EP1882244B1 - Fernsteuerung für bewegliche maschinen, insbesondere für bearbeitungs-, landwirtschafts- und lasthandhabungsmaschinen - Google Patents

Fernsteuerung für bewegliche maschinen, insbesondere für bearbeitungs-, landwirtschafts- und lasthandhabungsmaschinen Download PDF

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Publication number
EP1882244B1
EP1882244B1 EP06743647A EP06743647A EP1882244B1 EP 1882244 B1 EP1882244 B1 EP 1882244B1 EP 06743647 A EP06743647 A EP 06743647A EP 06743647 A EP06743647 A EP 06743647A EP 1882244 B1 EP1882244 B1 EP 1882244B1
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EP
European Patent Office
Prior art keywords
signal
processing unit
remote control
test signal
processing
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Not-in-force
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EP06743647A
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English (en)
French (fr)
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EP1882244A2 (de
Inventor
Yves Marie Breton
Didier Merletti
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Bosch Rexroth DSI SAS
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Bosch Rexroth DSI SAS
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Publication of EP1882244A2 publication Critical patent/EP1882244A2/de
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements

Definitions

  • the present invention relates to a remote control, especially for mobile machinery, especially public works machinery, agricultural machinery or handling.
  • a mobile device remote control comprises, in known manner, a handle movable in at least one degree of freedom with respect to a support, the movement of this handle allowing an operator to control at least one receiving device outside the remote control, called also client device.
  • Such a remote control includes a sensor of the position of the handle, and a sensor signal processing unit, for generating a control signal to the client device.
  • the sensors may be small in size, since the redundancy of these sensors does not significantly complicate the structure of the remote control, it appears that the installation of two processing in the remote control significantly complicates the realization of the remote control, and also increases its cost significantly.
  • the present invention aims to provide a remote control in which the malfunctions due to the processing unit can be detected without requiring the establishment of two processing units within the remote control.
  • the set of information, transmitted in response to the test signal further comprises at least one control signal corresponding to the signal processing of the sensors by the processing unit.
  • the test signal is a digital signal.
  • the processing unit comprises at least one analog / digital converter.
  • the means for transmitting a signal to the filtering means from the test signal comprise means for generating a pulse width modulation type signal.
  • the filtering means comprise a low-pass filter.
  • the remote control comprises at least two sensors for each degree of freedom of the handle.
  • the set of information further comprises at least one signal corresponding to the signal processing of the sensors by the processing unit.
  • the set of information transmitted by the remote control is expected within a specified time interval after transmission of the test signal.
  • the method comprises a step, at the level of the processing unit, of multiplexing the sensor signals and signals derived from the test signal, and processing the multiplexed signal with processing means, in particular to carry out a conversion. analog / digital.
  • the detection of the position of the handle is performed by two separate sensors.
  • At least part of the treatment is performed, within the processing unit, redundantly by at least two routines whose instructions and / or data are recorded in two memory areas separate from the processing unit.
  • a first routine processes the signals of a first sensor and the signal derived from the test signal
  • a second routine processes the signals of a second sensor and the signal derived from the test signal
  • control signals are transported via communication means 9, consisting for example of a CAN bus-type fieldbus to a client device 10 comprising at least supervision means 12.
  • the remote control 1 for mobile gear comprises, as described in the document FR 2,857,489 , for each degree of freedom of the handle 3, two pushers 13, 13R slidably mounted in the body 4,
  • the handle 3 is pivotally mounted relative to the body 4, and controls, via a transverse skirt 14 in simple support on the upper end of the pushers 13, 13R, the back and forth movements of these two pushers 13, 13R located on either side of the handle 3.
  • First elastic return means 15 urge each pusher 13, 13R towards its extended position so that they have a proper upward movement, and follow the movements of the handle in all its tilting positions, between a depressed position and an output position of the pusher 13, 13R.
  • the sensors 5, 5R detect the position of each of the pushers 13, 13R, which allows to know the position of the handle.
  • the sensors 5, 5R are sensors without mechanical contact of the Hall effect sensor type, mounted in the body 4 of the remote control.
  • Each pusher comprises a foot comprising a magnet 16, moving opposite the sensor between the depressed and output positions of each pusher 13, 13R.
  • Each sensor 5, 5R provides, as a function of the position of the handle 3 and therefore the pusher with which it is associated, a signal S1, S1R.
  • This signal S1, S1R can for example be given in the form of a voltage signal whose value is between two extreme terminals of 0.5 and 5 V, a median value of 2.5 V corresponding to the neutral position of the handle.
  • This signal S1, S1R, indicating precisely the position of the handle 3, is sent to the processing unit 6.
  • the signal S1 is 4.5 V while the signal S1R is 0.5 V.
  • the two sensors 5, 5R deliver the same value of the signals S1, S1R, equal to 2.5 V.
  • ranges of values above 4.5 V and below 0.5 V can detect causes of malfunction such as wear, circuit breakage or short circuit.
