EP1988222B1 - Operating device - Google Patents
Operating device Download PDFInfo
- Publication number
- EP1988222B1 EP1988222B1 EP08155599.7A EP08155599A EP1988222B1 EP 1988222 B1 EP1988222 B1 EP 1988222B1 EP 08155599 A EP08155599 A EP 08155599A EP 1988222 B1 EP1988222 B1 EP 1988222B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- operating
- force
- truck
- 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.)
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Classifications
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- 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
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- 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
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- 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
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- 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 present invention relates to an operating device for controlling at least one state variable of an agricultural or industrial utility vehicle.
- An operating lever of the operating device can be actuated by the hand of an operator. With the operating lever, the at least one state variable of the commercial vehicle is adjustable.
- 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 are in particular agricultural vehicles, ie tractors, harvesters, combine harvesters, forage harvesters, self-propelled sprayers, but also industrial trucks, such as construction vehicles, bulldozers, graders, backhoes, loaders, dump trucks, cranes, telescopic loaders in question.
- An operating device with the features of the preamble of claim 1 is known from DE 10 2005 000 633 known.
- the controls are usually mechanically connected to the machine part provided by them, for example, the steering wheel via the steering shaft with the steering linkage. If such a mechanical connection is eliminated due to an electronic control of the respective component, there is no corresponding feedback about the states of the machine part and the machine of the vehicle to be simulated to the operator.
- the technology known from simulator technology is used by applying forces to the operating lever with the aid of an adjusting device, which is controlled by a suitable control device, in such a way that an operating characteristic common to the operating lever can be generated. As a result, an operator is simulated the most realistic possible operation of the respective function controlled by the operating lever.
- warning display elements Any further assistance in the operation of a commercial vehicle is brought to the user visually or possibly acoustically by warning display elements, if necessary.
- warning lights are provided, which indicate a critical condition of the commercial vehicle, such as the excessive temperature of the engine oil or the coolant.
- the present invention is therefore an object of the invention to provide an operating device of the type mentioned and further, by which the aforementioned problems are overcome.
- an operator of a commercial vehicle to be given further support in the operation of the commercial vehicle, with which this also on a critical or non-optimal operating state of the commercial vehicle is made known in an improved manner.
- an operating device of the type mentioned at least on a control lever in particular a joystick, an adjusting device, at least one sensor and a control device.
- the operating lever can be actuated by the hand of an operator.
- the at least one state variable of the commercial vehicle is adjustable.
- the adjusting device or an actuator the at least one operating lever can be acted upon by a force.
- a variable representing a state variable of the commercial vehicle can be detected and transmitted to the control device.
- a state variable of the current operating state of the commercial vehicle can be determined.
- control device can be controlled by the control device in such a way that the at least one control lever can be acted upon by an altered specifiable force in order to thereby make the operator aware of an unsafe operating state of the commercial vehicle or an insecure operating state of at least one work function.
- the changed force can be, for example, a constant force or a variable force.
- an operation of the utility vehicle can be simplified and optimized in particular if the user is not informed of an unsafe or non-optimal operating state merely by visual display instruments.
- the commercial vehicle has a tachometer for displaying the speed of the internal combustion engine. If the internal combustion engine is permanently operated at an increased rotational speed which is above the maximum permissible rotational speed for continuous operation, no further indication is given in a conventional commercial vehicle, apart from increased noise development of the internal combustion engine, which in a relatively well soundproofed cab of the commercial vehicle also acoustically can not be perceived in all cases. This can lead to engine damage and therefore have a longer failure of the commercial vehicle and thus high costs result.
- the operator if appropriate via an audible and / or visual warning device, is made aware in a tactile manner of such an operating state of the commercial vehicle.
- This is particularly advantageous if the operator has to react in any way in any way, in order to be able to prevent an overload of a component of the commercial vehicle or an accident of the commercial vehicle in time, for example.
- the control device can use the signal from the sensor to calculate in which direction or position the operating lever would be moved in order to achieve the desired purpose. In general, the trend of the effects caused by the adjustment of a state quantity is known. It is determined the position and / or adjustment of the operating lever, which would result in a safe operating condition.
- the adjusting device is driven according to the result of a comparison between the calculated, favorable direction of movement and / or position and the current direction of movement and / or position of the operating lever.
- the control device is preferably further fed information about the - detected by means of a control lever position sensor - position of the operating lever, which takes into account in the calculation of the desirable or undesirable adjustment direction or position of the operating lever can be. In some applications, however, the consideration of the position of the operating lever is not required. It is also conceivable that the control device derives information about the position of the operating lever and / or about its direction of movement from the signal of the sensor or from the change thereof.
- the adjusting device can basically be operated in two different ways.
- this can produce an adjustment resistance or an amplitude and / or frequency of the mechanical excitation of the operating lever, which is proportional to the difference between the current position of the operating lever and a calculated, optimal position of the operating lever, or in another way continuously and preferably monotonically increasing depends on this difference.
- the control lever is set particularly unfavorable, it is very difficult to spend him in an even less favorable position, or he vibrates quite strong and / or fast. In the opposite direction, however, it can be easily moved, or the vibrations go away or disappear.
- the actuating device is only effective when the difference exceeds a certain threshold.
- the adjusting device can bring about a step-like increasing adjusting resistance or the amplitude and / or frequency of the mechanical excitation can be changed in stages.
- the adjustment resistance or the amplitude and / or frequency of the mechanical excitation of the operating lever thus increases in this embodiment in at least one stage.
- control device can also be controllable with the control device in such a way that the at least one control lever has an altered presettable force can be acted upon to thereby make the operator not optimal operating state of the commercial vehicle or a non-optimal operating state of at least one work function perceptible.
- the operating characteristic of the operating lever is designed changeable by the action of the operating lever with a presettable changed force.
- the operating lever can be acted upon by a force such that the latter can be operated by the operator only with an increased expenditure of force.
- the force with which the operating lever is acted upon by the adjusting device in a normal operating state of the commercial vehicle increased by a constant value (offset) when there is no optimal or safe operating state of the commercial vehicle.
- the control lever may be formed in a non-inventive 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.
- a further example may be the activation of corresponding hydraulic cylinders of a loader of a loader vehicle or of an optional loader attachment adaptable to a tractor, in which case the hydraulic cylinders of the loader are activated in dependence on the actuation of the operating lever.
- the operating lever in the form of a gear shift lever train. With such a transmission shift lever, a switching state of a transmission is set.
- the operating lever is designed in the form of a joystick.
- a work function or a state variable of the commercial vehicle can be controlled.
- An example of a work function of the commercial vehicle may be the above-mentioned control of the three-point implement mounting a tractor.
- a work function or a state variable of an implement adapted to the utility vehicle can be adjustable with the joystick.
- An example of an implement adapted to the commercial vehicle may be the optional superstructure attachment or a mower on a tractor, also mentioned above.
- a loader and / or a loading tool can be controlled with the joystick. In this case, the force acting on the joystick will be dependent on the lifting height of the loader or the loader tool.
- the force acting on the joystick increases with increasing height of the loader or of the loader tool.
- safety aspects in connection with a ballasted vehicle with a raised loader tool speak in favor of this.
- the loader boom can also be changed in length, e.g. by extension or retraction.
- At least one - preferably a lower and / or an upper - height value of the loader / supercharger tool can be predetermined, in which a predeterminable maximum force acts on the joystick.
- a predeterminable maximum force acts on the joystick.
- the at least one altitude value can be stored and / or changed by an operator, so that the operator can configure the operating device depending on the specific task present.
- At least one - preferably a lower and / or an upper - tilt angle value of the supercharger tool can be predetermined, in which a predeterminable maximum force acts on the joystick.
- the at least one tilt angle value can also be stored and / or changed by an operator.
- the operating lever in the form of a key switch or switch.
- a work function or a state variable of the utility vehicle or a work function or a state variable of a work implement adapted to the utility vehicle can likewise be actuated with such a touch switch or switch not according to the invention.
- the function activated by the key switch can be activated or deactivated (e.g., mechanical front wheel drive on / off, PTO on / off).
- the function activated by the changeover switch can be switched over between at least two different states (reverser of the transmission forward / backward).
- a state variable of the commercial vehicle can be, for example, the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the utility vehicle, the yawing or yawing moment, the determination of an obstacle, the speed of a motor or Transmission shaft, the speed of at least one wheel, the torque transmitted by a shaft, the output from a drive unit Torque, the power or capacity of a drive, the energy consumption or fuel consumption of a consumer, the slip of the utility vehicle above the ground, an axle load, the pressure or flow or volume flow change of a hydraulic fluid, the extension of a cylinder, the driving condition, the driving force of the commercial vehicle and / or the force acting on the utility vehicle of a trailer and / or a working device.
- a force acting on the utility vehicle may in particular be a tensile force, a lateral force and / or a support force.
- at least one sensor can be provided, with which a variable can be detected, which determines the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the commercial vehicle (relative to a reference system). that allows yawing or yaw moment and / or determination of an obstacle.
- the size of the at least one sensor can also be used to detect the speed of a motor or gear shaft, the speed of at least one wheel, the torque transmitted by a shaft, the torque output by a drive unit, the power or the load of a drive unit , the consumption or the fuel consumption of a consumer, the slip of the utility vehicle over the ground, an axle load, the pressure or the volume flow or a volume flow change of a hydraulic fluid, the extension distance of a cylinder, the force acting on the utility vehicle pulling force of a trailer and / or an implement, in particular a tensile force, a lateral force and / or a supporting force, the driving state and / or the driving force of the commercial vehicle allows.
- the senor will be configured such that it detects or detects a corresponding quantity. Then, a dependent of the detected size (electric) signal is generated, which is transmitted to the control device. With the control device can then in dependence the current operating state of the vehicle, a signal or a signal sequence are generated in order to control the at least one adjusting device accordingly.
- the adjusting device has at least one actuator.
- the actuator may be electrically, pneumatically or hydraulically actuated.
- the actuator can act on the operating lever with a variable or variable force depending on its operation.
- the adjusting device may further comprise a further actuator, which is designed for example in the form of a spring and acts on the operating lever with a constant force or with a constant force characteristic.
- An optimal operating state of the commercial vehicle is present in particular when the commercial vehicle has a minimized fuel consumption and / or when the driving speed or the efficiency of the commercial vehicle or individual components thereof are optimally adapted to the current operating state of the commercial vehicle.
- individual components or the entire commercial vehicle are adjusted such that their or their efficiency for the current operating state of the commercial vehicle is optimized or adapted to it.
- a current operating state can be, for example, plowing with a tractor to which a plow has been adapted.
- another current operating state may concern sowing of plant seeds if a seeder is adapted to the tractor.
- An optimal operating state is also sought in the case in which the material processed and / or processed with the utility vehicle and optionally with an implement adapted to the utility vehicle has an optimum throughput or turnover.
- An example of this may be a tractor with a round baler adapted to the tractor.
- the round baler is operated in such a way that the hay taken up with the round baler is taken at a maximum conveying speed (maximum throughput) without causing clogging.
- a safe operating state of the commercial vehicle is present in particular when the engine utilization, the inclination of the commercial vehicle with respect to the horizontal, the yaw moment, the ballasting of the commercial vehicle with an optionally adapted working equipment, the prevailing in the drive train torque load or the present in the drive train speed rotating components and / or the speed of the commercial vehicle (even when cornering) does not exceed a corresponding predetermined limit.
- Further safety-relevant parameters are, for example, the engine oil temperature mentioned in the introduction, the temperature of the coolant liquid of the internal combustion engine of the commercial vehicle or the pressure of a hydraulic brake system. Accordingly, a safe operating state of the commercial vehicle is present if the corresponding predefinable limit values are not exceeded or fallen below.
- a safe operating state of the commercial vehicle is also present when there is no obstacle in the driving range or effective range of the commercial vehicle.
- an unsafe operating state is present when the corresponding predefinable limit values are exceeded or fallen short of and / or if an obstacle is located in the driving range or effective range of the commercial vehicle.
- the operating device according to the invention is helpful for safe operation of the utility vehicle.
- This may be particularly relevant for trailers attached to the commercial vehicle (eg, a sprayer with an extended spray boom), which may roll and / or yaw due to unevenness in the ground, for example, and can bring the truck-trailer combination into a dangerous overall condition.
- the (adjusting the vehicle speed) Operating lever can be acted upon in such a case with such a force that the operator is guided to a deflection of the operating lever to a lower speed of the team.
- the adjusting device can be controlled by the control device such that the adjusting device acts on the operating lever with a substantially constant force.
- Such a procedure may relate in particular to the state of the operating lever, in which it is in the neutral position and is not operated by an operator.
- the adjusting device can act on the operating lever with a predeterminable force curve.
- the predeterminable force curve can have a continuous analytical function as a function of the actuation path or the deflection of the operating lever or the state variable to be controlled.
