EP3477419B1 - Unité de commande destinée à la commande des machines ou analogues - Google Patents

Unité de commande destinée à la commande des machines ou analogues Download PDF

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Publication number
EP3477419B1
EP3477419B1 EP18195602.0A EP18195602A EP3477419B1 EP 3477419 B1 EP3477419 B1 EP 3477419B1 EP 18195602 A EP18195602 A EP 18195602A EP 3477419 B1 EP3477419 B1 EP 3477419B1
Authority
EP
European Patent Office
Prior art keywords
feedback
input element
operator control
control unit
feedback element
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.)
Active
Application number
EP18195602.0A
Other languages
German (de)
English (en)
Other versions
EP3477419A1 (fr
Inventor
Markus Schleyer
Philip Nagel
Steffen Rose
Gabriele Michalke
Alejandro Lopez Pamplona
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP3477419A1 publication Critical patent/EP3477419A1/fr
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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
    • 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 invention relates to an operating unit for controlling machines according to the preamble of claim 1.
  • a generic operating unit is known from the prior art for work machines such as road construction machines in order, for example, to influence the travel speed and / or direction of the work machine.
  • Such an operating unit in the form of a so-called "sidestick” is known from aircraft technology, with the aid of which inputs by the pilot are transmitted in corresponding signals to control surfaces of wings or tail units of the aircraft. From the last-mentioned application it is also known to provide the operating unit or the sidestick with haptic feedback, for example to indicate critical flight conditions. It is known to vibrate the sidestick as a whole, or to generate operating forces or resistances that are variable as a function of the flight speed in response to control inputs from the pilot.
  • display elements in the form of displays and operating elements in the form of touchscreen foils are known from the prior art in order to display machine functions or to be able to make machine settings.
  • the DE 10 2015 209387 A1 shows a pedal with a haptic signaling device, for example for a motor vehicle.
  • the operating unit according to the invention for controlling machines with the features of claim 1 has the advantage that it has a relatively low outlay in terms of device technology and less
  • Space requirement enables a combination of a manually operable input element and a feedback element generating the haptic force.
  • Such a combination enables an operator, depending on an input or movement of the input element, to receive a haptically perceptible feedback from which he receives information regarding, for example, the force required to implement his commands or the like.
  • the feedback element is arranged on a partial area of the input element. This means that the operator can only perceive the haptic feedback in the area of the feedback element, but the rest of the input element (e.g. joystick or steering wheel) has no haptic feedback. This enables, for example, a particularly precise or sensitive control via the input element, since this is not influenced by the function of the feedback element.
  • the feedback element is arranged in the area of the surface of the input element. Such an arrangement makes it possible for an operator to feel the information from the feedback element directly by placing a finger or the ball of his hand, for example.
  • the feedback element is designed in the form of an electroactive polymer.
  • an electroactive polymer has the particular advantage that it can be used at the same time as a force sensor and thus the force exerted by the operator on the feedback element is reported back to the operator in the form of a control loop.
  • the feedback element is designed to be deformable and arranged on the surface of the input element.
  • the feedback element can be designed, for example, as a polymer film coated with the electrodes, which can be glued onto the input element.
  • the feedback element is part of a display.
  • this also opens up optical possibilities that can give the operator additional information. For example, it is conceivable, in addition to a haptic feedback, to simultaneously show a display for the effect of the function triggered by the operator via the input element.
  • Another, very particularly preferred embodiment of the invention which enables particularly sensitive control of a machine function and particularly good feedback to the operator, provides that the feedback element is designed as a function of the action triggered by the input element and / or via the display to generate a haptic force different in size.
  • the feedback element is designed as a further input element at the same time.
  • the feedback element thus takes on the function of an additional switch or the like.
  • the feedback element can be designed, for example, in the form of a touchscreen film, the surface of which simultaneously generates haptic feedback for the operator as a function of the input.
