EP3343311A1 - Levier de commande pourvu d'unité de rétroaction active - Google Patents

Levier de commande pourvu d'unité de rétroaction active Download PDF

Info

Publication number
EP3343311A1
EP3343311A1 EP17002025.9A EP17002025A EP3343311A1 EP 3343311 A1 EP3343311 A1 EP 3343311A1 EP 17002025 A EP17002025 A EP 17002025A EP 3343311 A1 EP3343311 A1 EP 3343311A1
Authority
EP
European Patent Office
Prior art keywords
machine
tracking device
controlling
control lever
deflection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17002025.9A
Other languages
German (de)
English (en)
Other versions
EP3343311B1 (fr
Inventor
Thomas Neumann
Volker Jahn
Marcus Schinkel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fernsteuergeraete Kurt Oelsch GmbH
Original Assignee
Fernsteuergeraete Kurt Oelsch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fernsteuergeraete Kurt Oelsch GmbH filed Critical Fernsteuergeraete Kurt Oelsch GmbH
Priority to PL19000407T priority Critical patent/PL3614228T3/pl
Priority to EP19000407.7A priority patent/EP3614228B1/fr
Priority to PL17002025T priority patent/PL3343311T3/pl
Publication of EP3343311A1 publication Critical patent/EP3343311A1/fr
Application granted granted Critical
Publication of EP3343311B1 publication Critical patent/EP3343311B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • 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

