EP3539820A1 - Control device - Google Patents

Abstract

An operating device for a construction machine comprises a base plate, a hand control transmitter, a motion sensor and a force sensor. The manual control transmitter is arranged at an angle to the bottom plate and at least one-dimensionally movable relative to the bottom plate. The motion sensor is configured to determine the position and / or movement of the manual control transmitter relative to the bottom plate and to output a motion signal in response to the determined position and / or movement. The force sensor is designed to determine a force acting on the manual control transmitter and to output a force signal as a function of the determined force.

Description

Embodiments of the present invention relate to an operating device for a construction machine and to a corresponding method and to a construction machine, such. B. a working platform with a corresponding operating device. In general, the invention or preferred embodiments thereof in the field of aerial work platforms, z. As hydraulic aerial work platforms, which are attached via a telescopic crane mechanism to a truck or a self-propelled chassis. In particular, embodiments of the present invention relate to the field of joysticks (hand control transmitters) in control units for controlling aerial work platforms.

Joysticks or hand control generally serve to a construction machine, such. As an aerial work platform or in particular to control its boom. For example, in aerial work platforms, these hand control transmitters are located on the platform so that the operator can control the aerial work platform on which he is standing. A danger is that the operator is trapped in the control or in the movement of the aerial work platform of selbiger and so the controller may not operate correctly if necessary. Already in the prior art, the problem is addressed here.

It is known from the prior art that in the European patents 2 462 048 and 2 462 049 described control system of a control cabin with increased safety. Therein, a protective or load switch is essentially described, which is arranged on a movable control panel. Device of the machine operator in a situation as described above, the load switch is triggered by the movement of the control panel. Furthermore, the describes EP 2 794 460 A1 a hydraulic platform with a control station, wherein the platform comprises a control panel with two semis, each having at least one lever or a knob for manual control of the platform. The half consoles are arranged side of an operator, so that there is no control lever or button in front of the operator.

The DE 20 2010 004 128 U1 describes a manual control with a separate operation and evaluation, which consists essentially of a mechanical part and an electrical part. Between the mechanical part and the electrical part is provided as a separating layer and as a fixing layer for the mechanical parts, a magnetically permeable plate, such as a printed circuit board. The electrical or electronic part of the manual control transmitter is formed by one or more sensors arranged on the underside of the plate, for example magnetic field sensors. The mechanical part is formed on the top of the support plate releasably arranged lever mechanism with a magnet disposed thereon, which can be replaced as a unit in case of repair.

Further, the EP 3 086 094 A1 a manual control transmitter for a control and operating unit of a working platform, work machine or construction machine. The manual control transmitter comprises at least one actuating unit, which comprises an actuating element which has at least one magnetic position element, and an evaluation unit, which comprises at least one magnetic field sensor unit. The evaluation unit is designed to detect a position and / or movement of the actuating element in a plane of motion based on a sensor signal from the magnetic field sensor unit. The actuating element is movable relative to the sensor unit along a further movement direction perpendicular to the movement plane, and the evaluation unit is designed to detect a movement of the actuating element along the further movement direction based on a sensor signal from the magnetic field sensor unit.

Furthermore, the describes DE 10 2014 105 177 A1 an operating element with an elastically deformable actuating part and a force sensor matrix. An operating element has an actuating part that is elastically deformable at least in certain areas when actuated under force to return to an unactuated position, and a matrix of force sensors for measuring a force application matrix that is assigned to the action of force on the actuating part; and an evaluation unit for comparing the measured force application matrix with a predetermined force application matrix, in order to assign an electrical switching function to the operating element at a minimum match of the measured force application matrix with the predetermined force application matrix.

However, none of the documents known from the prior art deals with a protective function in case of overload of the joystick, triggered by a person squeezing / pinching when extending a telescopic arm of an aerial work platform. In practice, such accidents occur more frequently and it has been shown that People in the basket in such a panic situation frantically try to move the joystick lever back and forth, if this is still possible. This is where the present invention begins. Therefore, there is a need for an improved approach.

The object of the present invention is to provide a concept for an operating unit, which offers an improved compromise of operability, safety and safe installation.

