EP1988222A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

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Publication number
EP1988222A1
EP1988222A1 EP08155599A EP08155599A EP1988222A1 EP 1988222 A1 EP1988222 A1 EP 1988222A1 EP 08155599 A EP08155599 A EP 08155599A EP 08155599 A EP08155599 A EP 08155599A EP 1988222 A1 EP1988222 A1 EP 1988222A1
Authority
EP
European Patent Office
Prior art keywords
operating
force
commercial vehicle
operating lever
state
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
EP08155599A
Other languages
German (de)
English (en)
Other versions
EP1988222B1 (fr
Inventor
Nicolai Tarasinski Dr.
Klaus Hahn
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.)
Deere and Co
Original Assignee
Deere and Co
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 Deere and Co filed Critical Deere and Co
Publication of EP1988222A1 publication Critical patent/EP1988222A1/fr
Application granted granted Critical
Publication of EP1988222B1 publication Critical patent/EP1988222B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • 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

  • Such operating devices have long been known from the prior art. With them, for example, the speed, the steering, a work function or a gear setting of a commercial vehicle can be adjusted.
  • a joystick is used as a control lever for controlling a loader tool.
  • a commercial vehicle in this context come in particular agricultural vehicles, ie. Tractors, harvesters, combine harvesters, forage harvesters, self-propelled sprayers, but also industrial utility vehicles, such as construction vehicles, bulldozers, bulldozers, backhoes, loader vehicles, dump trucks, cranes, telescopic loaders, in question.
  • the operating lever may be formed, for example in the form of a hand throttle, with which the engine speed of the engine of the commercial vehicle or the speed of the commercial vehicle is adjustable. It is also conceivable to form the operating lever in the form of a hydraulic control lever. In this case, a hydraulic function or work function is set or operated with the hydraulic control lever. Such a work function can be the height adjustment of a three-point implement mounting a tractor. This is an example of a working function of the commercial vehicle, in which the two lifting cylinders of the three-point implement mounting are controlled according to the operation of the operating lever.
  • the operating lever can be acted upon by a predeterminable force in order to make perceivable to the operator that there is a specific state of a working device adapted to the utility vehicle. This can be, for example be the case when a tool is switched on and this reaches its operating speed after a time delay. Once this is present, the operating lever can also be acted upon by a force pulse.
  • the commercial vehicle which has an operating device according to the invention, may be a self-propelled working machine or a tractor of the field of agriculture, construction or forestry.
  • the commercial vehicle may be in the form of a tractor, a harvesting machine, a combine harvester, a forage harvester, a construction machine and / or a forest machine.
  • the function activated by the operating lever of the operating device can be a working function characteristic of the respective commercial vehicle.
  • the sensor 52 detects the acceleration of the tractor 28.
  • the sensor 54 detects the force which is adapted to the tractor 28, in FIG. 2 not shown work implement on the tractor 28 initiates. With the sensor 56 can on the rear Drive transmitted torque can be detected.
  • a GPS receiver 58 is provided with which GPS position signals can be received, from which the control unit 14 can determine the current position of the tractor 28. All sensors are connected to the control unit 14 by means of electrical line connections. Also, the adjusting device 22 with the in FIG. 2 Not shown actuator connected to the controller 14. Although in FIG. 2 not shown, further sensors may be provided, with which further variables can be detected and from which a corresponding state variable of the commercial vehicle or a work function or from which a state variable of a working device adapted to the commercial vehicle can be derived or determined.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Control Devices (AREA)
EP08155599.7A 2007-05-04 2008-05-02 Dispositif de commande Active EP1988222B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007021499A DE102007021499A1 (de) 2007-05-04 2007-05-04 Bedienvorrichtung

Publications (2)

Publication Number Publication Date
EP1988222A1 true EP1988222A1 (fr) 2008-11-05
EP1988222B1 EP1988222B1 (fr) 2018-08-29

Family

ID=39683634

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08155599.7A Active EP1988222B1 (fr) 2007-05-04 2008-05-02 Dispositif de commande

Country Status (3)

Country Link
US (1) US8781642B2 (fr)
EP (1) EP1988222B1 (fr)
DE (1) DE102007021499A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010115710A3 (fr) * 2009-04-08 2011-05-12 Jetter Ag Commande d'un dispositif de levage
EP2733268A3 (fr) * 2012-11-16 2017-09-13 Kramer-Werke GmbH Machine dotée d'une installation de chargement