Definitions

  • Such hand control transmitters are often used to control heavy machinery. For example, they are used to control cranes, wheel loaders, excavators, forklifts or as a travel controller for rail vehicles and ships. They can be operated like a joystick. Basically, many types of machines that are manually operated can be controlled with a hand control transmitter. Modular design supports the use of a manual control transmitter in many machine control arrangements.
  • the control takes place via the respective angular position of the control shaft, which is connected to the control lever.
  • the angular position can be detected without contact or touch. It is known, for example, to determine the angular position optically by means of a coded disc.
  • the angular position can be e.g. but also electronically via a potentiometer.
  • multi-axis manual control transmitters have at least two non-parallel control shafts, which are driven by a suitable gear.
  • a remote control for controlling vehicles with a shunting device wherein the remote control has an input device and in the degrees of freedom of the mobility of the input device, the degrees of freedom of mobility of the vehicle to be controlled are mapped.
  • the EP 0 671 604 A1 describes a joystick having two potentiometers, which are coupled via a gimbal deflection with a control lever. Each position of the control lever is associated with a corresponding position of the Potentiometerschleifer, so that the tapped to the Potentiometerklemmen voltage values can be fed to an evaluation circuit.
  • a device for converting an at least one-dimensional mechanical deflection into an electrical variable corresponding to this deflection is proposed, in which one end of a sliding contact pair with electrical activation signals is actuated via at least two contact surfaces. The other end of the sliding contact pair is moved over a required resolution for a certain number of parallel conductor tracks. As a result of the displacement of the sliding contact pair, the control signals are forwarded via the contacted printed conductors at the end thereof as evaluation signals.
  • the steering system consists of at least one hydraulic steering cylinder for adjusting the steerable wheels, at least one sensor for determining the Radeinschlagwinkel actual values, at least one electrically actuated hydraulic control valve which controls the pressurization of the steering cylinder with hydraulic fluid and at least one automatic steering signal generator for generating electrical steering signal Setpoint values for the wheel steering angle.
  • the automatically generated steering signal command values and the wheel steering angle actual values are fed to an electronic control and evaluation device.
  • the control and evaluation device determines from the wheel steering angle actual value and the automatically generated steering signal target value in each case an electrical drive signal for the hydraulic control valve.
  • the manual steering steering sensor which consists of a manual Adjusting movement also generates a corresponding electric steering signal setpoint, which is also supplied to the control and evaluation.
  • the control and evaluation device evaluates the manual or the automatic steering signal setpoints.
  • a steering lever "joystick" can be used as a manual steering signal transmitter.
  • the object of the invention is to avoid disadvantages of the prior art and to provide a manual control transmitter for controlling a machine in which the user immediately receives feedback from the manual control transmitter, e.g. in which direction the machine or parts of the machine are controlling.
  • the invention is based on the principle that the control lever of the manual control transmitter assumes the deflected position, which is also assigned to the machine.
  • the control lever is always returned to a control instruction in a relative starting position within the tracking device.
  • the deflected position of the control lever is finally achieved by the tracking device in which the control lever is mounted.
  • This starting position of the control lever is therefore deflected separately.
  • the effect of the control instruction is determined and assigned to a position of the control lever.
  • the speed can be set by operating the manual control transmitter. This defines a setpoint. If the rail vehicle is now the speed has achieved, the control device controls the control lever by a corresponding angle, which is associated with this speed. By the present invention, the user sees immediately which setpoint has been set.
  • An advantageous embodiment of the manual control transmitter according to the invention results from the fact that the drive has a rotor, which tracks the tracking device by an angle ⁇ , which is determined by the associated with the deflection ⁇ machine associated position. This action causes the tracking device to rotate with the control lever at an associated angle with the rotor. This saves space and the respective position of the control lever is easy for the user to capture.
  • the drive of the tracking device has a transmission. Often the drives turn too fast, so the speed can be reduced by a gearbox.
  • the transmission of the drive of the tracking device is provided self-locking. This measure serves to better adapt the deflection of the control lever to the actually performed deflection.
  • a further advantageous embodiment of the invention is that the return mechanism has a damping unit, which generates a damping upon deflection of the control lever.