- the analytical function can change over time and thereby take account of a changed operating state of the commercial vehicle.
- the actuating device acts on the operating lever located in the neutral position or in any position with a time-varying force.
- This is helpful, in particular, in operating states in which the respectively present state variable or the respectively present critical variable can not be perceived directly by the operator.
- This may, for example, relate to the torque which is transmitted in the case of a tractor via the power take-off shaft to an implement adapted to the tractor and which exceeds a predefinable limit value.
- the operating lever of the actuator be acted upon with a time-varying force such that the operating lever performs a kind of shaking movement and thereby makes the operator in a tactile manner to a critical operating state.
- the operating lever is acted upon by a predeterminable, changed force when there is an operating state deviating from the optimum operating state.
- Optimal operating conditions are listed in particular in the cases of claim 8, this list is not exhaustive and accordingly can be present a variety of other optimal operating conditions.
- the operating lever is acted upon by a predeterminable, changed force when there is a different operating state from the safe operating state.
- Safe operating states are listed in particular in the cases of claim 14, this list is not exhaustive and accordingly a variety of other safe operating conditions can be present.
- the following section deals with relatively specific situations in which the operating lever is acted upon by a predefinable, changed force.
- a predetermined limit value This is the case, inter alia, when the current operating state or a current state variable of the commercial vehicle or a working function of the commercial vehicle exceeds or falls below a predetermined limit value.
- This may be, for example, a pressure above a maximum value of a hydraulic fluid with which a hydraulic cylinder of a supercharger can be actuated, wherein the supercharger can be adapted to a tractor.
- a situation may, for example, draw attention to an overload when lifting the loader bucket.
- the operating lever can be acted upon with a predetermined, changed force when the rotational speed of a shaft and / or the rotational speed of a shaft of a working implement deviates from a predetermined rotational speed.
- the operating lever with a predetermined, changed force can be applied when the speed of the commercial vehicle deviates from a predetermined speed.
- the change in force applied to the operating lever may alert the operator to this circumstance.
- the operating lever can be acted upon by a predeterminable, variable force, which depends on the nature of the roadway or the subsoil. This can be used to reduce or avoid the "bonanza effect".
- a predeterminable, variable force which depends on the nature of the roadway or the subsoil. This can be used to reduce or avoid the "bonanza effect".
- the force is exerted on the control lever such that a self-boosting swinging up of the commercial vehicle or the working function of the commercial vehicle is caused by the movement of the commercial vehicle Operator's hand when operating the operating lever is largely avoided.
- the operating lever can be acted upon in its neutral position by the adjusting device at least in a specific operating state of the commercial vehicle with a predetermined high force.
- the operating lever can be deflected once from its neutral position with a correspondingly high expenditure of force by the operator in order to move the utility vehicle and / or a working function of the utility vehicle from a secured state into an operating state to convict.
- a so-called power lock of the controlled by the operating lever function can be achieved.
- the operator must exert a relatively high force for the first time to activate the function in order to activate the function at all.
- the operating lever can be acted upon by a predeterminable force in order to make it perceptible to the operator that a change of a state variable of the utility vehicle or a work function commanded with the operating lever has meanwhile been discontinued.
- a transmission circuit is activated, but the operating lever is not mechanically connected to the gear shift, because it is controlled for example by means of an electromagnetic actuator, this can give the operator a realistic feedback after performing the switching operation.
- a predetermined force pulse (low altitude) can be exerted on the operating lever, which is comparable to the force pulse, which exerted on a mechanically connected to the gear shift control lever by the switching operation of the gear shift becomes.
- 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 amount of force with which the operating lever can be acted upon by the operator individually adjustable.
- each operator can set an individually adapted operating characteristic of the operating lever and, if necessary, store it. This allows a customized adjustment of the operating lever characteristic for the operator and can thus avoid incorrect operation and / or enable individual ergonomic operation.
- a specifiable operating characteristic can be imposed on the operating lever in such a way that the operator can retrieve a desired setting, a deflection position or a deflection range of the operating lever, which is optionally adjustable by him.
- a desired setting may be the working depth on the hoist of a three-point implement mounting, provided that the hoist height is adjusted with the operating lever.
- a "locking" of the operating lever may be provided, which can be represented with a corresponding application of force to the actuating device on the operating lever.
- an adjustable "stop" of the operating lever may be provided, which is optionally predetermined or adjustable by the operator, which allows finding a specific recording and / or unloading height of a front loader. This can also be helpful in finding a particular tip tilt angle or top lift height (due to low ceiling height in buildings or low gate clearance).
- the operating lever is provided with a force such that an operator can set an unfavorable setting range of an operating state of a work function or a state quantity of the commercial vehicle - e.g. the natural frequency of the tires at certain speeds - avoid.
- An unfavorable adjustment range can also have the engine speed-dependent natural frequency of the engine mount and / or the natural frequency of the vehicle body, and it can therefore be signaled to the operator in a comparable manner by appropriate application of force to the operating lever to avoid this setting.
- a control lever can be acted upon by a predeterminable force, which essentially depends on the state of another operating element of the commercial vehicle.
- a predeterminable force essentially depends on the state of another operating element of the commercial vehicle.
- a mutual locking of several controls are simulated, for example, a parking brake that can be activated in a tractor with an operating lever, and a setting lever for the transmission of this tractor, which is controlled by another operating lever.
- This can be a mechanical coupling of the two control lever, which was previously required, omitted in an advantageous manner.
- the force exerted by the adjusting device on the operating lever can be overridden by the operator and / or switched off.
- An override of the force applied to the control lever by the operator should generally be possible because the operator should not only feel that he has control over the operation of the vehicle. Rather, for safety reasons, the vehicle should be able to be operated by the operator even when the operating lever is acted upon by a wrong force. This may be the case when a sensor detects a size incorrectly or misinterprets the detected quantity if this occurs with a low probability.
- a visual and / or acoustic signal can be generated in addition to applying the operating lever with a predetermined force. This is particularly appropriate when a safe operating state of the commercial vehicle and / or a working function of the commercial vehicle is left.
- the operating lever light source can be activated, possibly with increasing light intensity with increasing degree of danger.
- an acoustic signal in the form of a warning tone can be generated and brought to the attention of the operator.
- 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.
- FIG. 1 shows an embodiment of an operating device 10 according to the invention
- FIG. 1 shown operating device 10 has an operating lever 12, a control device 14 and a sensor 16.
- the operating lever 12 is designed in the form of a joystick and deflectable in two substantially mutually perpendicular directions 18, 20 and combinations thereof.
- FIG. 1 shown operating device 10 controls a front loader in FIG. 2 shown, in Shape of a tractor trained agricultural utility vehicle.
- the front loader off FIG. 2 is controlled hydraulically. Therefore, the operating lever 12 is finally formed in the form of a hydraulic control lever. Accordingly, when the operating lever 12 is deflected in the direction 20, the loader bucket is raised or lowered. Upon actuation of the operating lever in the direction 18, the loader bucket is tilted in its angle relative to the horizontal.
- the operating device 10 further comprises an adjusting device 22, which has two actuators 24, 26.
- the two actuators 24, 26 are electrically driven components which operate on the Tauchspulenroz.
- the one actuator 24 acts on the operating lever 12 with a compressive or tensile force, which is directed in the direction 20 substantially.
- the other actuator 26 acts on the operating lever with a compressive or tensile force, which is directed in the direction 18 substantially.
- sensors are provided, with which the current position of the operating lever 12 can be determined, which can be fed to the control device 14.
- the sensor 16 detects an angle signal of the angle between the horizontal and the boom of the front loader (in FIG. 1 Not shown). From this angle signal can be closed with appropriate calibration to the current height of the loader bucket. The sensor 16 detects this angle signal and generates an electrical signal, which is transmitted to the control device 14. The control device 14 determines based on the angle signal, the current height of the loader bucket.
- the adjusting device 22 and thus the actuators 24, 26 are controlled such that the operating lever 12 with a predetermined predetermined Force can be acted upon.
- a non-optimal or unsafe operating state of the commercial vehicle or of the tractor in connection with the front loader can be made perceptible to an operator, not shown in FIG.
- the operating characteristic of the operating lever 12 can be changed.
- FIG. 2 shows an agricultural utility vehicle, namely a tractor 28, which the inventive operating device 10 from FIG. 1 having.
- the front loader 30 is adapted, which has a boom 32 and a loader bucket 34.
- the boom 32 of the front loader 30 can be raised or lowered with the double-acting hydraulic cylinder 36.
- a plurality of sensors are arranged, wherein not all sensors for carrying out the present invention are required.
- the sensor 38 of the extension of the piston rod of the hydraulic cylinder 36 can be determined.
- the sensor 40 the change in the volume flow of the hydraulic fluid can be measured, which is supplied to the hydraulic cylinder 36 and which flows from the hydraulic cylinder 36.
- the sensor 42 the present in the piston chamber of the hydraulic cylinder 36 pressure of the hydraulic fluid can be measured.
- the sensor 44 detects the vehicle speed over the ground.
- Sensor 46 detects the speed of the left front wheel 48.
- the sensor 50 detects the adjusted steering angle of the front wheel 48.
- 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.
- FIGS. 3a . 4a and 5a indicated representations and the associated diagrams of FIGS. 3b . 4b and 5b the force exerted on the control lever 12 in each case depending on the size to be set only some of the embodiments of an operating device according to the invention are shown, with a variety of other embodiments are conceivable in which an operating device according to the invention for driving at least one state variable of an agricultural or industrial utility vehicle are used can.
- FIG. 3a shows a tractor 28 with a front loader 30.
- the front loader 30 includes a boom 32 and a boom tool, which is in the form of a loader bucket 34.
- the boom 32 is in a raised position.
- the predetermined for a specific application maximum distance from the loader bucket 34 to the substrate 60 is indicated by the double arrow h. This distance (the height) can be compared with the in FIG. 3a not shown sensor 38 for determining the extension path of the hydraulic cylinder 36 (see FIG. 2 ) and with the tilt angle sensor 62 for determining the tilt angle of the loader bucket 34 are determined.
- FIG. 3b shows a schematic representation of a diagram in which the force exerted on the operating lever 12 force is plotted as a function of the current height of the loader blade 34.
- the deflection of the operating lever 12 usually causes the corresponding front loader work function (in the sense of a binary logic) is switched on or off. For example, when the operating lever 12 is deflected forward, the boom is lifted. It can be provided that, as a function of a larger deflection angle of the operating lever 12, the boom 32 is lifted faster than is the case with a small deflection angle of the operating lever 12. Accordingly, the control device can take this fact into account and apply the force to a greater extent on the operating lever 12 when the operating lever 12 is deflected by a larger angle.
- the in the diagram of FIG. 3b shown force profile is removed that increases the force exerted by the actuator 24 on the operating lever 12 with increasing height of the loader bucket 34.
- the force curve shows an analytic function which is continuous and monotonically increasing in the range between a height 0 and h.
- a larger force of the deflection of the operating lever 12 is opposed by the actuator 24 than is the case with a smaller height of the loader bucket 34. This signals the operator operating the operating lever 12 that the loader bucket 34 is approaching the maximum height h for the present application.
- the operating lever 12 is subjected to a substantially constant force, as for values greater than h in the diagram out FIG. 3b is shown.
- the value of Height h can be changed by the operator depending on his specific application and stored accordingly.
- FIG. 4a In the embodiment according to FIG. 4a is the tractor 28 with the front loader 30 from the Figures 2 and 3a shown. There is the boom 32 in an upper position marked with O. Dashed lines, the boom 32 may be located in a lower position marked with U. These two positions O and U are in this embodiment to identify the appropriate heights of the appropriate receiving and Abladeière for special front loader work.
- FIG. 4b shows a schematic representation of a diagram in which the force exerted on the operating lever 12 force is plotted as a function of the current height of the loader blade 34.
- the force profile shown in this diagram can be deduced that the force exerted by the actuator 24 on the operating lever 12 is continuous in a range between U and O and increases monotonically with increasing height of the loader blade 34.
- the force exerted on the control lever 12 is less in this range than in a range smaller than or greater than 0. This gives the operator the feeling that he is at a deflection, which takes place in a height range of the loader blade 34 between the given Values O or U, the operating lever 12 deflects against an end stop.
- FIG. 5a also shows the tractor 28 FIG. 4a with the front loader 30.
- the loader bucket 34 can be tilted by a tilt angle range A specified by the operator for a specific application. Accordingly, the operating lever 12 is acted upon by a force which in the diagram of FIG. 5b is shown. Comparable to the diagram FIG. 4b is in the diagram according to FIG. 5b the force with which the operating lever 12 is applied, when the loader blade 34 is in the tilt angle range A, formed smaller than that is the case beyond the tilt angle range A. Within the tilt angle range A, the operating lever 12 is subjected to an increasing force as the tilt angle of the loader bucket 34 approaches the lower tilt angle A1 or the upper tilt angle A2.