  • the processing unit 6 is constituted by a part of an electronic card 17, in particular by a microcontroller 6.
  • the microprocessor CPU is connected to the other components by internal communication means of the microcontroller 6, bus type.
  • the actuator 7 is constituted by an ID interface driver, which notably allows amplification of the signals provided by the interface controller IC.
  • the signal level at the output of the interface controller is of the order of 1 mA, and the interface driver amplifies the level of this signal up to 20 mA, to communicate it over the bus 9.
  • the actuator 7 is connected to the bus in transmission and in reception by two CANH and CANL links represented at 23 and 24.
  • the signals S1 and S1R are received at the analog / digital converter ADC at 18, by two inputs ADC1 and ADC4, referenced at 25 and 26.
  • the signals S1 and S1R are thus transformed from analog in digital signals S1d and S1Rd.
  • the microprocessor CPU makes it possible to perform complementary processing on the signals, for example to set up ramps or signal curves.
  • the output signals S1s and S1Rs thus obtained are then supplied to the interface controller IC, which transmits them to the actuator 7, itself transmitting this signal, constituting a control signal to the client device 10 by the communication means 9. , constituted by the CAN field bus.
  • the entire card is powered by a power source through an input 27, connected for example to a voltage regulator REG, shown at 28.
  • this regulator 28 makes it possible to verify that the power supply of the microcontroller 6 is carried out in a 5V band of voltage.
  • the card has a common reference of electric potential 29.
  • the microcontroller 6 furthermore comprises a set of test means making it possible to deduce a response signal RT from a test setpoint value T.
  • the digital test setpoint value T is communicated by the supervision means 12 of the client system via the communication bus 9.
  • This setpoint value T is received by the actuator 7, which transmits it to the interface controller IC, and is then routed by the microprocessor CPU to the test means.
  • a second input group 34 of the analog / digital converter ADC of which two inputs ADC2 and ADC3, represented at 35 and 36, take the value of the analog signal at the output of the filter 33.
  • the filter 33 may for example consist of a resistor 37 in series between the terminals of the filter and a shunt to the common reference comprising a capacitor 38.
  • test means thus make it possible to provide an analog signal value coming from the filtering, treated as a signal value coming from a sensor, by the ADC converter, then during the processing carried out by the microprocessor CPU, and during the transfer by the IC interface controller and actuator.
  • the signal obtained corresponding to a response signal RT is then sent back to the supervisory means 12 of the client device 10 with the control signals of the sensors, S1 and S1R, via the IC interface controller, again. actuator 7, then the communication bus 9, as we will detail below.
  • the figure 4 illustrates the organization of the processing performed on the signals present at the input of the ADC analog / digital converter, up to the formatting of data frames that can be transmitted to the client system by the interface controller IC and the actuator 7.
  • a first step E1 all of these signals S1, S1R, T are multiplexed by a multiplexing component 42 to be subject to the same analog / digital conversion processing by the ADC converter.
  • the multiplexing can be operated by a dedicated component or by the microprocessor 19.
  • a second operation E2 the conversion of the multiplexed signal is performed by the ADC converter.
  • a third step E3 in the microprocessor 19 the additional processing is performed on the digital data obtained from the signals S1, T, S1R.
  • These processes are performed by two redundant calculating routines R1 and R1R, the identical instructions of which are stored in two parts of the memory of the separate CPU microprocessor, RAM1 and RAM2.
  • the routine R1 processes the data from the signals S1 and T, coming from the inputs ADC1 and ADC2 of the converter, and the routine R1 R processes the data coming from the signals S1R and T, coming from the inputs ADC4 and ADC3 of the converter.
  • a fourth step E4 the data obtained in E3 are formatted in the form of a SAF frame, for sending to the client system, by the interface controller IC and the interface driver of the actuator 7.
  • the frame further comprises a cyclic counter CC for identifying it with respect to the preceding and following frames.
  • the communication protocol between the supervision means 12 of the client device 10 and the processing unit constituted by the microcontroller 6 is of the master / slave type.
  • the supervisory means 12 of the client device constitute the master, and the processing unit 6 of the remote control is the slave.
  • the supervisory means 12 send a synchronous request in the form of a master request frame MRF, and wait for a response in the form of a slave response frame SAF, in a given time window, from the transmission of the request. query frame.
  • the described synchronous mode makes it possible to avoid communication errors and avoids confusion between two replies to two transmitted request frames.
  • the master request frame MRF comprises the test setpoint value T
  • the slave response frame SAF comprises the data of the signals RT, S1, INVS1, RTR, S1R, INVSR as detailed above.
  • the Figures 7 and 8 describe an exemplary structure for these frames.
  • the supervision means of the client device to compare the test setpoint value T sent with the received RT and RTR values, to identify whether the operation of the microcontroller is satisfactory, the received signals RT and RTR having been processed by all the components of the microcontroller 6, comprising redundant elements.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Selective Calling Equipment (AREA)
  • Telephonic Communication Services (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Agricultural Machines (AREA)
  • Telephone Function (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Claims (18)