The object is solved by the independent claims.

Embodiments of the present invention provide an operating device for a construction machine having a bottom plate, a hand controller, a motion sensor (e.g., a Hall sensor), and at least one force sensor. The hand control transmitter or else called a joystick is arranged at an angle to the bottom plate and at least one-dimensional or two-dimensionally movable relative to the bottom plate. The position and / or movement of the joystick / manual control transmitter can be determined with the motion sensor, which outputs a so-called motion signal as a function of the determined position and / or the specific movement. The at least one force sensor is designed to determine a force acting on the hand control element or a force transmitted from the hand control transmitter to the bottom plate and to output a force signal as a function of the determined force.

Embodiments of the present invention are based on the finding that in the collision scenarios described above (corresponding to which the operator can be trapped or squeezed between the basket or, in particular, the joystick and a part of the building during extension of the telescopic arm of the aerial work platform), the joystick frequently occurs jamming or timely zeroing to stop movement of the machine's telescopic arm. Here, the body of the operator is often clamped in the area of the control element, so that the body of the operator presses against the joystick, whereby the movement of the telescopic arm of the machine would be continued and the operator would be further squeezed and trapped. To remedy this situation, not external safety mechanisms (emergency stop button) are implemented, but according to embodiments of the present invention, the operating device (manual control / joystick) equipped with an additional protection function by which an overload of the joystick itself can be detected. This is in particular the overload is relevant if the manual control transmitter is actuated beyond the maximum range of motion since such overloads frequently occur in the above-described collision scenarios. To realize this recognition, the manual control transmitter is at least one force sensor, for. B. expanded in the form of a strain gauge (DMS). This additional protective function or the additional protective element, which is integrated into the joystick module of the operating unit or arranged therein, can not be damaged from the outside or the like, for example, environmental influences such as moisture or dust. Also, the mounting location of the operating unit is not restricted.

According to embodiments, in order to realize the protective function on the circuit board of the joystick module additionally at least one strain gauge (DMS sensors) as force sensor (s) in the field of motion sensor (Hall sensor) may be applied, e.g. Measure or detect a deformation of the printed circuit board when force is applied to the joystick. An optional evaluation unit evaluates the signals of the Hall sensors as well as the strain gage sensors and can detect an overload of the joystick on the basis of the signals of the strain gage sensors and thus a possible danger situation of the operator. The force sensors / strain gauges considered here are inexpensive elements and can, for. B. by simply sticking on a joystick component such. As a circuit board, integrated or arranged thereon and are connected to the evaluation.

According to further embodiments, the operating unit comprises an evaluation unit, which receives above all the force signal of the at least one force sensor to detect an overload. This evaluation functionality can be integrated into the existing transmitter of the joystick.

According to embodiments, the evaluation is designed, for example, to stop at the specific overload movement of the construction machine or a speed of movement of components of the construction machine, such as an extension of the telescopic arm. In this respect, in the event of an overload of the joystick, that is to say when it is actuated beyond the maximum range of movement, for example a movement of the telescopic arm of the machine is stopped and, according to further embodiments, a countermovement is triggered by which the operator can later escape from the jammed situation. Here, a countermovement is a movement in a preferred manner opposite direction of movement, in general case but different directions of movement relative to the current movement.

According to further embodiments, a movement speed of the construction machine or a movement speed of components of the construction machine, such as an extension of the telescopic arm can be reduced at a low overload once only. In this respect, depending on the action of the force on the joystick various functions can be realized. For example, a speed of movement of the telescopic arm of the machine can be halved from a first threshold and then set to zero when a second threshold is exceeded, d. H. stopping the machine or the telescopic arm, in order then also to trigger a counter-movement in a further step. These thresholds are adjustable according to embodiments.

According to further embodiments, it would be conceivable that an alarm signal is output at a certain overload. Afterwards, for example, the following scenario results. When the joystick is deflected, a warning (for example, on the operator's display) is displayed. If the force acting on the joystick increases, a countermovement as mentioned above can be initiated, because then it can be assumed that the machine operator can no longer operate the joystick (for example, because the operator is trapped). The "threshold" for a warning signal in case of overload is also adjustable, for example by input element of the operating unit. It would also be conceivable here that the temporal component, that is to say a specific period of non-reaction to the alarm signal, is taken into account in the evaluation.