- the operator is thereby made aware that the loader bucket 34 approaches the lower or upper tilt angle A1, A2. This also supports in particular the untrained operator in the operation of the front loader 30. Moreover, it is also possible to adjust the tilt angle of the loader bucket 34 beyond the lower or upper tilt angle A1, A2. In this case, the operator must spend at least a correspondingly high force, with which the operating lever 12 is acted upon when the tilt angle of the loader blade 34 is outside the tilt angle range A.
- FIGS. 3a to 5a shown embodiments relate only to the control of a trained in the form of a joystick control lever 12, with which a front loader 30 is driven.
- a front loader 30 is driven.
- another function of the commercial vehicle or the tractor 28 are controlled, for example, the three-point implement mounting, the transmission control or the hand throttle setting.
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Description
Die vorliegende Erfindung betrifft eine Bedienvorrichtung zum Ansteuern mindestens einer Zustandsgröße eines landwirtschaftlichen oder industriellen Nutzfahrzeugs. Ein Bedienhebel der Bedienvorrichtung ist von einer Hand eines Bedieners betätigbar. Mit dem Bedienhebel ist die mindestens eine Zustandsgröße des Nutzfahrzeugs einstellbar.The present invention relates to an operating device for controlling at least one state variable of an agricultural or industrial utility vehicle. An operating lever of the operating device can be actuated by the hand of an operator. With the operating lever, the at least one state variable of the commercial vehicle is adjustable.
Solche Bedienvorrichtungen sind seit langem aus dem Stand der Technik bekannt. Mit ihnen kann beispielsweise die Geschwindigkeit, die Lenkung, eine Arbeitsfunktion oder eine Getriebeeinstellung eines Nutzfahrzeugs eingestellt werden. So kommt insbesondere ein Joystick als Bedienhebel zur Ansteuerung eines Laderwerkzeugs zum Einsatz. Als Nutzfahrzeug in diesem Zusammenhang kommen insbesondere landwirtschaftliche Nutzfahrzeuge, also z.B. Traktoren, Erntemaschinen, Mähdrescher, Feldhäcksler, selbstfahrende Spritzen, aber auch industrielle Nutzfahrzeuge, also beispielsweise Baufahrzeuge, Planierraupen, Planiermaschinen, Tieflöffelbagger, Laderfahrzeuge, Kipper, Kräne, Teleskoplader, in Frage. Eine Bedienvorrichtung mit den Merkmalen des Oberbegriffs des Anspruchs 1 ist aus der
Bei vielen Fahrzeugen sind üblicherweise die Bedienelemente mechanisch mit dem durch sie gestellten Maschinenteil verbunden, beispielsweise das Lenkrad über die Lenkwelle mit dem Lenkgestänge. Fällt eine solche mechanische Verbindung aufgrund einer elektronischen Ansteuerung der jeweiligen Komponente weg, so fehlt eine entsprechende Rückkopplung über die Zustände des Maschinenteils und der zu simulierenden Maschine des Fahrzeugs an den Bediener. In einem solchen Fall bedient man sich der aus der Simulatortechnik bekannten Technologie, indem der Bedienhebel mit Hilfe einer Stelleinrichtung, welche von einer geeigneten Steuereinrichtung angesteuert wird, derart mit Kräften beaufschlagt wird, dass eine für den Bedienhebel übliche Bedienungscharakteristik erzeugt werden kann. Hierdurch wird einem Bediener eine möglichst realistische Bedienung der jeweiligen durch den Bedienhebel angesteuerten Funktion simuliert.In many vehicles, the controls are usually mechanically connected to the machine part provided by them, for example, the steering wheel via the steering shaft with the steering linkage. If such a mechanical connection is eliminated due to an electronic control of the respective component, there is no corresponding feedback about the states of the machine part and the machine of the vehicle to be simulated to the operator. In such a case, the technology known from simulator technology is used by applying forces to the operating lever with the aid of an adjusting device, which is controlled by a suitable control device, in such a way that an operating characteristic common to the operating lever can be generated. As a result, an operator is simulated the most realistic possible operation of the respective function controlled by the operating lever.
Eine weitergehende Unterstützung bei der Bedienung eines Nutzfahrzeugs wird allenfalls durch Warnanzeigeelemente dem Bediener visuell oder gegebenenfalls akustisch zur Kenntnis gebracht. Hierbei sind vor allem Warnleuchten vorgesehen, welche auf einen kritischen Zustand des Nutzfahrzeugs hinweisen, beispielsweise den der überhöhten Temperatur des Motoröls oder der Kühlflüssigkeit.Any further assistance in the operation of a commercial vehicle is brought to the user visually or possibly acoustically by warning display elements, if necessary. Here, especially warning lights are provided, which indicate a critical condition of the commercial vehicle, such as the excessive temperature of the engine oil or the coolant.
Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, eine Bedienvorrichtung der eingangs genannten Art anzugeben und weiterzubilden, durch welche die vorgenannten Probleme überwunden werden. Insbesondere soll einem Bediener eines Nutzfahrzeugs eine weitergehende Unterstützung bei der Bedienung des Nutzfahrzeugs gegeben werden, mit welcher dieser auch auf einen kritischen oder nicht optimalen Betriebszustand des Nutzfahrzeugs in verbesserter Weise aufmerksam gemacht wird.The present invention is therefore an object of the invention to provide an operating device of the type mentioned and further, by which the aforementioned problems are overcome. In particular, an operator of a commercial vehicle to be given further support in the operation of the commercial vehicle, with which this also on a critical or non-optimal operating state of the commercial vehicle is made known in an improved manner.
Diese Aufgabe wird erfindungsgemäß durch den Gegenstand des Patentanspruchs 1 gelöst. Weitere vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor.This object is achieved by the subject of claim 1. Further advantageous embodiments and modifications of the invention will become apparent from the dependent claims.
Erfindungsgemäß weist eine Bedienvorrichtung der eingangs genannten Art mindestens einen Bedienhebel, insbesondere einen Joystick, eine Stelleinrichtung, mindestens einen Sensor und eine Steuereinrichtung auf. Der Bedienhebel ist von einer Hand eines Bedieners betätigbar. Mit dem Bedienhebel ist die mindestens eine Zustandsgröße des Nutzfahrzeugs einstellbar. Mit der Stelleinrichtung bzw. einem Aktuator ist der mindestens eine Bedienhebel mit einer Kraft beaufschlagbar. Mit dem mindestens einen Sensor ist eine Größe, die eine Zustandsgröße des Nutzfahrzeugs repräsentiert, detektierbar und der Steuereinrichtung übermittelbar. Mit der Steuereinrichtung ist eine Zustandsgröße des aktuellen Betriebszustands des Nutzfahrzeugs ermittelbar. Mit der Steuereinrichtung ist in Abhängigkeit des aktuellen Betriebszustands des Nutzfahrzeugs die Stelleinrichtung derart ansteuerbar, dass der mindestens eine Bedienhebel mit einer veränderten vorgebbaren Kraft beaufschlagbar ist, um hierdurch dem Bediener einen unsicheren Betriebszustand des Nutzfahrzeugs oder einen unsicheren Betriebszustand mindestens einer Arbeitsfunktion wahrnehmbar zu machen. Bei der veränderten Kraft kann es sich beispielsweise um eine konstante oder um eine veränderliche Kraft handeln.According to the invention, an operating device of the type mentioned at least on a control lever, in particular a joystick, an adjusting device, at least one sensor and a control device. The operating lever can be actuated by the hand of an operator. With the operating lever, the at least one state variable of the commercial vehicle is adjustable. With the adjusting device or an actuator, the at least one operating lever can be acted upon by a force. With the at least one sensor, a variable representing a state variable of the commercial vehicle can be detected and transmitted to the control device. With the control device, a state variable of the current operating state of the commercial vehicle can be determined. Depending on the current operating state of the commercial vehicle, the control device can be controlled by the control device in such a way that the at least one control lever can be acted upon by an altered specifiable force in order to thereby make the operator aware of an unsafe operating state of the commercial vehicle or an insecure operating state of at least one work function. The changed force can be, for example, a constant force or a variable force.
Erfindungsgemäß ist zunächst erkannt worden, dass eine Bedienung des Nutzfahrzeugs insbesondere dann vereinfacht und optimiert werden kann, wenn dem Bediener nicht lediglich durch visuelle Anzeigeinstrumente ein unsicherer oder nicht optimaler Betriebszustand angezeigt wird. Üblicherweise weist das Nutzfahrzeug ein Drehzahlmessinstrument zur Anzeige der Drehzahl des Verbrennungsmotors auf. Sofern der Verbrennungsmotor dauerhaft mit einer erhöhten Drehzahl betrieben wird, die über der für den Dauerbetrieb maximal zulässigen Drehzahl liegt, erfolgt bei einem herkömmlichen Nutzfahrzeug darüber hinaus keine weitere Anzeige, von einer erhöhten Lärmentwicklung des Verbrennungsmotors abgesehen, welche bei einer relativ gut schallisolierten Kabine des Nutzfahrzeugs auch akustisch nicht in allen Fällen wahrgenommen werden kann. Dies kann zu einem Motorschaden führen und daher einen längeren Ausfall des Nutzfahrzeugs und somit hohe Kosten zur Folge haben. In erfindungsgemäßer Weise ist daher vorgesehen, dass dem Bediener gegebenenfalls über eine akustische und/oder optische Warneinrichtung hinaus in taktiler Weise ein solcher Betriebszustand des Nutzfahrzeugs zur Kenntnis gebracht wird. Dies ist insbesondere dann vorteilhaft, wenn der Bediener situationsbedingt in irgendeiner Weise unmittelbar reagieren muss, um beispielsweise eine Überlastung einer Komponente des Nutzfahrzeugs oder einen Unfall des Nutzfahrzeugs noch rechtzeitig verhindern zu können.According to the invention, it has first been recognized that an operation of the utility vehicle can be simplified and optimized in particular if the user is not informed of an unsafe or non-optimal operating state merely by visual display instruments. Usually, the commercial vehicle has a tachometer for displaying the speed of the internal combustion engine. If the internal combustion engine is permanently operated at an increased rotational speed which is above the maximum permissible rotational speed for continuous operation, no further indication is given in a conventional commercial vehicle, apart from increased noise development of the internal combustion engine, which in a relatively well soundproofed cab of the commercial vehicle also acoustically can not be perceived in all cases. This can lead to engine damage and therefore have a longer failure of the commercial vehicle and thus high costs result. In accordance with the invention, it is therefore provided that the operator, if appropriate via an audible and / or visual warning device, is made aware in a tactile manner of such an operating state of the commercial vehicle. This is particularly advantageous if the operator has to react in any way in any way, in order to be able to prevent an overload of a component of the commercial vehicle or an accident of the commercial vehicle in time, for example.
Die Steuereinrichtung kann anhand des Signals des Sensors berechnen, in welche Richtung bzw. Stellung der Bedienhebel zu bewegen wäre, um den gewünschten Zweck zu erreichen. Im Allgemeinen ist der Trend der Effekte bekannt, der bei der Verstellung einer Zustandsgröße hervorgerufen wird. Es wird die Stellung und/oder Verstellrichtung des Bedienhebels bestimmt, die einen sicheren Betriebszustand zur Folge hätte. Die Stelleinrichtung wird entsprechend des Ergebnisses eines Vergleichs zwischen der berechneten, günstigen Bewegungsrichtung und/oder Stellung und der aktuellen Bewegungsrichtung und/oder Stellung des Bedienhebels angesteuert.The control device can use the signal from the sensor to calculate in which direction or position the operating lever would be moved in order to achieve the desired purpose. In general, the trend of the effects caused by the adjustment of a state quantity is known. It is determined the position and / or adjustment of the operating lever, which would result in a safe operating condition. The adjusting device is driven according to the result of a comparison between the calculated, favorable direction of movement and / or position and the current direction of movement and / or position of the operating lever.
Der Steuereinrichtung wird vorzugsweise weiterhin eine Information über die - mittels eines Bedienhebelpositionssensors erfasste - Stellung des Bedienhebels zugeführt, welche bei der Berechnung der wünschenswerten bzw. nicht wünschenswerten Verstellrichtung bzw. Stellung des Bedienhebels berücksichtigt werden kann. In einigen Anwendungsfällen ist aber die Berücksichtigung der Stellung des Bedienhebels nicht erforderlich. Denkbar ist auch, dass die Steuereinrichtung eine Information über die Stellung des Bedienhebels und/oder über dessen Bewegungsrichtung aus dem Signal des Sensors bzw. aus dessen Änderung ableitet.The control device is preferably further fed information about the - detected by means of a control lever position sensor - position of the operating lever, which takes into account in the calculation of the desirable or undesirable adjustment direction or position of the operating lever can be. In some applications, however, the consideration of the position of the operating lever is not required. It is also conceivable that the control device derives information about the position of the operating lever and / or about its direction of movement from the signal of the sensor or from the change thereof.
