected by rotating the handle 1 about the X axis. The currently selected function can be displayed, for example, by changing the color of the selected function. The switchover to the next function can be perceived by a torque curve as in FIG. 2 by noticeable notches, each notch F1-F5 being assigned a notch. The selected functions can be selected, for example, either by rotating the handle 1 about the X axis or by moving the handle in its axial direction. The selection can also be made by a selection element, not shown, arranged on the handle 1 or in its vicinity, for example a push button. If only two functions can be selected, as shown in FIG. 6, only two locking points are simulated accordingly. In the menu shown in FIG. 7, function F6 offers the possibility of leaving this menu. If the function F6 is selected, this can be represented, for example, by a special feel of the handle 1, for example the simulation of a rutting machine.
Sofern die Funktion F1 angewählt und ausgewählt wurde, wird auf der Anzeige 11 eine in Figur 8 gezeigte Landkarte dargestellt. Ein Cursor bzw. eine Anzeigemarke 12 ist mittels der Handhabe 1 über die Anzeige 11 steuerbar, beispielsweise bewegt sich die Anzeigemarke 12 bei Drehung der Handhabe 1 um die X-Achse in vertikaler Richtung und bei Drehung der Handhabe 1 um die Y-Achse in horizontaler Richtung Wenn die Anzeigemarke 12 in die Nahe besonderer Punkte 13, beispielsweise eines Hotels, eines Flughafens oder eines Bahnhofs gelangt, wird ein Drehmoment erzeugt, dessen Richtung der Richtung der Anzeigemarke zu dem besonderen Punkt entspricht, so daß eine Bedienperson das Gefühl vermittelt bekommt, daß die Anzeigemarke 12 auf den besonderen Punkt 13 gezogen wird Der besondere Punkt 13 kann dann durch ein Bewegen der Handhabe 1 in deren axialer Richtung oder durch das Betatigen eines separaten Tasters ausgewählt werden So kann beispielsweise das Ziel für ein im Kraftfahrzeug befindliches Navigationssystem eingegeben werden Es ist naturlich auch möglich, jeden anderen Punkt auf der Landkarte durch ein entsprechendes Bewegen der Anzeigemarke 12 auf den entsprechenden Punkt anzuwählen und in der vorbeschriebenen Art und Weise auszuwählenIf function F1 has been selected and selected, a map shown in FIG. 8 is shown on display 11. A cursor or a display mark 12 can be controlled by means of the handle 1 via the display 11, for example the display mark 12 moves when it rotates the handle 1 around the X axis in the vertical direction and when the handle 1 rotates around the Y axis in the horizontal direction. When the indicator mark 12 comes close to particular points 13, for example of a hotel, an airport or a train station, a torque is generated generated, the direction of which corresponds to the direction of the indicator mark to the particular point, so that an operator is given the feeling that the indicator mark 12 is drawn to the special point 13. The special point 13 can then be moved by moving the handle 1 in its axial direction or selected by pressing a separate button. For example, the destination can be entered for a navigation system located in the motor vehicle. It is of course also possible to select any other point on the map by moving the display marker 12 accordingly to the corresponding point and in the one described above Way to choose
Statt einer Land- oder Seekarte kann auf der Anzeige jeder denkbare Gegenstand dargestellt werden und jeder Punkt der Anzeige ausgewählt werden So kann beispielsweise eine technische Zeichnung dargestellt werden Instead of a land or sea map, every conceivable object can be shown on the display and every point on the display can be selected. For example, a technical drawing can be displayed