According to other embodiments, an alarm signal may also be issued when, for example, the joystick is in a locked / locked state and yet is attempting to move in either direction. This force can be detected by the transmitter with the aid of the at least one force sensor, so that the operator then a corresponding message, the joystick to unlock / unlock, is displayed on the screen or can be generally output.

According to further embodiments, the evaluation is designed to store the force signal or the force signals (for multiple force sensors) and / or to store a maximum value for the force signal or the force signals. This has the meaning that a so-called "overload control" is achieved. For example, the joystick is designed for a maximum force of 300 N (30 kg). Higher forces can permanently damage the joystick or the joystick mechanism. The evaluation unit in the joystick module constantly measures the loads acting on the joystick and saves the highest values. The manufacturer of the machine can interrogate these values in the event of service or repair and replace the joystick mechanism if necessary preventively. In this case, it would be possible in a preferred manner that the mechanics and electronics of the joystick are separated, so that a separate exchange is possible. Regarding this separation of mechanics and electronics is also generally noted that according to preferred embodiments, the transmitter is integrated, for example, on a printed circuit board or arranged on a printed circuit board.

On the same circuit board or generally on a component of the bottom plate of the motion sensor and / or the force sensor can be realized. By replacing this circuit board or generally by replacing the joystick module existing machines can be retrofitted with the new functionality.

According to further embodiments, the evaluation can be designed to calibrate the force / strain gauge sensors by the Hall sensor in zero position of the joystick, since the strain gage sensors usually have a temperature and aging-related drift and it can be assumed that in the Zeroing the joystick should have no force acting on the force sensors. These force / strain gauge sensors can be monitored by the evaluation unit such that a defect in the protective function or the protective elements is displayed. In this case, a corresponding warning signal can then be output to the machine operator.

At this point it should also be noted that a type of emergency operation can be implemented by the additional force sensors, even if the motion sensor (eg hall sensor) is defective, since by means of the force sensors (strain gage sensors) and an operating force evaluated as an operating signal can be. The transmitter could then interpret the force signal of the force sensor as a motion signal. Thus, the joystick can be operated until the replacement of the defective module during the next maintenance or repair.

In this context, however, it would also be conceivable that the transmitter can be designed to a position of the joystick / manual control transmitter with the motion sensor and to determine a movement of the joystick / hand control transmitter with the force sensor, although the motion sensor has no defect. Furthermore, the motion signal output by the force sensor could be continuously compared with the motion signal of the motion sensor by the evaluation electronics and thus checked for plausibility.

As already explained above, the evaluation electronics and the sensors (motion sensor and one or more force sensors (strain gauge sensors)) are preferably implemented on a printed circuit board. Usually, the strain gauge sensor elements are glued to the circuit board. However, it can also be provided according to another layout, a printed circuit board layout, in which the strain gauge sensors are integrated directly into the circuit board.

In the case of the force sensors integrated on the printed circuit board or generally the bottom plate or a component of the bottom plate, a deformation of the bottom plate or the printed circuit board or the component is determined, for example, and a force signal is output on the basis of the determined deformation. With regard to the layout, it should also be noted that, according to embodiments, the motion sensor is arranged in the foot base of the joystick or in the area of the foot of the foot, while the one or more force sensors may be provided around this foot.

Another embodiment relates to a construction machine, such. B. an aerial work platform with a corresponding expansion element.

• Bestimmen einer Position und/oder ein Bewegen des Joysticks gegenüber der Bodenplatte und Ausgeben eines von der bestimmten Position und/oder der bestimmten Bewegung abhängigen Bewegungssignals;
• Bestimmen einer auf dem Joystick vorherrschenden Kraft, um ein Überlastsignal zu detektieren, und Ausgeben eines von der bestimmten Kraft abhängigen Kraftsignals; und
• Beeinflussung der Bewegung der Baumaschine oder von Komponenten der Baumaschine, wie beispielsweise eines Teleskoparms, in Abhängigkeit des Bewegungssignals und in Abhängigkeit des Kraftsignals.