Die Stelleinrichtung kann grundsätzlich auf zwei verschiedene Arten betrieben werden. Einerseits kann diese einen Verstellwiderstand bzw. eine Amplitude und/oder Frequenz der mechanischen Anregung des Bedienhebels erzeugen, der bzw. die proportional zur Differenz zwischen der derzeitigen Position des Bedienhebels und einer berechneten, optimalen Position des Bedienhebels ist, oder auf eine andere Weise stetig und vorzugsweise monoton wachsend von dieser Differenz abhängt. Ist der Bedienhebel also besonders ungünstig eingestellt, ist es sehr schwer, ihn in eine noch ungünstigere Stellung zu verbringen, bzw. er vibriert recht stark und/oder schnell. In die entgegengesetzte Richtung kann er aber leicht bewegt werden, bzw. die Schwingungen lassen nach oder verschwinden. Andererseits besteht die Möglichkeit, dass die Stelleinrichtung erst dann wirksam ist, wenn die genannte Differenz einen bestimmten Schwellwert überschreitet. Dabei kann die Stelleinrichtung einen stufenartig ansteigenden Verstellwiderstand bewirken bzw. sich die Amplitude und/oder Frequenz der mechanischen Anregung in Stufen ändern lassen. Der Verstellwiderstand bzw. die Amplitude und/oder Frequenz der mechanischen Anregung des Bedienhebels steigt in dieser Ausführungsform somit in mindestens einer Stufe an. Ein Vorteil liegt in der leichteren technischen Realisation, da die Stelleinrichtung im einfachsten Fall nur ein- und ausschaltbar zu gestalten ist.The adjusting device can basically be operated in two different ways. On the one hand, this can produce an adjustment resistance or an amplitude and / or frequency of the mechanical excitation of the operating lever, which is proportional to the difference between the current position of the operating lever and a calculated, optimal position of the operating lever, or in another way continuously and preferably monotonically increasing depends on this difference. So if the control lever is set particularly unfavorable, it is very difficult to spend him in an even less favorable position, or he vibrates quite strong and / or fast. In the opposite direction, however, it can be easily moved, or the vibrations go away or disappear. On the other hand, there is the possibility that the actuating device is only effective when the difference exceeds a certain threshold. In this case, the adjusting device can bring about a step-like increasing adjusting resistance or the amplitude and / or frequency of the mechanical excitation can be changed in stages. The adjustment resistance or the amplitude and / or frequency of the mechanical excitation of the operating lever thus increases in this embodiment in at least one stage. One advantage lies in the easier technical realization, since the adjusting device in the simplest case can only be switched on and off.
Mit der Steuereinrichtung kann in Abhängigkeit des aktuell vorliegenden Betriebszustands des Nutzfahrzeugs die Stelleinrichtung auch derart ansteuerbar sein, dass der mindestens eine Bedienhebel mit einer veränderten vorgebbaren Kraft beaufschlagbar ist, um hierdurch dem Bediener einen nicht optimalen Betriebszustand des Nutzfahrzeugs oder einen nicht optimalen Betriebszustand mindestens einer Arbeitsfunktion wahrnehmbar zu machen.Depending on the currently present operating state of the commercial vehicle, the control device can also be controllable with the control device in such a way that the at least one control lever has an altered presettable force can be acted upon to thereby make the operator not optimal operating state of the commercial vehicle or a non-optimal operating state of at least one work function perceptible.
Gemäß einer bevorzugten Ausgestaltung der vorliegenden Erfindung wird durch das Beaufschlagen des Bedienhebels mit der einen vorgebbaren veränderten Kraft die Bedienungscharakteristik des Bedienhebels veränderbar ausgestaltet. So kann beispielsweise der Bedienhebel mit einer Kraft derart beaufschlagt werden, dass dieser insgesamt nur unter erhöhter Kraftaufwendung von dem Bediener bedient werden kann. Mit anderen Worten wird im Rahmen dieser Ausgestaltung die Kraft, mit welcher der Bedienhebel durch die Stelleinrichtung bei einem normalen Betriebszustand des Nutzfahrzeugs beaufschlagt wird, um einen konstanten Wert (Offset) erhöht, wenn kein optimaler oder sicherer Betriebszustand des Nutzfahrzeugs vorliegt.According to a preferred embodiment of the present invention, the operating characteristic of the operating lever is designed changeable by the action of the operating lever with a presettable changed force. Thus, for example, the operating lever can be acted upon by a force such that the latter can be operated by the operator only with an increased expenditure of force. In other words, in the context of this embodiment, the force with which the operating lever is acted upon by the adjusting device in a normal operating state of the commercial vehicle, increased by a constant value (offset) when there is no optimal or safe operating state of the commercial vehicle.
Der Bedienhebel kann in einem nicht erfindungsgemässen Beispiel in Form eines Handgashebels ausgebildet sein, mit welchem die Motordrehzahl des Verbrennungsmotors des Nutzfahrzeugs oder die Geschwindigkeit des Nutzfahrzeugs einstellbar ist. Es ist auch denkbar, den Bedienhebel in Form eines Hydraulikansteuerhebels auszubilden. In diesem Fall wird mit dem Hydraulikansteuerhebel eine hydraulische Funktion bzw. Arbeitsfunktion eingestellt bzw. bedient. Eine solche Arbeitsfunktion kann die Höhenverstellung eines Dreipunkt-Geräteanbaus eines Traktors sein. Dies ist ein Beispiel einer Arbeitsfunktion des Nutzfahrzeugs, bei welchem die beiden Hubzylinder des Dreipunkt-Geräteanbaus entsprechend der Betätigung des Bedienhebels angesteuert werden. Ein weiteres Beispiel kann die Ansteuerung entsprechender Hydraulikzylinder eines Laders eines Laderfahrzeugs oder eines optional an einen Traktor adaptierbaren Laderanbaus sein, bei welchem die Hydraulikzylinder des Laders in Abhängigkeit der Betätigung des Bedienhebels angesteuert werden. Weiterhin ist es denkbar, den Bedienhebel in Form eines Getriebeschalthebels auszubilden. Mit einem solchen Getriebeschalthebel wird ein Schaltzustand eines Getriebes eingestellt.The control lever may be formed in a non-inventive 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. A further example may be the activation of corresponding hydraulic cylinders of a loader of a loader vehicle or of an optional loader attachment adaptable to a tractor, in which case the hydraulic cylinders of the loader are activated in dependence on the actuation of the operating lever. Furthermore, it is conceivable, the operating lever in the form of a gear shift lever train. With such a transmission shift lever, a switching state of a transmission is set.
Gemäß der Erfindung ist der Bedienhebel in Form eines Joysticks ausgebildet. Mit dem Joystick kann eine Arbeitsfunktion oder eine Zustandsgröße des Nutzfahrzeugs angesteuert werden. Ein Beispiel für eine Arbeitsfunktion des Nutzfahrzeugs kann die oben bereits erwähnte Ansteuerung des Dreipunkt-Geräteanbaus eines Traktors sein. Weiterhin kann mit dem Joystick eine Arbeitsfunktion oder eine Zustandsgröße eines an das Nutzfahrzeug adaptierten Arbeitsgeräts einstellbar sein. Ein Beispiel für ein an das Nutzfahrzeug adaptiertes Arbeitsgerät kann der ebenfalls oben bereits erwähnte optionale Laderanbau oder ein Mähwerk an einem Traktor sein. Erfindungsgemäss ist mit dem Joystick ein Lader und/oder ein Laderwerkzeug ansteuerbar. Hierbei wird die auf den Joystick wirkende Kraft abhängig von der Hubhöhe des Laders oder des Laderwerkzeugs sein. Es ist zweckmäßig, dass die auf den Joystick wirkende Kraft mit zunehmender Höhe des Laders bzw. des Laderwerkzeugs zunimmt. Hierfür sprechen insbesondere Sicherheitsaspekte in Zusammenhang mit einem ausballastierten Fahrzeug bei einem angehobenen Laderwerkzeug. Dies ist insbesondere für Teleskoplader relevant, da zusätzlich zu der Hubhöhe und dem Kippwinkel des Laderwerkzeugs auch noch der Laderarm bzw. Ausleger in der Länge verändert werden kann, z.B. durch Ausfahren oder Einfahren. Hierdurch besteht in zunehmendem Maß die Gefahr eines nicht ausbalancierten Zustands des Teleskopladers. Für Kräne gilt dies in vergleichbarer Weise.According to the invention, the operating lever is designed in the form of a joystick. With the joystick a work function or a state variable of the commercial vehicle can be controlled. An example of a work function of the commercial vehicle may be the above-mentioned control of the three-point implement mounting a tractor. Furthermore, a work function or a state variable of an implement adapted to the utility vehicle can be adjustable with the joystick. An example of an implement adapted to the commercial vehicle may be the optional superstructure attachment or a mower on a tractor, also mentioned above. According to the invention, a loader and / or a loading tool can be controlled with the joystick. In this case, the force acting on the joystick will be dependent on the lifting height of the loader or the loader tool. It is expedient that the force acting on the joystick increases with increasing height of the loader or of the loader tool. In particular, safety aspects in connection with a ballasted vehicle with a raised loader tool speak in favor of this. This is particularly relevant for telehandlers, since in addition to the lifting height and the tilt angle of the loader tool, the loader boom can also be changed in length, e.g. by extension or retraction. As a result, there is an increasing danger of an unbalanced state of the telehandler. For cranes, this applies in a similar way.
Bevorzugt ist mindestens ein - vorzugsweise ein unterer und/oder ein oberer - Höhenwert des Laders/Laderwerkzeugs vorgebbar, bei welchem eine vorgebbare maximale Kraft auf den Joystick wirkt. Hierdurch wird dem Bediener signalisiert, dass sich das Laderwerkzeug der maximalen oder minimalen Höhe annähert bzw. diese erreicht ist. Der mindestens eine Höhenwert kann von einem Bediener abspeicherbar und/oder veränderbar sein, so dass der Bediener die Bedienvorrichtung in Abhängigkeit von der konkret vorliegenden Aufgabenstellung konfigurieren kann.Preferably, at least one - preferably a lower and / or an upper - height value of the loader / supercharger tool can be predetermined, in which a predeterminable maximum force acts on the joystick. As a result, the operator is signaled that the supercharger tool is approaching or reaching the maximum or minimum height. The at least one altitude value can be stored and / or changed by an operator, so that the operator can configure the operating device depending on the specific task present.
Zusätzlich oder alternativ ist mindestens ein - vorzugsweise ein unterer und/oder ein oberer - Kippwinkelwert des Laderwerkzeugs vorgebbar, bei welchem eine vorgebbare maximale Kraft auf den Joystick wirkt. Der mindestens eine Kippwinkelwert kann ebenfalls von einem Bediener abspeicherbar und/oder veränderbar sein.Additionally or alternatively, at least one - preferably a lower and / or an upper - tilt angle value of the supercharger tool can be predetermined, in which a predeterminable maximum force acts on the joystick. The at least one tilt angle value can also be stored and / or changed by an operator.
Es ist auch denkbar, den Bedienhebel in Form eines Tastschalters oder Umschalters auszubilden. Mit einem solchen nicht erfindungsgemässen Tastschalter bzw. Umschalter kann ebenfalls eine Arbeitsfunktion oder eine Zustandsgröße des Nutzfahrzeugs oder eine Arbeitsfunktion oder eine Zustandsgröße eines an das Nutzfahrzeug adaptierten Arbeitsgeräts angesteuert werden. Im Falle eines Tastschalters kann die durch den Tastschalter angesteuerte Funktion aktiviert oder deaktiviert (z.B. mechanischer Vorderradantrieb ein/aus, Zapfwelle ein/aus). Im Falle eines Umschalters kann die durch den Umschalter angesteuerte Funktion zwischen mindestens zwei unterschiedlichen Zuständen umgeschaltet werden (Reversierer des Getriebes vorwärts/rückwärts).It is also conceivable to form the operating lever in the form of a key switch or switch. A work function or a state variable of the utility vehicle or a work function or a state variable of a work implement adapted to the utility vehicle can likewise be actuated with such a touch switch or switch not according to the invention. In the case of a key switch, the function activated by the key switch can be activated or deactivated (e.g., mechanical front wheel drive on / off, PTO on / off). In the case of a changeover switch, the function activated by the changeover switch can be switched over between at least two different states (reverser of the transmission forward / backward).
