EP2381331B1 - Joystick zur Ausführung von Steuerungen von Betriebsmaschinen - Google Patents

Joystick zur Ausführung von Steuerungen von Betriebsmaschinen Download PDF

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Publication number
EP2381331B1
EP2381331B1 EP11162778.2A EP11162778A EP2381331B1 EP 2381331 B1 EP2381331 B1 EP 2381331B1 EP 11162778 A EP11162778 A EP 11162778A EP 2381331 B1 EP2381331 B1 EP 2381331B1
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EP
European Patent Office
Prior art keywords
joystick
button
sensor
hand
operator
Prior art date
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Active
Application number
EP11162778.2A
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English (en)
French (fr)
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EP2381331A1 (de
EP2381331B2 (de
Inventor
Ivano Guerra
Pietro Fontana
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Soilmec SpA
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Soilmec SpA
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Publication of EP2381331B1 publication Critical patent/EP2381331B1/de
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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
    • G05G5/005—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for preventing unintentional use of a control mechanism
    • 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
    • G05G2009/04774—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 with additional switches or sensors on the handle

Definitions

  • the name joystick is used to identify control devices with a lever articulated on one or more axes, like for example to control the combined movements of building yard operating machines.
  • Joysticks are known that have a so-called “dead man's button", the function of which is to enable the other controls only if it is kept pressed while the individual commands are carried out (see the document US 6.178.841 B1 ).
  • Such a button performs a safety function upon which all of the manoeuvring commands of the aforementioned machines are dependent for them to be enabled.
  • such a sensor is of the capacitive type and is sensitive to the presence of any conductive mass, like parts of the human body, but also metallic objects that could activate the sensor even when the operator is not present. It is therefore possible for the controls to be accidentally knocked which could be potentially dangerous.
  • Such sensors are adapted for passively detecting the presence of people or objects close to such a gripping area, during the normal control operations that can be carried out with the joystick itself.
  • the sensors described in such a document are of the capacitive type (thus not mechanical), and given the kind of devices that they are, they must necessarily both be positioned on the gripping part of the joystick, or close to it, to allow a correct detection of the user's hand.
  • the types of sensors used do not make it possible to tell the difference between the joystick being held accidentally, or even an object being close to the joystick, and it being intentionally held by an operator. This is because, since the sensors are of the passive type, they simply check for the interaction and/or the presence of an object in their area of sensitivity.
  • the present invention proposes to improve the safety level that the control devices of the prior art achieve, without requiring that the aforementioned button be continuously pressed.
  • An aspect of the present invention concerns a joystick for operating machines and relative operating principle of the safety system comprised in such a joystick having the characteristics of the attached claim 1.
  • joystick 10 for executing commands on operating machines is equipped with a safety system, comprising a special enabling button 12 and at least one sensor 13, positioned in an area 11 of joystick 10; sensor 13 is adapted for detecting the presence of the operator's hand on such a joystick 10, and therefore area 11 is preferably positioned in a central portion and in the front part.
  • Safety controls are defined as type A controls; whereas type B controls are the controls that depend on the activation of type A safety controls and that control the operating machine with which the joystick is associated.
  • the safety system foresees that a control device checks that the sensor and the button have not been tampered with, or permanently blocked in active position. In the case of correct operation and the absence of tampering, the control device activates the controls if: it receives the signal of detection of the operator's hand by sensor 13 and then, with the hand still present, button 12 is pressed; after the activation of such controls the presence of the hand on joystick 10 makes it possible to stop pressing on button 12, keeping all of the functionalities on joystick 10 and on type B controls.
  • Sensor 13 adapted for detecting the operator's hand on such a joystick 10 is preferably of the capacitive type or equivalent.
  • control device When the operator's hand is placed on joystick 10 and button 12 is pressed (type A control), the control device, implemented for example electrically, electronically or by other equivalent methods, enables type B controls keeping them in such a state even when button 12 is released.
  • the special enabling button can be placed outside of the joystick, for example on the panel of the control booth or it can be actuated by a pedal or equivalent actuation.
  • an anti-tampering checking step 1 adapted for detecting the presence of tampering with the safety system.
  • Such a step 1 comprises a test 1a and a test 1b for determining the presence of tampering on such a joystick of the safety system.
  • Test 1a is the test for detecting tampering with button 12 and checks the state of the special enabling button 12.
  • Test 1b is the test for detecting tampering with sensor 13.
  • Step 2 of activation of type B controls which require the authorisation of the safety system comprises a test 2a for detecting the presence of the operator's hand on area 11 of joystick 10, for detecting the presence of the hand through sensor 13, and a test 2b for detecting whether button 12 has been pressed.
  • test 2a path "Yes” is followed if the presence of the hand is detected, otherwise path "No” is followed, staying in such a test 2a until the hand is actually detected on the joystick.
  • test 2b Following path "Yes" of test 2a it moves to test 2b.
  • button 12 If button 12 is pressed it passes to a step 3 of activation of type B controls that require the authorisation of such a safety system.
  • Such a step 3 comprises a sub-step 3a of activation of the devices that require the authorisation of such a safety system, allowing said type B controls to be executed and a sub-step 3b of disabling the control of the special enabling button 12 and a test 3c for detecting the presence of the operator's hand on the joystick, for maintaining the approval to execute the commands, for detecting the presence of the hand on the joystick.
  • sub-step 3b it is possible to release the special enabling button 12.
  • the safety system keeps the functionalities of the joystick and of type B controls active, continuing to monitor the state of the sensor detecting the presence of the hand with test 3C.
  • control device which comprises an internal control logic.
  • button 12 is preferably placed in a position that cannot be reached accidentally.
  • buttons 12 it is preferred to arrange it in a depression or recess in joystick 10 of button 12.
  • the position of the button requires an unusual and awkward intentional rotation of the hand wishing to actuate it; in this way, the need to continuously press the button is also avoided.
  • the detachment of the hand from the sensitive area is necessary and sufficient to disable all of type B controls in question, reacting for example to a possible illness of the operator, to him turning his attention to other emergencies, or to the need to move away from the control post.
  • Such a safety system makes accidental activation of type B devices extremely improbable, thanks to the sequence of operations required to activate such controls making the machines adopting such a system safe and reliable.
  • the special enabling button can be placed outside of the joystick, for example on the panel of the control booth or it can be actuated by a pedal or equivalent actuation.