Another embodiment relates to a method of operation with hardware components explained above, the method comprising the following steps:

• Determining a position and / or moving the joystick relative to the bottom plate and outputting a motion signal dependent on the determined position and / or motion;
• Determining a force prevailing on the joystick to detect an overload signal and outputting a force signal dependent on the determined force; and
• Influencing the movement of the construction machine or components of the construction machine, such as a telescopic arm, depending on the movement signal and in dependence of the force signal.

Fig. 1

eine schematische Darstellung einer Bedienvorrichtung gemäß einem Basisausführungsbeispiel;

Fig. 2a-c

eine schematische Darstellung einer Hubarbeitsbühne bei der Bewegung, zur Illustration, wie es zu den mittels Ausführungsbeispielen der vorliegenden Erfindung gelösten Sicherheitsproblemen kommen kann;

Fig. 3

eine schematische Darstellung einer weiteren Bedienvorrichtung gemäß einem erweiterten Ausführungsbeispiel;

Fig. 4

eine schematische Darstellung einer Bedienvorrichtung zusammen mit einem Bediener zur Illustration der möglicherweise entstehenden Gefahrensituation, ausgehend von der Bedienvorrichtung aus Fig. 3;

Fig. 5a-5b

schematische Darstellungen einer Bedienvorrichtung, insbesondere eines Handsteuergebers gemäß erweiterten Ausführungsbeispielen;

Fig. 6a-6b

schematische Darstellungen des Handsteuergebers aus den Fig. 5a bis 5b, wobei hier die Ermittlung der bei der Überlast entstehenden Kraft illustriert ist; und

Fig. 7a-7b

schematische Darstellungen zur Illustration der Verformung von Komponenten der Bedienvorrichtung gemäß Ausführungsbeispielen.

Further developments are defined below accordingly. Exemplary embodiments of the present invention are explained below with reference to the accompanying drawings:

Fig. 1

a schematic representation of an operating device according to a basic embodiment;

Fig. 2a-c

a schematic representation of an aerial work platform during the movement, to illustrate how it can come to the solved by means of embodiments of the present invention security problems;

Fig. 3

a schematic representation of another operating device according to an extended embodiment;

Fig. 4

a schematic representation of an operating device together with an operator to illustrate the potential hazard situation, starting from the operating device Fig. 3 ;

Fig. 5a-5b

schematic representations of an operating device, in particular a manual control transmitter according to extended embodiments;

Fig. 6a-6b

schematic representations of the manual control from the Fig. 5a to 5b in which the determination of the force resulting from the overload is illustrated; and

Fig. 7a-7b

schematic representations illustrating the deformation of components of the operating device according to embodiments.

Before explaining in detail embodiments of the present invention with reference to the accompanying drawings, it should be noted that like-acting elements and structures are provided with the same reference numerals, so that the description of which is mutually applicable or interchangeable.

Fig. 1 shows a control unit 150 with a manual control transmitter 300, which can also be referred to as a joystick. This manual control transmitter 300 is arranged angled relative to a base plate or printed circuit board 430 and designed to be movable. For example the manual control transmitter 300 perpendicular to the bottom plate 430 and at least uniaxial (eg front-rear, see arrow X) or biaxial (plus left-right, see arrow Y) or even three-axis (plus push-pull, see arrow Z) movable ,

The movement is by means of a part of the circumference of the operating device 150 associated movement sensor 400, such. B. a Hall sensor, monitored in the X, Y and / or Z direction. This movement sensor 400 detects one, two or three axes, the movement of the joystick 300 relative to the bottom plate 430 or the printed circuit board 430 and emits a so-called movement signal 401 on the basis thereof. This movement signal is received and evaluated by the optional evaluation unit 500.