Claims

Patentansprüche claims
Bedienvorrichtung mit einer Handhabe mit mindestens zwei Verstellfreiheitsgraden, bei der die Stellung der Handhabe unter Einwirkung einer manuellen Betatigungskraft veränderbar ist und bei der die Handhabe über mindestens eine Art einer haptischen Ruckmeldung in Form von auf die Handhabe wirkenden veränderbaren Kraften und/oder Drehmomenten verfugt, dadurch gekennzeichnet, daß die Handhabe (1 ) in Abhängigkeit ihrer Ist-Position mittels mindestens eines Reglers (9) und mindestens eines Antriebselementes (3) auf eine Sollposition (φSon) bewegbar ist, wobei die auf die Handhabe wirkende Kraft und/oder das auf die Handhabe (1 ) wirkende Drehmoment (MDX, MDY) in Abhängigkeit der Ist-Position modulierbar Operating device with a handle with at least two degrees of freedom of adjustment, in which the position of the handle can be changed under the influence of a manual actuation force and in which the handle has at least one type of haptic feedback in the form of changeable forces and / or torques acting on the handle characterized in that the handle (1) can be moved as a function of its actual position by means of at least one controller (9) and at least one drive element (3) to a desired position (φ So n), the force acting on the handle and / or the Torque (M DX , M DY ) acting on the handle (1) can be modulated depending on the actual position
Bedienvorrichtung nach Anspruch 1 , dadurch gekennzeichnet, daß die auf die Handhabe (1 ) wirkende Kraft und/oder das auf die Handhabe (1 ) wirkende Drehmoment (MDX, MDY) mittels einer Krafttabelle und/oder Drehmomenttabelle (10) in Abhängigkeit der Ist-Position begrenzbar istOperating device according to claim 1, characterized in that the force acting on the handle (1) and / or the torque (M DX , M DY ) acting on the handle (1) by means of a force table and / or torque table (10) depending on the Is position can be limited
Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß für jeden Verstellfreiheitsgrad eine separate Regelung vorhanden istOperating device according to one of the preceding claims, characterized in that there is a separate regulation for each degree of freedom of adjustment
Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß die Handhabe (1 ) drei Verstellfreiheits- grade aufweist Operating device according to one of the preceding claims, characterized in that the handle (1) has three degrees of freedom of adjustment
5. Bedienvorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß die Handhabe (1 ) in axialer Richtung bewegbar ist.5. Control device according to claim 4, characterized in that the handle (1) is movable in the axial direction.
6. Bedienvorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß bei axialer Bewegung der Handhabe (1 ) haptische Rückmeldungen erzeugt werden.6. Operating device according to claim 5, characterized in that haptic feedback is generated with axial movement of the handle (1).
7. Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß sie eine Anzeige (11 ) aufweist, auf der mittels der Handhabe (1 ) anwählbare Funktionsgruppen, Funktionen (F1 bis F6) und Funktionswerte darstellbar sind.7. Operating device according to one of the preceding claims, characterized in that it has a display (11) on which by means of the handle (1) selectable function groups, functions (F1 to F6) and function values can be represented.
8. Bedienvorrichtung nach Anspruch 7, dadurch gekennzeichnet, daß für jede auf der Anzeige (11 ) dargestellte Funktionsgruppe, Funktion (F1 bis F6) und/oder jeden Funktionswert eine haptische Rückmeldung der Handhabe(1 ) vorgesehen ist.8. Control device according to claim 7, characterized in that a haptic feedback of the handle (1) is provided for each function group, function (F1 to F6) and / or each function value shown on the display (11).
9. Bedienvorrichtung nach Anspruch 8, dadurch gekennzeichnet, daß bei der Anwahl von gleichzeitig auf der Anzeige (11 ) dargestellten Funktionsgruppen, Funktionen (F1 bis F6) und/oder Funktionswerten bestimmte Funktionsgruppen, Funktionen (F1 bis F6) und/oder Funktionswerte eine besonders ausgeprägte haptische Rückmeldung aufweisen.9. Operating device according to claim 8, characterized in that when selecting function groups, functions (F1 to F6) and / or function values simultaneously shown on the display (11), certain function groups, functions (F1 to F6) and / or function values are particularly useful have strong haptic feedback.
10. Bedienvorrichtung nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, daß ein Gegenstand auf der Anzeige (11 ) darstellbar ist und ein Punkt auf dem Gegenstand mittels einer durch die Handhabe (1 ) steuerbaren Anzeigemarke (12) anwählbar ist. 10. Control device according to one of claims 7 to 9, characterized in that an object on the display (11) can be displayed and a point on the object by means of a handle (1) controllable display mark (12) can be selected.
11. Bedienvorrichtung nach Anspruch 10, dadurch gekennzeichnet, daß eine Land- oder Seekarte auf der Anzeige (11 ) darstellbar ist und Punkte auf der Land- oder Seekarte mittels einer durch die Handhabe (1 ) steuerbaren Anzeigemarke (12) anwählbar sind.11. Operating device according to claim 10, characterized in that a map or sea map on the display (11) can be displayed and points on the map or sea map by means of a handle (1) controllable display mark (12) can be selected.
12. Bedienvorrichtung nach Anspruch 10 oder 1 1 , dadurch gekennzeichnet, daß bestimmten Punkten (13) besondere haptische Rückmeldungen zugeordnet sind.12. Operating device according to claim 10 or 1 1, characterized in that certain points (13) are assigned special haptic feedback.