Claims (9)

  1. System zum Ausführen von Steuerungen an Arbeitsmaschinen, die mit einem Sicherheitssystem ausgestattet sind, wobei das System einen Joystick (10) umfasst, der mindestens einen Bereich (11) und mindestens einen Sensor (13) zum Detektieren der Präsenz der Hand des Bedieners an einem solchen Joystick (10) enthält, wobei das System des Weiteren einen speziellen Aktivierungsknopf (12) umfasst, der an einer Position angeordnet ist, die nicht versehentlich erreicht werden kann, und eine Steuerungsvorrichtung umfasst, wobei der Sensor (13) und der spezielle Aktivierungsknopf (12) elektronisch mit der Steuerungsvorrichtung des Joysticks verbunden sind, wobei die Steuerungsvorrichtung während des Gebrauchs zuerst überprüft, dass der Sensor und der Knopf nicht manipuliert oder dauerhaft in der aktiven Position blockiert wurden, und wenn sie das Signal der Detektion der Hand des Bedieners durch den Sensor (13) empfängt und die Hand immer noch am Joystick (10) anliegt und der Knopf (12) durch den Bediener gedrückt wird, so erlaubt sie das Ausführen von Befehlen zum Ausführen von Steuerungen an der Arbeitsmaschine, und erlaubt das Loslassen des Knopfes (12), wobei die Möglichkeit des Ausführens solcher Befehle beibehalten bleibt.
  2. System nach Anspruch 1, wobei der spezielle Aktivierungsknopf (12) an dem Joystick (10) positioniert ist.
  3. System nach Anspruch 1, wobei die Steuerungsvorrichtung im Voraus überprüft, dass der Sensor (13) und der Knopf (12) nicht in einer aktivierten oder gedrückten Position blockiert sind.
  4. System nach Anspruch 1, wobei der Sensor (13) vom kapazitiven Typ ist.
  5. Verfahren zum Aktivieren des Joysticks eines Sicherheitssystems nach einem oder mehreren der Ansprüche 1 bis 4 oder 9, wobei das Verfahren auf einen Joystick (10) zum Ausführen von Steuerungen an Arbeitsmaschinen angewendet wird, der mindestens einen Bereich (11) umfasst, der wiederum mindestens einen Sensor (13) zum Detektieren der Präsenz der Hand des Bedieners an einem solchen Joystick (10) umfasst, und einen speziellen Aktivierungsknopf (12) umfasst, der an einer Position angeordnet ist, die nicht versehentlich erreicht werden kann, wobei der Prozess der Reihe nach die folgenden Schritte umfasst:
    Aktivieren des Systems;
    Überprüfen, ob der Sensor und der Knopf nicht manipuliert oder dauerhaft in der aktiven Position blockiert wurden,
    Detektion der Präsenz der Hand des Bedieners an dem Bereich (11) des Joysticks (10);
    Detektieren des Drückens des Knopfes (12) durch den Bediener, dessen Hand immer noch an dem Joystick (10) anliegt;
    Aktivieren von Vorrichtungen, die das Ausführen der Befehle an den Arbeitsmaschinen erlauben;
    Loslassen des speziellen Aktivierungsknopfes (12);
    Beibehalten der Erlaubnis zur Ausführung der Befehle, solange die Hand des Bedieners als an dem Bereich (11) des Joysticks (10) anliegend detektiert wird.
  6. Verfahren zum Aktivieren des Sicherheitssystems nach Anspruch 5, wobei vor dem Schritt des Detektierens der Präsenz der Hand des Bedieners an dem Bereich (11) des Joysticks ein Antimanipulationskontrollschritt ausgeführt wird, der die folgenden Schritte umfasst:
    Überprüfen des Zustandes des Knopfes (12);
    Detektieren der Präsenz eines leitfähigen Körpers nahe am Sensor (13).
  7. Verfahren zum Aktivieren nach Anspruch 5, wobei die Präsenz der Hand des Bedieners an dem Joystick durch den Sensor (13) überwacht wird.
  8. Verfahren zum Aktivieren nach Anspruch 5 oder 6, wobei die Übergänge zwischen den verschiedenen Schritten und der Überwachung des Knopfes und/oder des Sensors durch die Steuerungsvorrichtung ausgeführt und verwaltet werden.
  9. System nach Anspruch 1, wobei der Knopf (12) in einer Vertiefung oder Aussparung des Joysticks angeordnet ist, oder wobei der Knopf (12) alternativ an einer Position angeordnet ist, für deren Erreichen eine ungewöhnliche und umständliche absichtliche Drehung der Hand erforderlich ist.
EP11162778.2A 2010-04-21 2011-04-18 Joystick zur Ausführung von Steuerungen von Betriebsmaschinen Active EP2381331B2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO2010A000336A IT1399700B1 (it) 2010-04-21 2010-04-21 Joystick per l'esecuzione di comandi su macchine operatrici.