  • the deflection is damped by means of the damping unit. This is achieved for example via an engine brake.
  • An additional damping motor acts on the lever as needed.
  • the damping motor can also be loaded with braking resistors. It is also possible to actively operate a damping motor, for example, to generate restoring forces, shaking effects or the like as an additional force-feedback element.
  • the damping motor is connected in the present embodiment via a non-self-locking gear with the control lever.
  • the damping unit therefore preferably has a spring, a magnet, an engine brake and / or an active engine brake, which generates the damping. But even a hydraulic and / or pneumatic damping element can be quite advantageously contained in the damping unit.
  • a particular variant of the manual control transmitter according to the invention is that the control lever is pivotally formed in the joint about at least two mutually perpendicular axes, wherein each axis is associated with at least one damping unit.
  • This advantageous measure causes the control lever of the manual control transmitter has more degrees of freedom.
  • This plurality of degrees of freedom makes it possible to control a machine more complexly.
  • one deflection for the speed and the other deflection for the steering of a vehicle can be used.
  • a further advantageous embodiment of the manual control transmitter according to the invention is that the machine is designed as a mobile machine, in particular as a rail vehicle, a wheel loader or a crane.
  • these manual control are particularly useful. When working with these vehicles, users can quickly determine which steering position the wheels have, for example.
  • Fig. 1 10 shows the basic diagram of a manual control transmitter 12 according to the invention.
  • the hand control transmitter 12 is for controlling a machine such as a wheel loader.
  • the manual control transmitter 12 has an assembly platform 14.
  • tracking device 16 is provided with a housing 18.
  • the housing 18 may be formed, for example, tubular or spherical.
  • the tracking device 16 is movably provided on the mounting platform 17. In the present embodiment, a rotational movement of the tracking device 16 is provided.
  • a control unit 19 In the housing 18 of the tracking device 16, a control unit 19 is provided.
  • the control unit 19 has a control shaft 20, which is mounted pivotably about an axis 22.
  • the rotatably or pivotably mounted control shaft 20 forms a joint 23 for a control lever 24.
  • the control lever 24 is provided on the control shaft 20 of the control unit 19 with a control knob 26.
  • the control lever 24 protrudes with its control knob 26 out of an opening 27 of the housing 18.
  • the opening 27 is configured in the housing 18 such that the control lever 24 can be deflected relative to the housing 18.
  • the deflection ⁇ or the respective position which the control lever 24 experiences by a user for operating or controlling the machine is detected by a guide transmitter 28.
  • the angle ⁇ of the deflection is also referred to below as the guide angle ⁇ .
  • the guide transmitter 28 generates an angle signal which corresponds to a respective deflection of the control lever 24 about the axis 22.
  • a return mechanism 30 always guides the control lever 24 back into its starting position 32 in the housing 18 of the tracking device 16 without the application of force. However, the position may change relative to the mounting platform 14, as long as the tracking device 16 changes its position.
  • the tracking device 16 is formed with an actuator 34.
  • the tracking device 16 further includes a motor drive 36, which controls a rotor 40 with a gear 38.
  • the motor drive 36 is preferably designed as a DC motor.
  • An angle sensor 42 controls the motor drive so that the rotor 40 rotates relative to the mounting platform 14 by an angle ⁇ .
  • the rotor 40 changes its relative angular position to the mounting platform 14.
  • the control unit 19 is integrated.
  • As feedback angle of the angle ⁇ of the rotor 40 is referred to, which is measured in relation to the mounting platform.
  • the actuator 34 has a self-locking property, so that the position of the rotor 40 can not be changed by the force of the control lever 24.
  • Fig. 2 the manual control transmitter 12 is shown in a neutral deflection.
  • the manual control transmitter 12 is in this embodiment for a wheel loader 44 as Machine trained.
  • the wheel loader 44 is shown schematically via its drive axles 46.
  • Both the guide angle ⁇ of the deflection of the control lever 24 with the control shaft 20 about the axis 22, and the remindmeldewinkel ⁇ of the rotor 40 of the tracking device 16 are in a neutral steering position. Therefore, all wheels, front wheels 50 and rear wheels 52 are straight. In dashed form, however, two possible deflections of the control lever 24 are shown.
  • the wheel loader 44 As soon as the control lever 24 is deflected by a guide angle ⁇ (dashed position), the wheel loader 44, as in Fig. 3 to see the steering axis 48 steered by a steering angle ⁇ .
  • a control device 57 performs the tracking device 16 of the manual control transmitter 12 according to this feedback angle ⁇ , so that the feedback angle ⁇ again corresponds to the steering angle ⁇ .
  • the tracking device 16 is rotated about an assigned position, which is defined by the steering angle ⁇ or remindmeldewinkel ⁇ .
  • the deflection of the control lever 24 by the guide angle ⁇ is detected by the guide transmitter 28.