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100993360B1 (ko) * 2008-11-28 2010-11-09 현대자동차주식회사 타이어 구동 최적화 시스템 및 이의 제어방법
EP2410196B1 (fr) * 2009-03-18 2013-06-26 Komatsu, Ltd. Véhicule de génie civil
US20120123614A1 (en) * 2010-11-17 2012-05-17 INRO Technologies Limited Method and apparatus for virtualizing industrial vehicles to automate task execution in a physical environment
US8626404B2 (en) * 2010-11-19 2014-01-07 Caterpillar Inc. Motor grader wheel slip control for cut to grade
US9371003B2 (en) * 2011-03-31 2016-06-21 Denso International America, Inc. Systems and methods for haptic feedback control in a vehicle
KR101599202B1 (ko) * 2011-07-25 2016-03-03 가부시끼 가이샤 구보다 작업기 및 작업기의 설정 변경 시스템
US8731784B2 (en) * 2011-09-30 2014-05-20 Komatsu Ltd. Blade control system and construction machine
JP6224734B2 (ja) * 2013-01-30 2017-11-01 ポール スミス デイビッド 可変感触及び保持フィードバック、自動化較正、及び学習可能な性能最適化を伴う操作者制御型電気出力信号装置
US20140343697A1 (en) * 2013-05-17 2014-11-20 Caterpillar Inc. Selectable Operating Modes for Machine Operator Input Devices
WO2015037029A1 (fr) * 2013-09-10 2015-03-19 富士電機株式会社 Dispositif de manipulation à distance d'objet de charge, et dispositif auxiliaire de celui-ci
US10316492B2 (en) 2014-07-31 2019-06-11 Cnh Industrial America Llc Active force/vibration feedback control method and apparatus for a movable machine
EP4145263B1 (fr) 2015-07-17 2024-06-26 Crown Equipment Corporation Dispositif de traitement avec interface utilisateur graphique pour véhicule industriel
GB2543334B (en) * 2015-10-15 2020-03-11 Bamford Excavators Ltd A method for providing an alert
DE102016118458A1 (de) 2016-09-29 2018-03-29 Jungheinrich Aktiengesellschaft Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement
DE102016118457A1 (de) * 2016-09-29 2018-03-29 Jungheinrich Aktiengesellschaft Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement sowie ein Flurförderzeug
KR102517483B1 (ko) 2016-11-22 2023-04-04 크라운 이큅먼트 코포레이션 산업용 차량을 위한 사용자 인터페이스 디바이스
JP7364999B2 (ja) * 2019-09-09 2023-10-19 株式会社タダノ ブームの操作システム
GB2593759B (en) 2020-04-02 2023-04-26 Caterpillar Inc Method and control unit for generating a control command to at least one actuator of an electro-hydraulic machine
DE102021120686A1 (de) 2021-08-09 2023-02-09 Grammer Aktiengesellschaft Steuervorrichtung

Citations (5)

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US4893981A (en) * 1987-03-26 1990-01-16 Kabushiki Kaisha Komatsu Seisakusho Master/slave type manipulator
US5727387A (en) * 1994-10-31 1998-03-17 Caterpillar Inc. Apparatus for controlling an implement of a work machine
GB2350593A (en) * 1999-06-05 2000-12-06 Charles Mitchell A safety device for an excavator
DE102005000633A1 (de) * 2005-01-03 2006-07-13 Linde Ag Flurförderzeug
WO2007068000A2 (fr) * 2005-12-09 2007-06-14 Abraham Vasant Appareillage et système pour un véhicule efficace et manœuvrable

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JP3546842B2 (ja) * 2000-12-28 2004-07-28 トヨタ自動車株式会社 トロイダル型無段変速機
DE10209206A1 (de) 2002-03-04 2003-09-25 Siemens Ag Warnvorrichtung
JP2004124965A (ja) * 2002-09-30 2004-04-22 Jatco Ltd ベルト式無段変速機の制御装置
JP2004320872A (ja) * 2003-04-15 2004-11-11 Isuzu Motors Ltd 車両用電源装置
JP4150965B2 (ja) * 2003-05-12 2008-09-17 オムロン株式会社 端末装置、業務指示方法、コンテンツ提供装置、コンテンツ提供方法、記録媒体、プログラム、業務管理システム、および業務管理方法
WO2004106858A1 (fr) * 2003-05-29 2004-12-09 Olympus Corporation Systeme de camera stereo et module optique stereo
US7004279B2 (en) 2003-08-28 2006-02-28 Nissan Motor Co., Ltd. Vehicle steering system
JP2005193886A (ja) * 2003-12-12 2005-07-21 Denso Corp 車両走行装置
JP4379261B2 (ja) 2004-08-30 2009-12-09 日産自動車株式会社 車両用操舵装置
DE102004059543A1 (de) * 2004-12-09 2006-06-29 Claas Selbstfahrende Erntemaschinen Gmbh Landwirtschaftliche Arbeitsmaschine
US7498936B2 (en) * 2005-04-01 2009-03-03 Strauss Acquisitions, L.L.C. Wireless event status communication system, device and method
DE102005023246A1 (de) * 2005-05-20 2006-11-23 Zf Friedrichshafen Ag Verfahren zum Steuern des Fahrbetriebes von Kraftfahrzeugen oder anderen Fahrzeugen
FR2888518B1 (fr) 2005-07-12 2007-10-05 Rosatech Sa Melange et distribution homogenes d'un reactant sur une surface
JP4492471B2 (ja) 2005-07-25 2010-06-30 トヨタ自動車株式会社 パワーステアリング装置。
ATE390313T1 (de) 2005-10-19 2008-04-15 Fiat Ricerche Haptische anzeige umfassend ein gaspedal für ein kraftfahrzeug
DE102005059356A1 (de) * 2005-12-13 2007-06-14 Zf Friedrichshafen Ag Hydrauliksystem an Kraftfahrzeugen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4893981A (en) * 1987-03-26 1990-01-16 Kabushiki Kaisha Komatsu Seisakusho Master/slave type manipulator
US5727387A (en) * 1994-10-31 1998-03-17 Caterpillar Inc. Apparatus for controlling an implement of a work machine
GB2350593A (en) * 1999-06-05 2000-12-06 Charles Mitchell A safety device for an excavator
DE102005000633A1 (de) * 2005-01-03 2006-07-13 Linde Ag Flurförderzeug
WO2007068000A2 (fr) * 2005-12-09 2007-06-14 Abraham Vasant Appareillage et système pour un véhicule efficace et manœuvrable

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010115710A3 (fr) * 2009-04-08 2011-05-12 Jetter Ag Commande d'un dispositif de levage
EP2733268A3 (fr) * 2012-11-16 2017-09-13 Kramer-Werke GmbH Machine dotée d'une installation de chargement

Also Published As

Publication number Publication date
US8781642B2 (en) 2014-07-15
US20080275596A1 (en) 2008-11-06
EP1988222B1 (fr) 2018-08-29
DE102007021499A1 (de) 2008-11-06

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