Mit dem mindestens einen Sensor wird eine Größe detektiert, welche eine Zustandsgröße des Nutzfahrzeugs repräsentiert. Eine Zustandsgröße des Nutzfahrzeugs kann beispielsweise die Geschwindigkeit, die Beschleunigung, die Fahrtrichtung, der aktuell eingestellte Lenkwinkel, die Abweichung von einer vorgegebenen Fahrtrichtung, die räumliche Position des Nutzfahrzeugs, die Gierbewegung oder das Giermoment, die Bestimmung eines Hindernisses, die Drehzahl einer Motor- oder Getriebewelle, die Drehzahl mindestens eines Rads, des von einer Welle übertragenen Drehmoments, das von einem Antriebsaggregat abgegebene Drehmoment, die Leistung oder die Auslastung eines Antriebsaggregats, der Energieverbrauch oder der Kraftstoffverbrauch eines Verbrauchers, der Schlupf des Nutzfahrzeugs über dem Untergrund, eine Achslast, der Druck oder der Volumenstrom oder die Volumenstromänderung einer Hydraulikflüssigkeit, der Ausfahrweg eines Zylinders, der Fahrzustand, die Triebkraft des Nutzfahrzeugs und/oder die auf das Nutzfahrzeug wirkende Kraft eines Anhängers und/oder eines Arbeitsgeräts sein. Eine auf das Nutzfahrzeug wirkende Kraft kann insbesondere eine Zugkraft, eine Querkraft und/oder eine Stützkraft sein. Dementsprechend kann mindestens ein Sensor vorgesehen sein, mit welchem eine Größe detektierbar ist, welche die Ermittlung der Geschwindigkeit, der Beschleunigung, der Fahrtrichtung, des aktuell eingestellten Lenkwinkels, der Abweichung von einer vorgegebenen Fahrtrichtung, der räumlichen Position des Nutzfahrzeugs (relativ zu einem Bezugssystem), die Gierbewegung oder das Giermoment und/oder die Bestimmung eines Hindernisses ermöglicht. Mit dem mindestens einen Sensor kann auch eine Größe detektierbar sein, welche die Ermittlung der Drehzahl einer Motor- oder Getriebewelle, der Drehzahl mindestens eines Rads, des von einer Welle übertragenen Drehmoments, des von einem Antriebsaggregat abgegebenen Drehmoments, der Leistung oder der Auslastung eines Antriebsaggregats, des Energieverbrauchs oder des Kraftstoffverbrauchs eines Verbrauchers, des Schlupfs des Nutzfahrzeugs über dem Untergrund, einer Achslast, des Drucks oder des Volumenstroms oder einer Volumenstromänderung einer Hydraulikflüssigkeit, des Ausfahrwegs eines Zylinders, der auf das Nutzfahrzeug wirkenden Zugkraft eines Anhängers und/oder eines Arbeitsgeräts, insbesondere einer Zugkraft, einer Querkraft und/oder einer Stützkraft, des Fahrzustands und/oder der Triebkraft des Nutzfahrzeugs ermöglicht. Üblicherweise wird der Sensor derart ausgestaltet sein, dass dieser eine entsprechende Größe detektiert bzw. erfasst. Sodann wird ein von der detektierten Größe abhängiges (elektrisches) Signal erzeugt, welches der Steuereinrichtung übermittelt wird. Mit der Steuereinrichtung kann dann in Abhängigkeit des aktuellen Betriebszustands des Fahrzeugs ein Signal bzw. eine Signalfolge erzeugt werden, um hiermit die mindestens eine Stelleinrichtung entsprechend anzusteuern.With the at least one sensor, a variable is detected, which represents a state variable of the commercial vehicle. A state variable of the commercial vehicle can be, for example, the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the utility vehicle, the yawing or yawing moment, the determination of an obstacle, the speed of a motor or Transmission shaft, the speed of at least one wheel, the torque transmitted by a shaft, the output from a drive unit Torque, the power or capacity of a drive, the energy consumption or fuel consumption of a consumer, the slip of the utility vehicle above the ground, an axle load, the pressure or flow or volume flow change of a hydraulic fluid, the extension of a cylinder, the driving condition, the driving force of the commercial vehicle and / or the force acting on the utility vehicle of a trailer and / or a working device. A force acting on the utility vehicle may in particular be a tensile force, a lateral force and / or a support force. Accordingly, at least one sensor can be provided, with which a variable can be detected, which determines the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a given direction of travel, the spatial position of the commercial vehicle (relative to a reference system). that allows yawing or yaw moment and / or determination of an obstacle. The size of the at least one sensor can also be used to detect the speed of a motor or gear shaft, the speed of at least one wheel, the torque transmitted by a shaft, the torque output by a drive unit, the power or the load of a drive unit , the consumption or the fuel consumption of a consumer, the slip of the utility vehicle over the ground, an axle load, the pressure or the volume flow or a volume flow change of a hydraulic fluid, the extension distance of a cylinder, the force acting on the utility vehicle pulling force of a trailer and / or an implement, in particular a tensile force, a lateral force and / or a supporting force, the driving state and / or the driving force of the commercial vehicle allows. Usually, the sensor will be configured such that it detects or detects a corresponding quantity. Then, a dependent of the detected size (electric) signal is generated, which is transmitted to the control device. With the control device can then in dependence the current operating state of the vehicle, a signal or a signal sequence are generated in order to control the at least one adjusting device accordingly.
Im Konkreten weist die Stelleinrichtung mindestens einen Aktuator auf. Der Aktuator kann elektrisch, pneumatisch oder hydraulisch betätigbar sein. Somit kann der Aktuator in Abhängigkeit seiner Betätigung den Bedienhebel mit einer veränderlichen bzw. variablen Kraft beaufschlagen. Die Stelleinrichtung kann des Weiteren einen weiteren Aktuator aufweisen, welcher beispielsweise in Form einer Feder ausgebildet ist und den Bedienhebel mit einer konstanten Kraft bzw. mit einer konstanten Kraftkennlinie beaufschlagt.In concrete terms, the adjusting device has at least one actuator. The actuator may be electrically, pneumatically or hydraulically actuated. Thus, the actuator can act on the operating lever with a variable or variable force depending on its operation. The adjusting device may further comprise a further actuator, which is designed for example in the form of a spring and acts on the operating lever with a constant force or with a constant force characteristic.
Ein optimaler Betriebszustand des Nutzfahrzeugs liegt insbesondere dann vor, wenn das Nutzfahrzeug einen minimierten Kraftstoffverbrauch aufweist und/oder wenn die Fahrgeschwindigkeit oder der Wirkungsgrad des Nutzfahrzeugs bzw. einzelne Komponenten davon optimal an den aktuellen Betriebszustand des Nutzfahrzeugs angepasst sind. Mit anderen Worten werden einzelne Komponenten bzw. das gesamte Nutzfahrzeug derart eingestellt, dass deren bzw. dessen Wirkungsgrad für den aktuellen Betriebszustand des Nutzfahrzeugs optimiert bzw. daran angepasst ist. Ein aktueller Betriebszustand kann beispielsweise das Pflügen mit einem Traktor sein, an welchem ein Pflug adaptiert ist. In einem weiteren Schritt kann ein anderer aktueller Betriebszustand das Einsähen von Pflanzensamen betreffen, wenn an dem Traktor eine Sämaschine adaptiert ist. Ein optimaler Betriebszustand wird auch für den Fall angestrebt, in welchem das mit dem Nutzfahrzeug und gegebenenfalls mit einem an dem Nutzfahrzeug adaptierten Arbeitsgerät bearbeitete bzw. verarbeitete Gut einen optimalen Durchsatz oder Umsatz aufweist. Ein Beispiel hierfür kann ein Traktor mit einer an den Traktor adaptierten Rundballenpresse darstellen. In einem optimalen Betriebszustand wird die Rundballenpresse derart betrieben, dass das mit der Rundballenpresse aufgenommene Heu mit einer maximalen Fördergeschwindigkeit (maximaler Durchsatz) aufgenommen wird, ohne eine Verstopfung zu verursachen.An optimal operating state of the commercial vehicle is present in particular when the commercial vehicle has a minimized fuel consumption and / or when the driving speed or the efficiency of the commercial vehicle or individual components thereof are optimally adapted to the current operating state of the commercial vehicle. In other words, individual components or the entire commercial vehicle are adjusted such that their or their efficiency for the current operating state of the commercial vehicle is optimized or adapted to it. A current operating state can be, for example, plowing with a tractor to which a plow has been adapted. In a further step, another current operating state may concern sowing of plant seeds if a seeder is adapted to the tractor. An optimal operating state is also sought in the case in which the material processed and / or processed with the utility vehicle and optionally with an implement adapted to the utility vehicle has an optimum throughput or turnover. An example of this may be a tractor with a round baler adapted to the tractor. In an optimal operating condition, the round baler is operated in such a way that the hay taken up with the round baler is taken at a maximum conveying speed (maximum throughput) without causing clogging.
Ein sicherer Betriebszustand des Nutzfahrzeugs liegt insbesondere dann vor, wenn die Motorauslastung, die Neigung des Nutzfahrzeugs gegenüber der Waagrechten, das Giermoment, die Ballastierung des Nutzfahrzeugs mit einem gegebenenfalls daran adaptierten Arbeitsgerät, die im Antriebsstrang vorherrschende Drehmomentbelastung bzw. die im Antriebsstrang vorliegende Drehzahl rotierender Bauteile und/oder die Geschwindigkeit des Nutzfahrzeugs (auch bei Kurvenfahrt) einen entsprechenden vorgebbaren Grenzwert nicht überschreitet. Weitere sicherheitsrelevante Parameter sind beispielsweise auch die eingangs erwähnte Motoröltemperatur, die Temperatur der Kühlmittelflüssigkeit des Verbrennungsmotors des Nutzfahrzeugs oder der Druck einer hydraulischen Bremsanlage. Dementsprechend liegt ein sicherer Betriebszustand des Nutzfahrzeugs dann vor, wenn die entsprechenden vorgebbaren Grenzwerte nicht über- bzw. unterschritten werden. Ein sicherer Betriebszustand des Nutzfahrzeugs liegt auch dann vor, wenn sich kein Hindernis im Fahrbereich oder Wirkungsbereich des Nutzfahrzeugs befindet. Mit anderen Worten liegt ein unsicherer Betriebszustand dann vor, wenn die entsprechenden vorgebbaren Grenzwerte über- bzw. unterschritten werden und/oder wenn sich ein Hindernis im Fahrbereich oder Wirkungsbereich des Nutzfahrzeugs befindet.A safe operating state of the commercial vehicle is present in particular when the engine utilization, the inclination of the commercial vehicle with respect to the horizontal, the yaw moment, the ballasting of the commercial vehicle with an optionally adapted working equipment, the prevailing in the drive train torque load or the present in the drive train speed rotating components and / or the speed of the commercial vehicle (even when cornering) does not exceed a corresponding predetermined limit. Further safety-relevant parameters are, for example, the engine oil temperature mentioned in the introduction, the temperature of the coolant liquid of the internal combustion engine of the commercial vehicle or the pressure of a hydraulic brake system. Accordingly, a safe operating state of the commercial vehicle is present if the corresponding predefinable limit values are not exceeded or fallen below. A safe operating state of the commercial vehicle is also present when there is no obstacle in the driving range or effective range of the commercial vehicle. In other words, an unsafe operating state is present when the corresponding predefinable limit values are exceeded or fallen short of and / or if an obstacle is located in the driving range or effective range of the commercial vehicle.
Insbesondere bei Zustandsgrößen, welche an dem Nutzfahrzeug vom Bediener nicht unmittelbar bemerkt werden können, ist die erfindungsgemäße Bedienvorrichtung für eine sichere Bedienung des Nutzfahrzeugs hilfreich. Dies kann vor allem bei am Nutzfahrzeug angehängten Anhängern (z.B. eine Spritze mit einem ausgefahrenen Spritzgestänge) relevant sein, welche beispielsweise aufgrund von Bodenunebenheiten Roll- und/oder Gierbewegungen ausführen und hierbei das Gespann bestehend aus Nutzfahrzeug und Anhänger in einen gefährlichen Gesamtzustand bringen können. Der (die Fahrzeuggeschwindigkeit einstellende) Bedienhebel kann in einem solchen Fall derart mit einer Kraft beaufschlagt werden, dass der Bediener zu einer Auslenkung des Bedienhebels zu einer geringeren Geschwindigkeit des Gespanns angeleitet wird.Particularly in the case of state variables which can not be immediately noticed by the operator on the utility vehicle, the operating device according to the invention is helpful for safe operation of the utility vehicle. This may be particularly relevant for trailers attached to the commercial vehicle (eg, a sprayer with an extended spray boom), which may roll and / or yaw due to unevenness in the ground, for example, and can bring the truck-trailer combination into a dangerous overall condition. The (adjusting the vehicle speed) Operating lever can be acted upon in such a case with such a force that the operator is guided to a deflection of the operating lever to a lower speed of the team.
Die Stelleinrichtung kann von der Steuereinrichtung derart angesteuert werden, dass die Stelleinrichtung den Bedienhebel mit einer im Wesentlichen konstanten Kraft beaufschlagt. Eine solche Vorgehensweise kann sich insbesondere auf den Zustand des Bedienhebels beziehen, in welchem sich dieser in der Neutralstellung befindet und nicht von einem Bediener betätigt wird.The adjusting device can be controlled by the control device such that the adjusting device acts on the operating lever with a substantially constant force. Such a procedure may relate in particular to the state of the operating lever, in which it is in the neutral position and is not operated by an operator.