13 Bedienvorrichtung nach Anspruch 12, dadurch gekennzeichnet, daß die Anzeigemarke (12) zu den bestimmten Punkten (13) hingezogen wird und daß die Handhabe (1 ) einen entsprechenden Drehmomentverlauf aufweist.13 Operating device according to claim 12, characterized in that the indicator mark (12) is drawn to the specific points (13) and that the handle (1) has a corresponding torque curve.
14. Bedienvorrichtung nach einem der Ansprüche 7 bis 13, dadurch gekennzeichnet, daß auf der Anzeige (11 ) Seiten mit Adreßbucheinträgen darstellbar sind und bei einem Wechsel der jeweiligen Seiten die Handhabe (1 ) eine haptische Rückmeldung abgibt.14. Operating device according to one of claims 7 to 13, characterized in that pages with address book entries can be displayed on the display (11) and the handle (1) gives a haptic feedback when changing the respective pages.
15. Bedienvorrichtung nach einem der Ansprüche 7 bis 13, dadurch gekennzeichnet, daß die angewählten Funktionsgruppen, Funktionen (F1 bis F6) und/oder Funktionswerte durch eine Auslösevorrichtung, beispielsweise einen Taster, auswählbar sind.15. Operating device according to one of claims 7 to 13, characterized in that the selected function groups, functions (F1 to F6) and / or function values can be selected by a triggering device, for example a button.
16. Bedienvorrichtung nach Anspruch 15, dadurch gekennzeichnet, daß der Taster auf oder neben der Handhabe (1 ) angeordnet ist.16. Operating device according to claim 15, characterized in that the button is arranged on or next to the handle (1).
17. Bedienvorrichtung nach Anspruch 15, dadurch gekennzeichnet, daß der Taster durch ein Drücken der Handhabe (1 ) betätigbar ist. 17. Operating device according to claim 15, characterized in that the button can be actuated by pressing the handle (1).
Bedienvorrichtung nach einem der Ansprüche 15 bis 17, dadurch gekennzeichnet, daß zusätzliche Tasten zur direkten An- und/oder Auswahl bestimmter Funktionsgruppen, Funktionen (F1 bis F6) und/oder Funktionswerte vorhanden sind Operating device according to one of claims 15 to 17, characterized in that additional keys for the direct selection and / or selection of specific function groups, functions (F1 to F6) and / or function values are present
Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß die Handhabe (1 ) eine spezielle Haptik aufweist, wenn die Bedienvorrichtung nicht in der Lage ist, die Eingaben der Bedienpersonen zu verarbeitenControl device according to one of the preceding claims, characterized in that the handle (1) has a special feel when the control device is not able to process the inputs of the operators
Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß die auf die Handhabe wirkenden Kraft- und/oder Drehmomentverlaufe so ausgewählt sind, daß eine Kreisbahn erfuhlbar istOperating device according to one of the preceding claims, characterized in that the force and / or torque curves acting on the handle are selected such that a circular path can be sensed
Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß die auf die Handhabe wirkenden Kraft- und/oder Drehmomentverlaufe so ausgewählt sind, daß eine beliebige Bahn erfuhlbar istOperating device according to one of the preceding claims, characterized in that the force and / or torque curves acting on the handle are selected so that any path can be felt
Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß durch die Stellung der Handhabe (1 ) wahrend einer Mindestdauer in einer bestimmten Position eine Auto- Repeat-Funktion auslosbar ist und eine derartige Auslosung der Bedienperson haptisch mitgeteilt wirdControl device according to one of the preceding claims, characterized in that an auto repeat function can be triggered by the position of the handle (1) for a minimum period in a certain position and such a trigger is communicated to the operator haptically
Bedienvorrichtung nach Anspruch 22, dadurch gekennzeichnet, daß eine derartige Auslosung der Bedienperson durch eine bzw ein sich in verschiedene Richtungen ändernde Kraft- und/oder Drehmoment haptisch mitgeteilt wird Operating device according to claim 22, characterized in that such a drawing of the operator is communicated haptically by a force and / or torque changing in different directions
24. Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß der Betrag des Kraft- und/oder Drehmomentverlaufs durch die Bedienperson mit einem Faktor versehbar ist und so eine individuelle Anpassung möglich ist.24. Operating device according to one of the preceding claims, characterized in that the amount of the force and / or torque curve can be provided with a factor by the operator and so an individual adjustment is possible.
25. Bedienvorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, daß durch die Bedienvorrichtung zusätzliche akustische Rückmeldungen ausgegeben werden. 25. Operating device according to one of the preceding claims, characterized in that additional acoustic feedback is output by the operating device.
EP99965433A 1998-12-09 1999-12-03 Operating device comprising a lever with at least two degrees of freedom of displacement Expired - Lifetime EP1119803B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19856722A DE19856722A1 (en) 1998-12-09 1998-12-09 Operating device with a handle with at least two degrees of freedom of adjustment
DE19856722 1998-12-09
PCT/EP1999/009443 WO2000034840A1 (en) 1998-12-09 1999-12-03 Operating device comprising a lever with at least two degrees of freedom of displacement