  • an electroactive polymer in addition to the preferred use of an electroactive polymer as a feedback element, it can alternatively be used as an LRA (linear resonant actuator), ERM (eccentric rotating mass), motor, exciter (Vibration exciter), buzzer (buzzer) or ultrasonic module.
  • LRA linear resonant actuator
  • ERM eccentric rotating mass
  • motor exciter
  • buzzer buzzer
  • ultrasonic module ultrasonic module
  • a preferred embodiment of the operating unit provides that the input element of the operating unit is designed as a joystick or in the form of a steering wheel. It is particularly advantageous if the feedback element is arranged in the area of a contact area for a finger of the joystick or a hand contact area of the steering wheel. As a result, feedback to the operator is possible without changing the position of fingers or the operator's hand.
  • an operating unit 10 for controlling machines or the like is shown.
  • the operating unit 10 is used to operate or control a work machine, such as a forklift truck, a construction machine or the like.
  • the operating unit 10 has an input element 11 which, in the exemplary embodiment shown, is designed in the form of a joystick 12.
  • the input element 11 has a connector 13 with which the input element 11 can be connected to a machine control or actuators or the like, wherein the connector 13 can be used to provide electrical power to the input element 11 as well as to exchange data or the like.
  • the input element 11 is connected, for example, to a console of the machine via a base 14. Furthermore, the input element 11 is articulated in the area of a bellows 15, such that the input element 11 can be pivoted about an articulation point 16 about the three spatial axes x, y, z arranged perpendicular to one another. A movement of the input element 11 around the hinge point 16 in one or more of the spatial axes x, y, z is converted into a corresponding action by the machine.
  • the input element 11 has a handle 18 which has an approximately cylindrical section 19 which can be grasped by the hand of an operator (not shown) in order to operate the input element 11.
  • the handle 18 On the side of the handle 18 facing away from the base 14, the handle 18 also has an operating element 21 in the form of a push button, rotary control or the like, with which a further machine function can be controlled.
  • a flat display 25 is arranged in the end area of the handle 18, which is arranged on the surface 26 of the input element 11 or of the handle 18 and covers a partial area of the input element 11.
  • the display 25 is arranged in such a way that the operator can touch the display 25 with a finger, for example, without having to let go of the handle 18.
  • the display 25 is preferably designed in the form of an electroactive polymer 28 and, for example, glued onto the surface 26 of the handle 18.
  • the electroactive polymer 28 forms a feedback element 30, at least in a partial area, which generates a haptic (reaction) force as a function of the force that the operator exerts on the feedback element 30.
  • the feedback element 30 is designed as a further operating element 31 such that a function on the machine is triggered when the electroactive polymer 28 is touched.
  • the type of reaction takes place as a function of the force exerted on the electroactive polymer 28 by the operator.
  • a correspondingly large reaction force is generated by the polymer 28 as a function of this force.
  • a control unit 10a which differs from the control unit 10 in that the feedback element 30, which is also in the form of an electroactive polymer 28, is arranged on a convex surface 26a of a handle 18a.
  • the arrangement of the feedback element 30 is such that it acts in the area of the palm of the hand 2 of an operator.
  • the operating unit 10a is also arranged to be pivotable about an articulation point 16a around the three spatial axes x, y, z, a reaction force F being generated by the feedback element 30 as a function of the force or deflection generated by the operator on the operating unit 10a can be grasped haptically by the operator.
  • the electroactive polymer 28 is also designed to be deformable so that it can cling to the surface 26a of the handle 18a.
  • an electroactive polymer 28 is shown as a feedback element in the form of a flexible film 32 which, in addition to the two spaced-apart electrode layers 33, 34, has a carrier layer 35 located between the electrode layers 33, 34, which is elastically deformable.
  • the illustrated electroactive polymer 28, which is designed, for example, in the form of a display acting as a feedback element, instructs its surface 36 facing the operator has a region 37 which can stand out in height from the rest of the region or which protrudes above it in height.
  • an electroactive polymer 28 is shown in the form of a display as a feedback element, which acts in the form of a slide control 38. It is essential that the reaction force generated by the electroactive polymer 28 on the operator's finger 3 is dependent on the adjustment path of a virtual operating element 39, such that the reaction force F increases linearly with the adjustment path s, as shown in the diagram of FIG Fig. 5 is shown.
  • the operating unit 10, 10a described so far can be modified or modified in many ways without deviating from the inventive concept.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)