Zusätzlich oder alternativ kann die Stelleinrichtung den Bedienhebel mit einem vorgebbaren Kraftverlauf beaufschlagen. Der vorgebbare Kraftverlauf kann in Abhängigkeit des Betätigungswegs bzw. der Auslenkung des Bedienhebels oder der anzusteuernden Zustandsgröße eine stetige analytische Funktion aufweisen. Die analytische Funktion kann sich zeitlich verändern und hierbei einem veränderten Betriebszustand des Nutzfahrzeugs Rechnung tragen.Additionally or alternatively, the adjusting device can act on the operating lever with a predeterminable force curve. The predeterminable force curve can have a continuous analytical function as a function of the actuation path or the deflection of the operating lever or the state variable to be controlled. The analytical function can change over time and thereby take account of a changed operating state of the commercial vehicle.
Insbesondere wenn sich das Nutzfahrzeug einem unsicheren Betriebszustand nähert oder der Bediener eine Arbeitsfunktion oder eine Fahrzeugfunktion missbraucht, kann vorgesehen sein, dass die Stelleinrichtung den in der neutralen Position befindlichen oder in einer beliebigen Position befindlichen Bedienhebel mit einer zeitlich veränderlichen Kraft beaufschlagt. Dies ist insbesondere bei Betriebszuständen hilfreich, bei welchen die jeweils vorliegende Zustandsgröße oder die jeweils vorliegende kritische Größe nicht unmittelbar von dem Bediener wahrgenommen werden kann. Dies kann beispielsweise das Drehmoment betreffen, welches bei einem Traktor über die Zapfwelle auf ein an dem Traktor adaptiertes Arbeitsgerät übertragen wird und welches einen vorgebbaren Grenzwert überschreitet. Dementsprechend kann der Bedienhebel von der Stelleinrichtung derart mit einer zeitlich variierten Kraft beaufschlagt werden, dass der Bedienhebel eine Art Rüttelbewegung ausführt und hierdurch den Bediener auf taktile Art und Weise auf einen kritischen Betriebszustand aufmerksam macht.In particular, when the commercial vehicle is approaching an unsafe operating state or the operator abuses a work function or a vehicle function, it can be provided that the actuating device acts on the operating lever located in the neutral position or in any position with a time-varying force. This is helpful, in particular, in operating states in which the respectively present state variable or the respectively present critical variable can not be perceived directly by the operator. This may, for example, relate to the torque which is transmitted in the case of a tractor via the power take-off shaft to an implement adapted to the tractor and which exceeds a predefinable limit value. Accordingly, the operating lever of the actuator be acted upon with a time-varying force such that the operating lever performs a kind of shaking movement and thereby makes the operator in a tactile manner to a critical operating state.
Ganz allgemein und gemäß einer ganz besonders bevorzugten Ausführungsform wird der Bedienhebel mit einer vorgebbaren, veränderten Kraft dann beaufschlagt, wenn ein von dem optimalen Betriebszustand abweichender Betriebszustand vorliegt. Optimale Betriebszustände sind insbesondere in den Fällen des Patentanspruchs 8 aufgezählt, wobei diese Aufzählung nicht abschließend ist und dementsprechend eine Vielzahl weitere optimale Betriebszustände vorliegen können. Ebenfalls ganz allgemein und auch gemäß einer ganz besonders bevorzugten Ausführungsform wird der Bedienhebel mit einer vorgebbaren, veränderten Kraft dann beaufschlagt, wenn ein von dem sicheren Betriebszustand abweichender Betriebszustand vorliegt. Sichere Betriebszustände sind insbesondere in den Fällen des Patentanspruchs 14 aufgezählt, wobei diese Aufzählung nicht abschließend ist und dementsprechend eine Vielzahl weitere sichere Betriebszustände vorliegen können.Very generally and according to a very particularly preferred embodiment, the operating lever is acted upon by a predeterminable, changed force when there is an operating state deviating from the optimum operating state. Optimal operating conditions are listed in particular in the cases of claim 8, this list is not exhaustive and accordingly can be present a variety of other optimal operating conditions. Also quite generally and also according to a very particularly preferred embodiment, the operating lever is acted upon by a predeterminable, changed force when there is a different operating state from the safe operating state. Safe operating states are listed in particular in the cases of
Im Folgenden wird auf relativ konkrete Situationen eingegangen, bei welchen der Bedienhebel mit einer vorgebbaren, veränderten Kraft beaufschlagt wird.The following section deals with relatively specific situations in which the operating lever is acted upon by a predefinable, changed force.
Dies ist unter anderem dann der Fall, wenn der aktuell vorliegende Betriebszustand bzw. eine aktuell vorliegende Zustandsgröße des Nutzfahrzeugs oder einer Arbeitsfunktion des Nutzfahrzeugs einen vorgegebenen Grenzwert über- oder unterschreitet. Hierbei kann es sich beispielsweise um einen über einem maximalen Wert liegenden Druck einer Hydraulikflüssigkeit handeln, mit welcher ein Hydraulikzylinder eines Laders ansteuerbar ist, wobei der Lader an einem Traktor adaptiert sein kann. Eine solche Situation kann beispielsweise auf eine Überlastung beim Anheben der Laderschaufel aufmerksam machen.This is the case, inter alia, when the current operating state or a current state variable of the commercial vehicle or a working function of the commercial vehicle exceeds or falls below a predetermined limit value. This may be, for example, a pressure above a maximum value of a hydraulic fluid with which a hydraulic cylinder of a supercharger can be actuated, wherein the supercharger can be adapted to a tractor. Such a situation may, for example, draw attention to an overload when lifting the loader bucket.
Der Bedienhebel kann mit einer vorgebbaren, veränderten Kraft dann beaufschlagt werden, wenn die Drehzahl einer Welle und/oder die Drehzahl einer Welle eines Arbeitsgeräts von einer vorgegebenen Drehzahl abweicht.The operating lever can be acted upon with a predetermined, changed force when the rotational speed of a shaft and / or the rotational speed of a shaft of a working implement deviates from a predetermined rotational speed.
Auch kann der Bedienhebel mit einer vorgebbaren, veränderten Kraft dann beaufschlagt werden, wenn die Geschwindigkeit des Nutzfahrzeugs von einer vorgegebenen Geschwindigkeit abweicht. Sofern das Nutzfahrzeug eine Arbeitsfunktion ausübt, welche eine Fortbewegung des Fahrzeugs mit einer im Wesentlichen konstanten Geschwindigkeit erfordert (z.B. Einsähen), kann durch die Veränderung der Kraft, mit welcher der Bedienhebel beaufschlagt wird, der Bediener auf diesen Umstand hingewiesen werden.Also, the operating lever with a predetermined, changed force can be applied when the speed of the commercial vehicle deviates from a predetermined speed. Insofar as the utility vehicle performs a work function requiring travel of the vehicle at a substantially constant speed (e.g., sewing), the change in force applied to the operating lever may alert the operator to this circumstance.
Bevorzugt ist vorgesehen, dass der Bedienhebel mit einer vorgebbaren, veränderlichen Kraft beaufschlagbar ist, welche von der Beschaffenheit der Fahrbahn bzw. des Untergrunds abhängt. Dies kann dazu genutzt werden, den "Bonanza-Effekt" zu verringern bzw. zu vermeiden. Hierzu wird in Abhängigkeit der aktuell vorliegenden Nutzfahrzeugbewegung, welche mit einem entsprechenden Bewegungs- und/oder Beschleunigungssensor detektiert wird, die Kraft derart auf den Bedienhebel ausgeübt, dass ein selbstverstärkendes Aufschwingen des Nutzfahrzeugs bzw. der Arbeitsfunktion des Nutzfahrzeugs bei einer durch die Nutzfahrzeugbewegung hervorgerufenen Bewegung der Bedienerhand bei der Bedienung des Bedienhebels weitgehend vermieden wird.It is preferably provided that the operating lever can be acted upon by a predeterminable, variable force, which depends on the nature of the roadway or the subsoil. This can be used to reduce or avoid the "bonanza effect". For this purpose, depending on the currently present commercial vehicle movement, which is detected with a corresponding motion and / or acceleration sensor, the force is exerted on the control lever such that a self-boosting swinging up of the commercial vehicle or the working function of the commercial vehicle is caused by the movement of the commercial vehicle Operator's hand when operating the operating lever is largely avoided.
In einer bevorzugten Ausführungsform ist vorgesehen, dass der Bedienhebel in seiner Neutralposition durch die Stelleinrichtung zumindest in einem bestimmten Betriebszustand des Nutzfahrzeugs mit einer vorgebbaren hohen Kraft beaufschlagbar ist. Der Bedienhebel ist aus seiner Neutralposition mit einer entsprechend hohen Kraftaufwendung von dem Bediener einmalig auslenkbar, um das Nutzfahrzeug und/oder eine Arbeitsfunktion des Nutzfahrzeugs von einem gesicherten Zustand in einen Betriebszustand zu überführen. Hiermit kann ein so genanntes Kraftschloss der durch den Bedienhebel angesteuerten Funktion erzielt werden. Der Bediener muss zum Ansteuern der Funktion ein erstes Mal eine relativ hohe Kraft ausüben, um die Funktion überhaupt zu aktivieren. Falls die Funktion dann aktiviert ist, bietet es sich an, den Bedienhebel nicht mehr mit der vorgebbaren hohen Kraft zu beaufschlagen und/oder dies erst dann wieder zu tun, wenn der Bedienhebel für längere Zeit nicht betätigt wurde. In gleicher Weise kann eine Anfahrquittierung des Nutzfahrzeugs oder eine Schaltquittierung für einen Getriebeschaltvorgang realisiert werden, d.h. die vom Bediener tatsächlich gewollte Ansteuerung wird durch das Überwinden der hohen Kraft quittiert.In a preferred embodiment, it is provided that the operating lever can be acted upon in its neutral position by the adjusting device at least in a specific operating state of the commercial vehicle with a predetermined high force. The operating lever can be deflected once from its neutral position with a correspondingly high expenditure of force by the operator in order to move the utility vehicle and / or a working function of the utility vehicle from a secured state into an operating state to convict. Hereby, a so-called power lock of the controlled by the operating lever function can be achieved. The operator must exert a relatively high force for the first time to activate the function in order to activate the function at all. If the function is then activated, it is advisable not to apply the predetermined high force to the control lever and / or to do so again only if the control lever has not been operated for a long time. In the same way, a starting acknowledgment of the commercial vehicle or a shift acknowledgment can be realized for a transmission shifting operation, ie the control actually desired by the operator is acknowledged by overcoming the high force.
Weiterhin kann vorgesehen sein, dass der Bedienhebel mit einer vorgebbaren Kraft beaufschlagbar ist, um dem Bediener wahrnehmbar zu machen, dass eine mit dem Bedienhebel kommandierte Änderung einer Zustandsgröße des Nutzfahrzeugs oder einer Arbeitsfunktion mittlerweile eingestellt wurde. Gerade für den Fall, dass mit dem Bedienhebel eine Getriebeschaltung angesteuert wird, der Bedienhebel jedoch nicht mechanisch mit der Getriebeschaltstelle verbunden ist, weil diese beispielsweise mittels eines elektromagnetischen Aktuators angesteuert wird, kann dies dem Bediener eine realistische Rückmeldung nach Durchführung des Schaltvorgangs geben. Wenn nämlich der mit dem Bedienhebel neu kommandierte Schaltzustand vom Getriebe eingelegt ist, kann ein vorgebbarer Kraftimpuls (geringer Höhe) auf den Bedienhebel ausgeübt werden, welcher vergleichbar zu dem Kraftimpuls ist, welcher auf einen mit der Getriebeschaltstelle mechanisch verbundenen Bedienhebel durch den Schaltvorgang der Getriebeschaltstelle ausgeübt wird.Furthermore, it can be provided that the operating lever can be acted upon by a predeterminable force in order to make it perceptible to the operator that a change of a state variable of the utility vehicle or a work function commanded with the operating lever has meanwhile been discontinued. Especially in the event that the control lever, a transmission circuit is activated, but the operating lever is not mechanically connected to the gear shift, because it is controlled for example by means of an electromagnetic actuator, this can give the operator a realistic feedback after performing the switching operation. Namely, when the newly commanded with the operating lever switching state is engaged by the transmission, a predetermined force pulse (low altitude) can be exerted on the operating lever, which is comparable to the force pulse, which exerted on a mechanically connected to the gear shift control lever by the switching operation of the gear shift becomes.