  • the guide transmitter 28 now generates a signal associated with this guide angle ⁇ .
  • This signal receives an evaluation and processing unit 53, which controls a steering hydraulic, not shown, for the control of the wheel loader 44.
  • This steering movement of the wheel loader 44 is measured by an angle encoder 59.
  • the measured steering angle ⁇ is used as a measurement signal for controlling the motor drive 36.
  • the motor drive 36 then leads the rotor 40 by the corresponding feedback angle ⁇ .
  • the control lever 24 is then returned to its relative home position 32 in the housing 18 attenuated.
  • the return mechanism 30 is provided for the control lever 24.
  • Springing elements 54 return the control lever 24 in the housing 18 of the tracking device 16 to the starting position 32.
  • the starting position 32 is centered if possible.
  • 58 turns into a damping unit denotes which reduces a possible overshoot after actuation of the control lever 24.
  • the return of the control lever 24 to its starting position 32 is therefore attenuated by the damping unit 58.
  • Such a damping effect for preventing the overshoot of the control lever 24 can be achieved for example via damping elements 56, such as magnets. Alternatively, this damping can also take place via an active motor damping, which is not shown in this embodiment.
  • Fig. 3 the hand control transmitter 12 is shown in the deflected position. As far as the Fig. 3 Like the previous figures, the same reference numerals are used.
  • the manual control transmitter 12 is also formed in this embodiment for the wheel loader 44 as a machine.
  • the wheel loader 44 is analogous to Fig. 2 again stylistically represented via its drive axles 46. In the middle of the wheel loader 44 is the steering axis 48.
  • the control lever 24 is in its starting position 32.
  • Opposite the Fig. 2 is the remindmeldewinkel ⁇ of the rotor 40 of the tracking device 16 is adjusted by an angle ⁇ . Therefore, the front wheels 50 are aligned with this angle ⁇ steered as described above.
  • the controller 57 has controlled the tracking device 16 to the desired position corresponding to the steering position of the wheel loader.
  • the return mechanism 30 is provided for the control lever 24.
  • the resilient elements 54 return the control lever 24 in the housing 18 of the tracking device 16 to the starting position 32.
  • the starting position 32 is centered if possible.
  • the return of the control lever 24 to its starting position 32 is attenuated by the damping unit 58 in order to reduce a possible overshoot of the control lever 24 as far as possible.
  • the damping can also be done via an active motor damping, which is not shown in this embodiment.
  • the operator Based on Fig. 4 the mode of operation should be described.
  • the operator generates by deflecting the control lever 24 by the guide angle a corresponding Control signal.
  • the guide angle ⁇ is detected by the guide transmitter 28.
  • the guide transmitter 28 now generates a signal associated with this guide angle ⁇ .
  • This signal receives an evaluation and processing unit 53, which drives a steering hydraulic unit, not shown, 60 for the control of the wheel loader 44.
  • This steering movement or the steering angle ⁇ of a buckling joint of the wheel loader 44 is detected by the angle sensor 59.
  • the measured steering angle ⁇ is used as a measurement signal for controlling the motor drive 36.
  • the actual value for the feedback angle ⁇ and the setpoint, which is formed by the steering angle ⁇ of the wheel loader, go into the control.
  • the motor drive 36 then performs the rotor 40 by the corresponding feedback angle ⁇ .
  • the control lever 24 is then returned to its relative home position 32 in the housing 18 attenuated.
  • the operator can by means of the spring-centered control lever 24 at any time and independently of the steering angle ⁇ and rubmeldewinkel ⁇ control the steering hydraulics in both directions.
  • the guide angle ⁇ is detected and serves a setpoint specification of the steering speed and direction.
  • the deflection is attenuated by means of the damping unit 58. This is achieved for example via an engine brake.
  • An additional damping motor (not shown here) then acts on the lever.
  • the damping motor can be loaded with braking resistors.
  • damping motor for example, to generate counterforce, restoring forces, shaking effects or the like as an additional force feedback element.
  • the damping motor is connected in the present embodiment via a non-self-locking gear with the control lever 24. This ensures that in case of failure of the damping motor, the control lever 24 is returned by means of spring return to its relative center position. In this case the haptics change, but the functionality of detecting the guide angle ⁇ is still given.
  • the tracking device 16 tracks the entire control unit 19 with the control lever 24 to the actual steering angle ⁇ .
  • the self-locking motor actuator 34 receives a signal proportional to the steering angle ⁇ , compares it with its own feedback angle ⁇ and tracks the control unit 19 until the feedback angle ⁇ is equal to the steering angle ⁇ .
  • the joystick lever In a stationary position (not deflected by the operator), the joystick lever displays the actual steering angle ⁇ of the wheel loader via the feedback angle ⁇ to the operator.
  • the control lever 24 In a de-energized state, the control lever 24 remains in its state and thus indicates the last detected steering angle ⁇ .