Claims (9)

  1. Unité de commande (10 ; 10a) pour la commande de machines, présentant un élément d'introduction (11) actionné manuellement et disposé de manière à pouvoir être déplacé dans la direction d'au moins un axe (x, y, z) ou autour d'au moins un axe (x, y, z), au moins un élément de rétrosignalisation (30) exerçant une force (F) détectable tactilement étant disposé sur une partie de l'élément d'introduction (11),
    caractérisée en ce que
    l'élément de rétrosignalisation (30) fait partie d'un affichage (25).
  2. Unité de commande selon la revendication 1, caractérisée en ce que l'élément de rétrosignalisation (30) est disposé au niveau de la surface (26 ; 26a) de l'élément d'introduction (11).
  3. Unité de commande selon les revendications 1 ou 2, caractérisée en ce que l'élément de rétrosignalisation (30) est configuré sous la forme d'un polymère électroactif (28).
  4. Unité de commande selon l'une des revendications 1 à 3, caractérisée en ce que l'élément de rétrosignalisation (30) est déformable et est disposé sur la surface (26 ; 26a) de l'élément d'introduction (11).
  5. Unité de commande selon l'une des revendications 1 à 4, caractérisée en ce que l'élément de rétrosignalisation (30) est configuré pour exercer une force (F) détectable tactilement dont le niveau varie en fonction de l'action déclenchée par l'élément d'introduction (11) et/ou par l'intermédiaire de l'affichage (25).
  6. Unité de commande selon l'une des revendications 1 à 5, caractérisée en ce que l'élément de rétrosignalisation (30) est en même temps configuré comme autre élément d'introduction ou de commande (31).
  7. Unité de commande selon la revendication 1, caractérisée en ce que l'élément de rétrosignalisation (30) est configuré comme LRA ("linear resonant actuator" - actionneur à résonance linéaire, ERM ("eccentric rotating mass" - masse en rotation décentrée), moteur, excitateur, vibreur ou module à ultrasons.
  8. Unité de commande selon l'une des revendications 1 à 7, caractérisée en ce que l'élément d'introduction (11) est configuré comme joystick (12) ou comme volant.
  9. Unité de commande selon la revendication 1, caractérisée en ce que l'élément de rétrosignalisation (30) est disposé au niveau de la zone du joystick (12) où se place un doigt ou d'une zone du volant en contact avec la main.
EP18195602.0A 2017-10-18 2018-09-20 Unité de commande destinée à la commande des machines ou analogues Active EP3477419B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017218569.4A DE102017218569A1 (de) 2017-10-18 2017-10-18 Bedieneinheit zur Steuerung von Maschinen oder ähnlichem

Publications (2)

Publication Number Publication Date
EP3477419A1 EP3477419A1 (fr) 2019-05-01
EP3477419B1 true EP3477419B1 (fr) 2020-12-09

Family

ID=63667719

Family Applications (1)

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EP18195602.0A Active EP3477419B1 (fr) 2017-10-18 2018-09-20 Unité de commande destinée à la commande des machines ou analogues

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EP (1) EP3477419B1 (fr)
DE (1) DE102017218569A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021208920A1 (de) 2021-08-13 2023-02-16 Volkswagen Aktiengesellschaft Strömungsmanipulationssystem mit einer Sensor-/Aktoranordnung an einer Außenfläche eines Fahrzeugs
DE102021208837A1 (de) 2021-08-12 2023-02-16 Volkswagen Aktiengesellschaft Sensor-/Aktoranordnung mit einem dielektrischen Polymer

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11978334B2 (en) * 2021-06-04 2024-05-07 Rockwell Collins, Inc. Vehicular directional alerting system and method using haptic alerts and optional multi-modal alerts

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7196688B2 (en) * 2000-05-24 2007-03-27 Immersion Corporation Haptic devices using electroactive polymers
US8188844B2 (en) * 2009-02-16 2012-05-29 GM Global Technology Operations LLC Reconfigurable tactile interface utilizing active material actuation
DE102015209387A1 (de) * 2015-05-22 2016-11-24 Continental Automotive Gmbh Pedal mit einer Pedalplatte und mit einer Einrichtung zur Erzeugung einer Bewegung zur haptischen Signalgebung
DE102016124493B3 (de) * 2016-12-15 2017-12-28 Elobau Gmbh & Co. Kg Joystick mit Zustandsanzeige und Verfahren

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021208837A1 (de) 2021-08-12 2023-02-16 Volkswagen Aktiengesellschaft Sensor-/Aktoranordnung mit einem dielektrischen Polymer
DE102021208920A1 (de) 2021-08-13 2023-02-16 Volkswagen Aktiengesellschaft Strömungsmanipulationssystem mit einer Sensor-/Aktoranordnung an einer Außenfläche eines Fahrzeugs

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Publication number Publication date
EP3477419A1 (fr) 2019-05-01
DE102017218569A1 (de) 2019-04-18

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