  1. Fernsteuerung (2) für eine bewegliche Maschine, insbesondere Baumaschine, landwirtschaftliche Maschine oder Förderzeug, die dazu bestimmt ist, Steuersignale (S1, S1R) an eine Client-Vorrichtung (10) mittels Kommunikationseinrichtungen (9) zu erzeugen, wobei die Fernsteuerung enthält:
    - einen Betätigungsgriff (3), der gemäß mindestens einem Freiheitsgrad bezüglich des Körpers der Fernsteuerung (4) beweglich ist,
    - mindestens einen Sensor (5, 5R) der Stellung des Betätigungsgriffs (3),
    - eine Verarbeitungseinheit, oder Mikrocontroller, (6) der von dem mindestens einen Sensor (5, 5R) gesendeten Signale,
    - einen Aktor (7), der dazu bestimmt ist, von der Verarbeitungseinheit (6) verarbeitete Steuersignale (S1, S1R) an die Client-Vorrichtung (10) zu übertragen, dadurch gekennzeichnet, dass sie Testeinrichtungen (30, 33, 34) enthält, die dazu bestimmt sind, ein von einem von der Client-Vorrichtung (10) gesendeten Testsignal (T) abgeleitetes Signal am Eingang (ADC2, ADC3) der Verarbeitungseinheit (6) einzugeben, und dass sie eingerichtet ist, um an die Client-Vorrichtung (10) eine Einheit von Informationen (SAF) als Antwort auf das Testsignal (T) zu senden, die mindestens ein Antwortsignal (RT) enthält, das der Verarbeitung des vom Testsignal (T) abgeleiteten Signals durch die Verarbeitungseinheit (6) entspricht.
  2. Fernsteuerung (2) nach Anspruch 1, dadurch gekennzeichnet, dass die Einheit von Informationen (SAF), die als Antwort auf das Testsignal (T) gesendet wird, außerdem mindestens ein Steuersignal aufweist, das der Verarbeitung des Signals der Sensoren durch die Verarbeitungseinheit (6) entspricht.
  3. Fernsteuerung (2) nach einem der Ansprüche 1 und 2, dadurch gekennzeichnet, dass das Testsignal (T) ein digitales Signal ist.
  4. Fernsteuerung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Testeinrichtungen enthalten:
    - Einrichtungen (30) zum Senden eines analogen Signals ausgehend von dem Testsignal (T),
    - Einrichtungen (33) zum Filtern des gesendeten analogen Signals.
  5. Fernsteuerung (2) nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Verarbeitungseinheit (6) mindestens einen AnalogDigital-Wandler (18, 34) enthält.
  6. Fernsteuerung (2) nach einem der Ansprüche 4 und 5, dadurch gekennzeichnet, dass die Einrichtungen zum Senden eines Signals an die Filtereinrichtungen (33) ausgehend vom Testsignal (T) Einrichtungen zur Erzeugung eines Signals vom Typ mit Impulsbreitenmodulation (30) aufweisen.
  7. Fernsteuerung (2) nach einem der Ansprüche 4 bis 6, dadurch gekennzeichnet, dass die Filtereinrichtungen ein Tiefpassfilter (33) aufweisen.
  8. Fernsteuerung (2) nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass sie zusätzliche Prüfeinrichtungen der Verarbeitungseinheit aufweist, die enthalten:
    - ein Überprüfungsbauteil der Versorgungsspannung der Einheit (39), und/oder
    - ein Überprüfungsbauteil der Taktfrequenz der Vorgänge in der Verarbeitungseinheit (40).
  9. Fernsteuerung (2) nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass sie mindestens zwei Sensoren (5, 5R) für jeden Freiheitsgrad des Griffs (3) aufweist.
  10. Verfahren zur Überprüfung des Betriebs einer Verarbeitungseinheit (6) einer Fernsteuerung (2) einer beweglichen Maschine, insbesondere Baumaschine, landwirtschaftliche Maschine oder Förderzeug, die dazu bestimmt ist, Steuersignale (S1, S1R) an eine Client-Vorrichtung (10) mittels Kommunikationseinrichtungen (9) zu erzeugen, wobei die Fernsteuerung enthält:
    - einen Betätigungsgriff (3), der gemäß mindestens einem Freiheitsgrad bezüglich des Körpers der Fernsteuerung (4) beweglich ist,
    - mindestens einen Sensor (5, 5R) der Stellung des Betätigungsgriffs (3),
    - eine Verarbeitungseinheit (6) der von dem mindestens einen Sensor (5, 5R) gesendeten Signale,