In vergleichbarer Weise kann der Bedienhebel mit einer vorgebbaren Kraft beaufschlagbar sein, um dem Bediener wahrnehmbar zu machen, dass ein bestimmter Zustand eines an das Nutzfahrzeug adaptierten Arbeitsgeräts vorliegt. Dies kann beispielsweise der Fall sein, wenn ein Arbeitsgerät zugeschaltet wird und dieses erst nach einer Zeitverzögerung seine Betriebsdrehzahl erreicht. Sobald diese vorliegt, kann der Bedienhebel ebenfalls mit einem Kraftimpuls beaufschlagt werden.In a comparable manner, 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.
Bevorzugt ist die Höhe der Kraft, mit welcher der Bedienhebel beaufschlagbar ist, von dem Bediener individuell einstellbar. Hierdurch kann beispielsweise jeder Bediener eine für sich individuell angepasste Bedienungscharakteristik des Bedienhebels einstellen und gegebenenfalls abspeichern. Dies ermöglicht eine für den Bediener individuell angepasste Einstellung der Bedienhebelcharakteristik und kann somit Fehlbedienungen vermeiden und/oder eine individuelle ergonomische Bedienung ermöglichen.Preferably, the amount of force with which the operating lever can be acted upon by the operator individually adjustable. In this way, for example, each operator can set an individually adapted operating characteristic of the operating lever and, if necessary, store it. This allows a customized adjustment of the operating lever characteristic for the operator and can thus avoid incorrect operation and / or enable individual ergonomic operation.
In einer bevorzugten Ausführungsform ist dem Bedienhebel eine vorgebbare Bedienungscharakteristik derart aufprägbar, dass der Bediener eine - gegebenenfalls von ihm einstellbare - angestrebte Einstellung, eine Auslenkungsposition oder einen Auslenkungsbereich des Bedienhebels wiederfinden kann. Bei einer solchen angestrebten Einstellung kann es sich um die Arbeitstiefe am Hubwerk eines Dreipunkt-Geräteanbaus handeln, sofern mit dem Bedienhebel die Hubwerkhöhe eingestellt wird. Wenn die Arbeitstiefe des Hubwerks eingestellt wird, kann ein "Einrasten" des Bedienhebels vorgesehen sein, welches mit einer entsprechenden Kraftbeaufschlagung der Stelleinrichtung auf den Bedienhebel dargestellt werden kann. In vergleichbarer Weise kann ein einstellbarer "Anschlag" des Bedienhebels vorgesehen sein, welcher gegebenenfalls vom Bediener vorgebbar bzw. einstellbar ist, welcher das Auffinden einer bestimmten Aufnahme- und/oder Abladehöhe eines Frontladers ermöglicht. Dies kann auch zum Auffinden eines bestimmten Kippwinkels der Schaufel oder einer oberen Grenze der Aushubhöhe (wegen einer niedrigen Deckenhöhe in Gebäuden oder einer niedrigen Durchfahrtshöhe von Toren) hilfreich sein.In a preferred embodiment, a specifiable operating characteristic can be imposed on the operating lever in such a way that the operator can retrieve a desired setting, a deflection position or a deflection range of the operating lever, which is optionally adjustable by him. Such a desired setting may be the working depth on the hoist of a three-point implement mounting, provided that the hoist height is adjusted with the operating lever. When the working depth of the hoist is adjusted, a "locking" of the operating lever may be provided, which can be represented with a corresponding application of force to the actuating device on the operating lever. In a comparable manner, an adjustable "stop" of the operating lever may be provided, which is optionally predetermined or adjustable by the operator, which allows finding a specific recording and / or unloading height of a front loader. This can also be helpful in finding a particular tip tilt angle or top lift height (due to low ceiling height in buildings or low gate clearance).
Gemäß einer bevorzugten Ausführungsform der vorliegenden Erfindung ist der Bedienhebel derart mit einer Kraft beaufschlagbar, dass ein Bediener einen ungünstigen Einstellungsbereich eines Betriebszustands einer Arbeitsfunktion oder einer Zustandsgröße des Nutzfahrzeugs - z.B. die Eigenfrequenz der Reifen bei bestimmten Drehzahlen - meidet. Einen ungünstigen Einstellungsbereich kann auch die motordrehzahlabhängige Eigenfrequenz der Motoraufhängung und/oder die Eigenfrequenz der Fahrzeugkarosserie aufweisen, und es kann daher in vergleichbarer Weise durch entsprechende Kraftbeaufschlagung des Bedienhebels dem Bediener signalisiert werden, diese Einstellung zu meiden.According to a preferred embodiment of the present invention, the operating lever is provided with a force such that an operator can set an unfavorable setting range of an operating state of a work function or a state quantity of the commercial vehicle - e.g. the natural frequency of the tires at certain speeds - avoid. An unfavorable adjustment range can also have the engine speed-dependent natural frequency of the engine mount and / or the natural frequency of the vehicle body, and it can therefore be signaled to the operator in a comparable manner by appropriate application of force to the operating lever to avoid this setting.
In einer weiteren Ausführungsform ist ein Bedienhebel mit einer vorgebbaren Kraft beaufschlagbar, welche im Wesentlichen von dem Zustand eines anderen Bedienelements des Nutzfahrzeugs abhängig ist. Hierdurch kann z.B. eine gegenseitige Verriegelung von mehreren Bedienelementen simuliert werden, beispielsweise eine Parksperre, die in einem Traktor mit einem Bedienhebel aktiviert werden kann, und einem Einstellhebel für das Getriebe dieses Traktors, welches mit einem anderen Bedienhebel ansteuerbar ist. Hiermit kann eine mechanische Kopplung der beiden Bedienhebel, welche bislang erforderlich war, in vorteilhafter Weise entfallen.In a further embodiment, a control lever can be acted upon by a predeterminable force, which essentially depends on the state of another operating element of the commercial vehicle. As a result, e.g. a mutual locking of several controls are simulated, for example, a parking brake that can be activated in a tractor with an operating lever, and a setting lever for the transmission of this tractor, which is controlled by another operating lever. This can be a mechanical coupling of the two control lever, which was previously required, omitted in an advantageous manner.
Es kann vorgesehen sein, dass die von der Stelleinrichtung auf den Bedienhebel ausgeübte Kraft von dem Bediener übersteuerbar und/oder abschaltbar ist. Eine Übersteuerung der auf den Bedienhebel ausgeübten Kraft durch den Bediener sollte im Allgemeinen möglich sein, denn der Bediener soll nicht nur das Gefühl haben, dass er die Kontrolle über die Bedienung des Fahrzeugs hat. Vielmehr soll aus Sicherheitsgründen das Fahrzeug von dem Bediener auch dann bedient werden können, wenn der Bedienhebel mit einer falschen Kraft beaufschlagt wird. Dies kann dann der Fall sein, wenn ein Sensor eine Größe fehlerhaft detektiert oder die detektierte Größe fehlerhaft interpretiert wird, wenn dies auch nur mit einer geringen Wahrscheinlichkeit auftritt.It can be provided that the force exerted by the adjusting device on the operating lever can be overridden by the operator and / or switched off. An override of the force applied to the control lever by the operator should generally be possible because the operator should not only feel that he has control over the operation of the vehicle. Rather, for safety reasons, the vehicle should be able to be operated by the operator even when the operating lever is acted upon by a wrong force. This may be the case when a sensor detects a size incorrectly or misinterprets the detected quantity if this occurs with a low probability.
Wie bereits angedeutet, kann zusätzlich zum Beaufschlagen des Bedienhebels mit einer vorgebbaren Kraft ein visuelles und/oder akustisches Signal erzeugt werden. Dies bietet sich insbesondere dann an, wenn ein sicherer Betriebszustand des Nutzfahrzeugs und/oder einer Arbeitsfunktion des Nutzfahrzeugs verlassen wird. In diesem Fall kann beispielsweise eine in dem Bedienhebel vorgesehene Lichtquelle aktiviert werden, eventuell mit zunehmender Lichtstärke bei zunehmendem Gefährlichkeitsgrad. Zusätzlich oder alternativ kann ein akustisches Signal in Form eines Warntons (gegebenenfalls mit zunehmender Lautstärke) erzeugt und dem Bediener zur Kenntnis gebracht werden. Somit kann vorgesehen sein, dass ein Bediener taktil und visuell an dem Bedienhebel sowie akustisch über einen Lautsprecher in der Kabine vor einem Sicherheitsrisiko gewarnt werden kann, vorzugsweise bezüglich einer Funktion, welche mit dem Bedienhebel angesteuert wird.As already indicated, a visual and / or acoustic signal can be generated in addition to applying the operating lever with a predetermined force. This is particularly appropriate when a safe operating state of the commercial vehicle and / or a working function of the commercial vehicle is left. In this case, for example, provided in the operating lever light source can be activated, possibly with increasing light intensity with increasing degree of danger. Additionally or alternatively, an acoustic signal in the form of a warning tone (possibly with increasing volume) can be generated and brought to the attention of the operator. Thus, it can be provided that an operator tactile and visual on the operating lever and acoustically via a speaker in the cabin from a security risk can be warned, preferably with respect to a function which is controlled by the operating lever.
Das Nutzfahrzeug, welches eine erfindungsgemäße Bedienvorrichtung aufweist, kann eine selbstfahrende Arbeitsmaschine bzw. eine Zugmaschine des Bereichs Landwirtschaft, Bau oder Forst sein. Insbesondere kann das Nutzfahrzeug in Form eines Traktors, einer Erntemaschine, eines Mähdreschers, eines Feldhäckslers, einer Baumaschine und/oder einer Forstmaschine ausgebildet sein. Dementsprechend kann die von dem Bedienhebel der Bedienvorrichtung angesteuerte Funktion eine für das jeweilige Nutzfahrzeug charakteristische Arbeitsfunktion sein. Die eingangs genannte Aufgabe wird hinsichtlich eines landwirtschaftlichen oder industriellen Nutzfahrzeugs, insbesondere Traktors, durch die Merkmale des Patentanspruchs 29 gelöst. Demgemäß weist ein solches Nutzfahrzeug eine Bedienvorrichtung nach einem der Ansprüche 1 bis 28 auf. Der auf dem vorliegenden Gebiet tätige Fachmann wird in Kenntnis einer erfindungsgemäßen Bedienvorrichtung gemäß einem der Ansprüche 1 bis 28 sowie der hierzu gemachten Ausführungen den Gegenstand der Erfindung auf ein landwirtschaftliches oder industrielles Nutzfahrzeug anwenden können und hierbei die besondere Eigenschaften des jeweiligen Nutzfahrzeugs in Zusammenhang mit der erfindungsgemäßen Bedienvorrichtung gemäß einem der Ansprüche 1 bis 28 berücksichtigen können. Insoweit wird zur Vermeidung von Wiederholungen auf den vorangegangenen Teil der Beschreibung verwiesen.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. In particular, 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. Accordingly, the function activated by the operating lever of the operating device can be a working function characteristic of the respective commercial vehicle. The object mentioned above is achieved with respect to an agricultural or industrial commercial vehicle, in particular tractor, by the features of claim 29. Accordingly, such a commercial vehicle on an operating device according to one of claims 1 to 28. The person skilled in the art will be aware of an inventive Operating device according to one of claims 1 to 28 and the statements made for this purpose can apply the subject matter of the invention to an agricultural or industrial utility vehicle and in this case can take into account the particular characteristics of the respective commercial vehicle in connection with the operating device according to the invention according to one of claims 1 to 28. In that regard, reference is made to avoid repetition to the preceding part of the description.
Es gibt nun verschiedene Möglichkeiten, die Lehre der vorliegenden Erfindung in vorteilhafter Weise auszugestalten und weiterzubilden. Dazu wird einerseits auf die dem Patentanspruch 1 nachgeordneten Ansprüche und andererseits auf die nachfolgende Erläuterung der bevorzugten Ausführungsbeispiele der Erfindung anhand der Zeichnungen verwiesen. In Verbindung mit der Erläuterung der bevorzugten Ausführungsbeispiele der Erfindung anhand der Zeichnungen werden auch im Allgemeinen bevorzugte Ausgestaltungen und Weiterbildungen der erfindungsgemäßen Lehre erläutert. In den Zeichnungen zeigen jeweils in einer schematischen Darstellung:
- Fig. 1
- ein Ausführungsbeispiel einer erfindungsgemäßen Bedienvorrichtung,
- Fig. 2
- ein Ausführungsbeispiel eines landwirtschaftlichen Nutzfahrzeugs mit einer erfindungsgemäßen Bedienvorrichtung,
- Fig. 3a
- ein landwirtschaftliches Nutzfahrzeug mit einem Lader, bei welchem die Laderschaufel nicht über eine vorgebbare Höhe verbracht werden soll,
- Fig. 3b
- ein Diagramm der auf den Bedienhebel ausgeübten Kraft in Abhängigkeit der Höhe der Laderschaufel,
- Fig. 4a
- ein landwirtschaftliches Nutzfahrzeug mit einem Lader, bei welchem die Laderschaufel in einem vorgebbaren Höhenbereich eingesetzt werden soll,
- Fig. 4b
- ein Diagramm der auf den Bedienhebel ausgeübten Kraft in Abhängigkeit der Höhe der Laderschaufel,
- Fig. 5a
- ein landwirtschaftliches Nutzfahrzeug mit einem Lader, bei welchem der Kippwinkel der Laderschaufel in einem vorgebbaren Winkelbereich verbleiben soll, und
- Fig. 5b
- ein Diagramm der auf den Bedienhebel ausgeübten Kraft in Abhängigkeit des Kippwinkels der Laderschaufel.