Publications (2)

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EP1119803A1 true EP1119803A1 (en) 2001-08-01
EP1119803B1 EP1119803B1 (en) 2003-05-21

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AT (1) ATE241164T1 (en)
AU (1) AU2095100A (en)
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DE10012436A1 (en) * 2000-03-15 2001-10-11 Volkswagen Ag Joystick control input device has additional motion for entry and cancellation of functions
JP3920559B2 (en) * 2000-11-10 2007-05-30 アルプス電気株式会社 Manual input device
DE10061619A1 (en) * 2000-12-11 2002-06-20 Bosch Gmbh Robert operating device
EP1302834A1 (en) 2001-10-12 2003-04-16 Preh-Werke GmbH & Co. KG Actuating element
KR100463757B1 (en) * 2002-07-30 2004-12-29 비엔비넷(주) 2-DOF haptic device having a passive DOF
DE10248993A1 (en) * 2002-10-21 2004-04-29 BSH Bosch und Siemens Hausgeräte GmbH Operating device for a hob
JP4030437B2 (en) 2003-01-23 2008-01-09 アルプス電気株式会社 Image information display device
US6917867B2 (en) 2003-04-10 2005-07-12 Caterpillar Inc Operator input device with tactile feedback

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WO2000034840A1 (en) 2000-06-15
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EP1119803B1 (en) 2003-05-21
ATE241164T1 (en) 2003-06-15

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