    - einen Aktor (7), der dazu bestimmt ist, von der Verarbeitungseinheit (6) verarbeitete Steuersignale (S1, S1R) an die Client-Vorrichtung (10) zu übertragen, wobei das Verfahren die Schritte enthält, die darin bestehen
    auf der Ebene einer Client-Vorrichtung (10):
    - ein Testsignal (T) an die Verarbeitungseinheit (6) zu senden,
    auf der Ebene der Fernsteuerung:
    - ein von dem von der Client-Vorrichtung (10) gesendeten Testsignal (T) abgeleitetes Signal zu erzeugen,
    - das abgeleitete Signal am Eingang (ADC2, ADC3) der Verarbeitungseinheit (6) einzugeben,
    - das vom Testsignal (T) abgeleitete Signal wie ein Sensorsignal auf der Ebene der Verarbeitungseinheit (6) zu verarbeiten,
    - eine Einheit von Informationen (SAF), die mindestens ein Antwortsignal (RT) entsprechend der Verarbeitung des vom Testsignal (T) abgeleiteten Signals durch die Verarbeitungseinheit enthält, an die Client-Vorrichtung (10) zu senden,
    auf der Ebene der Client-Vorrichtung:
    - das Testsignal (T) und das Antwortsignal (RT) zu vergleichen.
  11. Verfahren nach Anspruch 10, dadurch gekennzeichnet, dass das Testsignal (T) ein digitales Signal ist.
  12. Verfahren nach einem der Ansprüche 10 und 11, dadurch gekennzeichnet, dass die Erzeugung eines vom Testsignal abgeleiteten Signals durchgeführt wird durch:
    - Ableiten eines analogen Signals ausgehend vom Testsignal (T),
    - Filtern des so gesendeten analogen Signals.
  13. Verfahren nach einem der Ansprüche 10 bis 12, dadurch gekennzeichnet, dass die Einheit von Informationen (SAF) außerdem mindestens ein Signal (S1, S1R, INVS1, INVS1R) enthält, das der Verarbeitung des Signals der Sensoren durch die Verarbeitungseinheit (6) entspricht.
  14. Verfahren nach einem der Ansprüche 11 bis 13, dadurch gekennzeichnet, dass auf der Ebene der Client-Vorrichtung (10) die von der Fernsteuerung gesendete Einheit von Informationen (SAF) in einem bestimmten Zeitintervall nach dem Senden des Testsignals (T) erwartet wird.
  15. Verfahren nach einem der Ansprüche 11 bis 14, dadurch gekennzeichnet, dass es auf der Ebene der Verarbeitungseinheit einen Schritt aufweist, der darin besteht, die Sensorsignale (S1, S1R) und vom Testsignal (T) abgeleitete Signale zu multiplexieren, und das multiplexierte Signal mit Verarbeitungseinrichtungen (18) zu verarbeiten, insbesondere, um eine AnalogDigital-Umwandlung durchzuführen.
  16. Verfahren nach einem der Ansprüche 10 bis 15, dadurch gekennzeichnet, dass die Erfassung der Stellung des Griffs (3) von zwei unterschiedlichen Sensoren (5, 5R) durchgeführt wird.
  17. Verfahren nach einem der Ansprüche 10 bis 16, dadurch gekennzeichnet, dass mindestens ein Teil der Verarbeitung innerhalb der Verarbeitungseinheit redundant von mindestens zwei Routinen (R1, R1R) durchgeführt wird, deren Anweisungen und/oder Daten in zwei unterschiedlichen Speicherzonen (RAM1, RAM2) der Verarbeitungseinheit (6) gespeichert sind.
  18. Verfahren nach Anspruch 17, dadurch gekennzeichnet, dass eine erste Routine (R1) Signale eines ersten Sensors (S1) und das vom Testsignal (T) abgeleitete Signal und eine zweite Routine (R1R) Signale eines zweiten Sensors (S1R) und das vom Testsignal (TR) abgeleitete Signal verarbeitet.
EP06743647A 2005-05-18 2006-04-06 Fernsteuerung für bewegliche maschinen, insbesondere für bearbeitungs-, landwirtschafts- und lasthandhabungsmaschinen Not-in-force EP1882244B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0504990A FR2886035B1 (fr) 2005-05-18 2005-05-18 Telecommande d'engin, en particulier d'engin de travaux publics
PCT/FR2006/000763 WO2006123025A2 (fr) 2005-05-18 2006-04-06 Telecommande d'engin mobile, en particulier engin de travaux publics, engin agricole ou de manutention