- Fig. 1
- An embodiment of an operating device according to the invention,
- Fig. 2
- An embodiment of an agricultural utility vehicle with an operating device according to the invention,
- Fig. 3a
- an agricultural utility vehicle with a loader, in which the loader bucket is not to be moved beyond a predefinable height,
- Fig. 3b
- a diagram of the force exerted on the operating lever as a function of the height of the loader bucket,
- Fig. 4a
- an agricultural utility vehicle with a loader, in which the loader bucket is to be used in a predefinable height range,
- Fig. 4b
- a diagram of the force exerted on the operating lever as a function of the height of the loader bucket,
- Fig. 5a
- an agricultural utility vehicle with a loader in which the tilt angle of the loader bucket is to remain within a predefinable angular range, and
- Fig. 5b
- a diagram of the force exerted on the operating lever as a function of the tilt angle of the loader bucket.
In den Figuren sind gleiche oder ähnliche Bauteile mit denselben Bezugszeichen gekennzeichnet.In the figures, the same or similar components are identified by the same reference numerals.
Erfindungsgemäß werden mit der Steuereinrichtung 14 in Abhängigkeit des aktuell vorliegenden Zustands des Frontladers die Stelleinrichtung 22 und somit die Aktuatoren 24, 26 derart angesteuert, dass der Bedienhebel 12 mit einer veränderten vorgebbaren Kraft beaufschlagbar ist. Hierdurch kann einem in Figur 1 nicht gezeigten Bediener ein nicht optimaler oder unsicherer Betriebszustand des Nutzfahrzeugs bzw. des Traktors in Verbindung mit dem Frontlader wahrnehmbar gemacht werden. Dementsprechend kann durch das Beaufschlagen des Bedienhebels 12 mit einer vorgebbaren veränderten Kraft durch die Stelleinrichtung 22 die Bedienungscharakteristik des Bedienhebels 12 verändert werden.According to the
An dem Traktor 28 bzw. dem Frontlader 30 sind mehrere Sensoren angeordnet, wobei nicht alle Sensoren zum Ausführen der vorliegenden Erfindung erforderlich sind. So kann mit dem Sensor 38 der Ausfahrweg der Kolbenstange des Hydraulikzylinders 36 bestimmt werden. Mit dem Sensor 40 kann die Veränderung des Volumenstroms der Hydraulikflüssigkeit gemessen werden, welche dem Hydraulikzylinder 36 zugeführt wird bzw. welche vom Hydraulikzylinder 36 abfließt. Mit dem Sensor 42 kann der im Kolbenraum des Hydraulikzylinders 36 vorliegende Druck der Hydraulikflüssigkeit gemessen werden. Der Sensor 44 detektiert die Fahrzeuggeschwindigkeit über dem Untergrund. Sensor 46 detektiert die Drehzahl des linken Vorderrads 48. Für die anderen drei Räder sind ebenfalls Sensoren vorgesehen, welche jedoch in
Mit den in den
Die Auslenkung des Bedienhebels 12 bewirkt üblicherweise, dass die entsprechende Frontlader-Arbeitsfunktion (im Sinne einer Binärlogik) ein- oder ausgeschaltet wird. Beispielsweise wird beim Auslenken des Bedienhebels 12 nach vorne der Ausleger angehoben. Es kann vorgesehen sein, dass in Abhängigkeit eines größeren Auslenkwinkels des Bedienhebels 12 der Ausleger 32 schneller angehoben wird, als dies bei einem kleinen Auslenkwinkel des Bedienhebels 12 der Fall ist. Dementsprechend kann die Steuereinrichtung diese Tatsache berücksichtigen und die Kraft in einem stärkeren Maße auf den Bedienhebel 12 ausüben, wenn der Bedienhebel 12 um einen größeren Winkel ausgelenkt wird.The deflection of the operating
Dem in dem Diagramm der
In dem Ausführungsbeispiel gemäß
Die in den
Abschließend sei ganz besonders darauf hingewiesen, dass die voranstehend erörterten Ausführungsbeispiele lediglich zur Beschreibung der beanspruchten Lehre dienen, diese jedoch nicht auf die Ausführungsbeispiele einschränken.Finally, it should be particularly noted that the embodiments discussed above are merely for the purpose of describing the claimed teaching, but do not limit it to the exemplary embodiments.
Claims (29)
- Operating device for driving at least one state variable of an agricultural or industrial truck, having at least one operating lever (12), an actuating device (22), at least one sensor (16) and a control device (14), where the operating lever (12) can be actuated by a hand of an operator, where the at least one state variable of the truck (28) can be adjusted by using the operating lever (12), where a force can be applied to the at least one operating lever (12) by using the actuating device (22), where a variable which represents a state variable of the truck (28) can be detected by using the at least one sensor (16) and transmitted to the control device (14), where a state variable of the current operating state of the truck (28) can be determined by using the control device (14), where, by using the control device (14), depending on the current operating state of the truck (28), the actuating device (22) can be driven in such a way that a changed predefinable force can be applied to the at least one operating lever (12) in order in this way to make an unsafe operating state of the truck (28) or an unsafe operating state of at least one working function (30) perceptible to the user, where the operating lever (12) is formed in the shape of a joystick, with which a working function (30) or a state variable of the truck (28) or a working function or a state variable of a working appliance adapted to the truck (28) can be adjusted, where a loader and/or a loader tool can be driven by using the joystick, characterized in that the force acting on the joystick depends on the lifting height of the loader or the loader tool, wherein the force acting on the joystick increases with increasing height of the loader and/or loader tool.
- Operating device according to Claim 1, characterized in that, by using the control device (14), depending on the current operating state of the truck (28), the actuating device (22) can be driven in such a way that a changed predefinable force can be applied to the at least one operating lever (12), in order in this way to make a non-optimal operating state of the truck (28) or a non-optimal operating state of at least one working function (30) perceptible to the operator.
- Operating device according to Claim 1 or 2, characterized in that, as a result of applying the one predefinable changed force to the operating lever (12), the operating characteristics of the operating lever (12) can be changed.
- Operating device according to one of Claims 1 to 3, characterized in that at least one height value of the loader and/or loader tool at which a predefinable maximum force acts on the joystick can be predefined, wherein the at least one height value can preferably be stored and/or changed by an operator.
- Operating device according to one of Claims 1 to 4, characterized in that at least one tilt angle value of the loader tool at which a predefinable maximum force acting on the joystick can be predefined, wherein the at least one tilt angle value can preferably be stored and/or changed by an operator.
- Operating device according to one of Claims 1 to 5, characterized in that by using the sensor (16) it is possible to detect a variable which permits the determination of the speed, the acceleration, the direction of travel, the currently set steering angle, the deviation from a predefined direction of travel, the spatial position of the truck (12), the yawing movement or the yawing moment and/or the determination of an obstacle.
- Operating device according to one of Claims 1 to 6, characterized in that by using the sensor (16) it is possible to detect a variable which permits the determination of the rotational speed of an engine or gearbox shaft, the rotational speed of at least one wheel (48), of the torque transmitted by a shaft, of the torque output by a drive unit, of the power or utilization of a drive unit, of the energy consumption or the fuel consumption of a consumer, of the slippage of the truck (28) over the ground, of an axle load, of the pressure or of the volume flow or the volume flow change of a hydraulic fluid, of the extension travel of a cylinder (36), of the force of a trailer and/or a working appliance acting on the truck (28), in particular a pulling force, a transverse force and/or a supporting force, of the driving status and/or the propulsive force of the truck (28).
- Operating device according to one of Claims 1 to 7, characterized in that an optimum operating state is present when the truck (28) has a minimized fuel consumption and/or when the speed of travel or the efficiency of the truck (28) is matched optimally to its current operating state, and/or when the material processed or handled by using the truck (28) and possibly by a working appliance adapted to the truck (28) has an optimum performance or throughput.
- Operating device according to one of Claims 1 to 8, characterized in that a safe operating state of the truck (28) is present when the motor utilization, the inclination of the truck (28) with respect to the horizontal, the ballasting of the truck (28) with a working appliance possibly adapted thereto, the torque loading prevailing in the drive train or the rotational speed of rotating components present in the drive train and/or the speed or the yawing moment of the truck (28) does not exceed a corresponding predefinable limiting value.
- Operating device according to one of Claims 1 to 9, characterized in that a safe operating state of the truck (28) is present when there is no obstacle in the range of travel or range of action of the truck (28) .
- Operating device according to one of Claims 1 to 10, characterized in that the actuating device (22) applies a substantially constant force to the operating lever (12).
- Operating device according to one of Claims 1 to 11, characterized in that the actuating device (22) applies a predefinable force profile to the operating lever (12), wherein the force profile has a continuous analytical and possibly time-variable function, depending on the actuating travel of the operating lever (12) or the state variable to be driven.
- Operating device according to one of Claims 1 to 12, characterized in that the actuating device (22) applies a time-variable force to the operating lever (12) located in the neutral position or in an arbitrary position, in particular in the event of misuse of the truck (28) and/or a working function.
- Operating device according to one of Claims 1 to 13, characterized in that a predefinable, changed force is applied to the operating lever (12) when there is an operating state deviating from the optimum operating state.
- Operating device according to one of Claims 1 to 14, characterized in that a predefinable, changed force is applied to the operating lever (12) when there is an operating state deviating from the safe operating state.
- Operating device according to one of Claims 1 to 15, characterized in that a predefinable, changed force is applied to the operating lever (12) when the currently present operating state or a currently present state variable of the truck (28) or a working function of the truck (28) falls above or below a predefined limiting value.
- Operating device according to one of Claims 1 to 16, characterized in that a predefinable, changed force is applied to the operating lever (12) when the rotational speed of a shaft and/or a shaft of a working appliance deviates from a predefined rotational speed.
- Operating device according to one of Claims 1 to 17, characterized in that a predefinable, changed force is applied to the operating lever (12) when the speed of the truck (28) deviates from a predefined speed.
- Operating device according to one of Claims 1 to 18, characterized in that a predefinable, variable force, which depends on the nature of the roadway or of the ground (60), can be applied to the operating lever (12).
- Operating device according to one of Claims 1 to 19, characterized in that a predefinable high force can be applied to the operating lever (12) in its neutral position by the actuating device, wherein the operating lever (12) can be deflected out of its neutral position once with an appropriately high expenditure of force by the operator, in order to transfer the truck (28) and/or a working function (30) of the truck (28) from a secured state into an operating state.
- Operating device according to one of Claims 1 to 20, characterized in that a predefinable force can be applied to the operating lever (12) in order to make it perceptible to the operator that a change of a state variable of the truck (28) or a working function (30), commanded by using the operating lever (12), has been set in the meantime.
- Operating device according to one of Claims 1 to 21, characterized in that a predefinable force can be applied to the operating lever (12) in order to make it perceptible to the operator that there is a specific state of a working appliance (30) adapted to the truck (28).
- Operating device according to one of Claims 1 to 22, characterized in that the level of force that can be applied to the operating lever (12) is adjustable individually by the operator, which means that each operator can set an intrinsically individually adapted operating characteristic of the operating lever (12).
- Operating device according to one of Claims 1 to 23, characterized in that a predefinable operating characteristic can be impressed on the operating lever (12) in such a way that an operator can retrieve an intended setting, a deflection position or a deflection range of the operating lever (12).
- Operating device according to one of Claims 1 to 24, characterized in that a force can be applied to the operating lever (12) in such a way that an operator avoids an unfavourable setting range of an operating state of a working function (30) or state variable of the truck (28).
- Operating device according to one of Claims 1 to 25, characterized in that a predefinable force which depends substantially on the state of another operating element of the truck (28) can be applied to an operating lever (12).
- Operating device according to one of Claims 1 to 26, characterized in that the force exerted on the operating lever (12) by the actuating device (22) can be overridden and/or switched off by the operator.
- Operating device according to one of Claims 1 to 27, characterized in that, in addition to applying a predefinable force to the operating lever (12), a visual and/or acoustic signal can be generated.
- Agricultural or industrial truck, in particular tractor, which has an operating device (10) according to one of Claims 1 to 28.
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EP1988222A1 (en) | 2008-11-05 |
US8781642B2 (en) | 2014-07-15 |
US20080275596A1 (en) | 2008-11-06 |
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