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
  • Mechanical Control Devices (AREA)
EP17002025.9A 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active Active EP3343311B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PL19000407T PL3614228T3 (pl) 2016-12-13 2017-12-13 Zgłoszenie patentowe dźwignia obsługowa z aktywną jednostką komunikatu wstecznego
EP19000407.7A EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
PL17002025T PL3343311T3 (pl) 2016-12-13 2017-12-13 Dźwignia sterowania z aktywnym sprzężeniem zwrotnym

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202016106916 2016-12-13

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP19000407.7A Division EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
EP19000407.7A Division-Into EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Publications (2)

Publication Number Publication Date
EP3343311A1 true EP3343311A1 (fr) 2018-07-04
EP3343311B1 EP3343311B1 (fr) 2020-09-30

Family

ID=60915131

Family Applications (2)

Application Number Title Priority Date Filing Date
EP17002025.9A Active EP3343311B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active
EP19000407.7A Active EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP19000407.7A Active EP3614228B1 (fr) 2016-12-13 2017-12-13 Levier de commande pourvu d'unité de rétroaction active

Country Status (4)

Country Link
EP (2) EP3343311B1 (fr)
DE (1) DE102017105008A1 (fr)
ES (2) ES2837251T3 (fr)
PL (2) PL3614228T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019063516A1 (fr) * 2017-09-27 2019-04-04 Spohn & Burkhardt GmbH & Co. KG Équipement commutateur
EP3945016A1 (fr) * 2020-07-31 2022-02-02 Torqeedo GmbH Dispositif de détermination de la vitesse d'un bateau

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018117162B4 (de) 2018-07-16 2020-03-26 Bombardier Transportation Gmbh Fahrschalteranordnung für ein Schienenfahrzeug, Schienenfahrzeug mit einer Fahrschalteranordnung und Verwendung eines Gelenklagers in einer Fahrschalteranordnung
DE102018130092B4 (de) * 2018-11-28 2020-11-12 Jenoptik Advanced Systems Gmbh Bedienvorrichtung und Verfahren zum Einstellen einer Geschwindigkeit zum Auf- und/oder Abrollen eines Seils für eine Winde und Bediensystem mit einer Bedienvorrichtung und einer Winde

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0671604A1 (fr) 1994-03-10 1995-09-13 Deutsche Thomson-Brandt Gmbh Dispositif pour la transformation d'une grandeur mécanique en grandeur électrique
EP0856453A2 (fr) 1997-02-01 1998-08-05 CLAAS KGaA Système de direction électrohydraulique pour véhicules
JP2000318587A (ja) * 1999-05-06 2000-11-21 Nissan Motor Co Ltd 自動車用運転操作装置
EP1316491A2 (fr) * 2001-11-29 2003-06-04 Toyota Jidosha Kabushiki Kaisha Dispositif et procédé d'utilization d'un véhicule
GB2463555A (en) * 2008-09-15 2010-03-24 Deutsch Zentr Luft & Raumfahrt Train control device.
DE202010000176U1 (de) 2010-02-12 2011-06-30 AL-KO Kober AG, 89359 Fernbedienung

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19625500C2 (de) * 1996-06-26 1999-10-14 Daimler Chrysler Ag Bedienelementanordnung zur Steuerung der Längs- und der Querbewegung eines Kraftfahrzeuges

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0671604A1 (fr) 1994-03-10 1995-09-13 Deutsche Thomson-Brandt Gmbh Dispositif pour la transformation d'une grandeur mécanique en grandeur électrique
EP0856453A2 (fr) 1997-02-01 1998-08-05 CLAAS KGaA Système de direction électrohydraulique pour véhicules
JP2000318587A (ja) * 1999-05-06 2000-11-21 Nissan Motor Co Ltd 自動車用運転操作装置
EP1316491A2 (fr) * 2001-11-29 2003-06-04 Toyota Jidosha Kabushiki Kaisha Dispositif et procédé d'utilization d'un véhicule
GB2463555A (en) * 2008-09-15 2010-03-24 Deutsch Zentr Luft & Raumfahrt Train control device.
DE202010000176U1 (de) 2010-02-12 2011-06-30 AL-KO Kober AG, 89359 Fernbedienung

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019063516A1 (fr) * 2017-09-27 2019-04-04 Spohn & Burkhardt GmbH & Co. KG Équipement commutateur
EP3945016A1 (fr) * 2020-07-31 2022-02-02 Torqeedo GmbH Dispositif de détermination de la vitesse d'un bateau