Publications (2)

Publication Number Publication Date
EP1882244A2 EP1882244A2 (de) 2008-01-30
EP1882244B1 true EP1882244B1 (de) 2010-06-30

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EP06743647A Not-in-force EP1882244B1 (de) 2005-05-18 2006-04-06 Fernsteuerung für bewegliche maschinen, insbesondere für bearbeitungs-, landwirtschafts- und lasthandhabungsmaschinen

Country Status (8)

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US (1) US20090021414A1 (de)
EP (1) EP1882244B1 (de)
JP (1) JP2008541285A (de)
CN (1) CN101176131A (de)
AT (1) ATE472788T1 (de)
DE (1) DE602006015179D1 (de)
FR (1) FR2886035B1 (de)
WO (1) WO2006123025A2 (de)

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US9863786B2 (en) 2013-07-17 2018-01-09 Infineon Technologies Ag Sensor with interface for functional safety
DE102014109956B4 (de) * 2013-07-17 2020-09-10 Infineon Technologies Ag Sensor mit Schnittstelle für Funktionssicherheit
DE102014101945A1 (de) * 2013-12-23 2015-06-25 Endress + Hauser Gmbh + Co. Kg Messumformer mit Überwachungsfunktion
US20150309508A1 (en) * 2014-04-28 2015-10-29 Kara Hasan Kubilay Gyroscope Based Radio Transmitter for Model Vehicles

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Also Published As

Publication number Publication date
FR2886035B1 (fr) 2007-08-03
EP1882244A2 (de) 2008-01-30
DE602006015179D1 (de) 2010-08-12
JP2008541285A (ja) 2008-11-20
FR2886035A1 (fr) 2006-11-24
WO2006123025A2 (fr) 2006-11-23
WO2006123025A3 (fr) 2007-01-25
US20090021414A1 (en) 2009-01-22
CN101176131A (zh) 2008-05-07
ATE472788T1 (de) 2010-07-15

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