Publications (3)

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EP2381331A1 EP2381331A1 (de) 2011-10-26
EP2381331B1 true EP2381331B1 (de) 2016-12-07
EP2381331B2 EP2381331B2 (de) 2019-06-26

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EP (1) EP2381331B2 (de)
IT (1) IT1399700B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022139983A1 (en) * 2020-12-21 2022-06-30 Caterpillar Inc. Manual input device and method

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201306293D0 (en) * 2013-04-08 2013-05-22 Deregallera Holdings Ltd Controller
CN108021240A (zh) * 2017-12-26 2018-05-11 欧姆(重庆)电子技术有限公司 操纵杆的控制系统和方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4520894A (en) 1983-04-04 1985-06-04 Hensler David L Control wand for overhead personnel crane
US6178841B1 (en) 1998-08-17 2001-01-30 Deere & Company Manually controlled operating lever
US6590171B1 (en) 2002-07-02 2003-07-08 Itt Manufacturing Enterprises, Inc. Hand control for machinery
US20040011154A1 (en) 2002-07-22 2004-01-22 Deere & Company, A Delaware Corporation Joystick with enabling sensors
US20070164969A1 (en) 2006-01-19 2007-07-19 Samsung Electronics Co., Ltd. Timing controller for liquid crystal display
US20080250889A1 (en) 2007-04-12 2008-10-16 Franz Mack Vehicle
US20080311993A1 (en) 2007-06-16 2008-12-18 Rafi Gmbh & Co. Kg Device for generating control signals that can be evaluated electrically

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007168067A (ja) * 2005-12-21 2007-07-05 Abb As 産業用ロボットのためのコントロール・システム及びティーチ・ペンダント

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4520894A (en) 1983-04-04 1985-06-04 Hensler David L Control wand for overhead personnel crane
US6178841B1 (en) 1998-08-17 2001-01-30 Deere & Company Manually controlled operating lever
US6590171B1 (en) 2002-07-02 2003-07-08 Itt Manufacturing Enterprises, Inc. Hand control for machinery
US20040011154A1 (en) 2002-07-22 2004-01-22 Deere & Company, A Delaware Corporation Joystick with enabling sensors
US20070164969A1 (en) 2006-01-19 2007-07-19 Samsung Electronics Co., Ltd. Timing controller for liquid crystal display
US20080250889A1 (en) 2007-04-12 2008-10-16 Franz Mack Vehicle
US20080311993A1 (en) 2007-06-16 2008-12-18 Rafi Gmbh & Co. Kg Device for generating control signals that can be evaluated electrically

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022139983A1 (en) * 2020-12-21 2022-06-30 Caterpillar Inc. Manual input device and method

Also Published As

Publication number Publication date
ITTO20100336A1 (it) 2011-10-22
IT1399700B1 (it) 2013-04-26
EP2381331A1 (de) 2011-10-26
EP2381331B2 (de) 2019-06-26

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