Also Published As

Publication number Publication date
ES2837251T3 (es) 2021-06-29
EP3614228A1 (fr) 2020-02-26
PL3614228T3 (pl) 2022-06-13
PL3343311T3 (pl) 2021-03-08
EP3343311B1 (fr) 2020-09-30
ES2914804T3 (es) 2022-06-16
EP3614228B1 (fr) 2022-03-30
DE102017105008A1 (de) 2018-06-14

Similar Documents

Publication Publication Date Title
EP3343311B1 (fr) Levier de commande pourvu d'unité de rétroaction active
EP1980441B1 (fr) Levier de commande pour un véhicule
DE69729928T2 (de) Kopplungssystem für eine Steuerknüppeleinheit
DE102012002303B4 (de) Fahrerassistenzsystem für einen Kraftwagen, Kraftwagen und Verfahren zum Betreiben eines Fahrerassistenzsystems
DE102019115329B4 (de) Manuell bedienbare Steuervorrichtung
DE19836679C2 (de) Fahrzeuglenkung
DE102006035863B4 (de) Lenkvorrichtung für ein Flurförderzeug
DE102020203545A1 (de) Wählbares geschwindigkeits- oder positionsbasiertes steuersystem für ein arbeitsfahrzeug
EP1425207A2 (fr) Unite de colonne de direction de vehicule automobile comprenant une colonne de direction reglable
DE10102244A1 (de) Lenksytem für nicht spurgebundene Fahrzeuge
DE10033107A1 (de) Lenkvorrichtung für ein Fahrzeug
EP3652605A1 (fr) Levier de commande muni d'un guide à coulisse
DE102004016121B4 (de) Bedienvorrichtung zum Verfahren mindestens einer Maschinenachse einer Werkzeug- oder Produktionsmaschine
DE10008984B4 (de) Lenksystem für ein Flurförderzeug
DE112020002748T5 (de) Lenksteuervorrichtung, lenksteuerverfahren und lenkunterstützungssystem diese einschliessend
EP3452360B1 (fr) Système de commande d'un engin de travail
EP3356176B1 (fr) Suspension de roue d'un entraînement électrique permettant d'assister une impulsion de déplacement manuelle
DE102018126337A1 (de) Elektromechanische Lenkungsanordnung und Verfahren zum Betreiben einer Lenkanordnung
EP3688549B1 (fr) Équipement commutateur
EP3932777A1 (fr) Fonction de rappel de fin de course pour une direction de véhicule
WO2002032743A1 (fr) Systeme de direction
EP4146525A1 (fr) Assistance de direction variable en fonction des mouvements de crémaillère
DE102004037947B4 (de) Fahrzeug mit einem Drive-by-Wire-Lenksystem zur Steuerung oder Regelung einer Fahrtrichtung
DE102019122903A1 (de) Feedback-Aktuator
EP3971127B1 (fr) Procédé de conduite de véhicule d'un engin de travaux publics mobile et engin de travaux publics mobile

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 1/04 20060101AFI20180525BHEP

Ipc: G05G 5/03 20080401ALI20180525BHEP

17P Request for examination filed

Effective date: 20190104

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190723

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200508

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1319468

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201015

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017007459

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: FI

Ref legal event code: FGE

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201231

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201230

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210201

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210130

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017007459

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

26N No opposition filed

Effective date: 20210701

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201213

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201213

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210130

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200930

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20231220

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20231205

Year of fee payment: 7

Ref country code: SE

Payment date: 20231219

Year of fee payment: 7

Ref country code: NO

Payment date: 20231218

Year of fee payment: 7

Ref country code: NL

Payment date: 20231219

Year of fee payment: 7

Ref country code: FR

Payment date: 20231220

Year of fee payment: 7

Ref country code: FI

Payment date: 20231218

Year of fee payment: 7

Ref country code: DE

Payment date: 20231215

Year of fee payment: 7

Ref country code: CZ

Payment date: 20231130

Year of fee payment: 7

Ref country code: AT

Payment date: 20231214

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20231129

Year of fee payment: 7

Ref country code: BE

Payment date: 20231218

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240118

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20240110

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20231229

Year of fee payment: 7