In addition, the operating device 150 still has a force sensor 410, such. B. on a strain gauge. This can z. B. be arranged on the joystick 300. Alternatively, an arrangement of the force sensor in the bottom plate or printed circuit board 430 would be conceivable, as illustrated here by the component marked with the reference numeral 410 '. The force sensor 410 (410 ') outputs a force signal 411, which is also received by the evaluation device 500, for example.

The force signal 411 depends, for example, on the deformation of the joystick 300 or on the deformation of the bottom plate or printed circuit board 430. If the force signal 411 has a predetermined value, such as, for example, B. exceeds 300 Newton accordingly, the evaluation device 500 can detect a so-called overload. These 300 Newton are only examples and may vary depending on the application, eg. B. in the range between 10 Newton and 1000 Newton.

As soon as an overload is detected, it is possible to intervene in the control of the aerial work platform in accordance with exemplary embodiments. If, for example, it is assumed that the joystick 300 is moved forwards in the direction A, so that the lifting work platform is extended in this case, then in the event of an overload resulting from a movement in the direction A, the corresponding control signal from the evaluation unit 500 can no longer be passed on but the movement of the boom will be stopped. Alternatively, it would also be conceivable that the movement is reversed, as if the joystick 300 is moved in the opposite direction in order to free the operator from the pinching situation in the case of damage outlined above.

Hereinafter, the structure of the operating device will be explained in detail and in particular exemplary installation situations thereof in an aerial work platform.

Fig. 2a shows an aerial work platform 10, which consists essentially of a chassis 11 and a crane mechanism 12 arranged thereon. The crane mechanism 12 is rotatably arranged relative to the chassis 11 and changeable by the lifting cylinder 16 in its angle of attack. The crane mechanism 12 includes a retractable telescopic boom 13, at the end of a basket 14 is arranged. In the basket 14, a person 1 as shown, or even work materials can be transported.

In order to control the crane mechanism 12, the telescopic boom 13 and / or basket 14 of the working platform 10, ie to move the basket 14, for example, to a required working position, an operating unit 15 is arranged in the basket 14. This operating unit 15 essentially comprises operating lever / manual control transmitter (or so-called joysticks 30) and optionally also keyboard elements 21, as in FIG Fig. 3 shown closer. For example, a working position could be a stem 6 mounted on a building wall 5, such as in FIG Fig. 2a presented a balcony. It is common that an operating unit 15 is arranged in the basket 14 in the direction of the working platform 10 and thus the operator 1 looks in the basket 14 in the direction of view of the machine 10. Consequently, the operator 1 moves during extension of the telescopic boom 13 with his back to the appropriate working position. The arrangement of the operating unit 15 in the basket 14 allows the operator 1 to work easier and better at the working position, since no work-related parts such as the operating unit 15 are then in the way.

A disadvantage of the arrangement of the operating unit 15 in the basket 14 is that when approaching the working position an obstacle, such as a building porch 6, the operator 1 can be easily overlooked and it may possibly lead to a collision of the operator 1 with the building porch 6. Since the telescopic boom 13 extends in a collision of the operator 1 with the building porch 6 further in a direction of movement B, the operator 1 is pressed with his upper body 2 directly to the control unit 15. The operator 1 is then no longer able to bring the operating lever or joystick 30 in a zero position and thus to stop further extension of the telescopic boom 13. Such a collision situation is in the Fig. 2b and 2c shown.

Accordingly, such accidents lead to pinching of the operator 1 between the building porch 6 and the operating unit 15.

Fig. 3 shows an example of an operating unit 15 for controlling the construction machine or in Fig. 2a-2c illustrated system 10 comprising crane mechanism 12 and / or telescopic boom 13 and / or basket 14 of the platform 10 (or a component of the system). Using the joysticks 30, the individual movements of the basket 14 can be changed, for example, the telescopic boom 13 and extend or change the angle of attack of the crane mechanism 12 by the lifting cylinder 16. These joysticks 30 are each arranged on a module 20a and 20b, which can be easily replaced, for example in the event of a defect, without the entire operating unit 15 having to be replaced. In the operating unit 15, a keyboard module 21 and a display 22 for displaying machine-relevant data and parameters are arranged for further functionalities.

Fig. 4 shows how the operator 1 in a collision with a building porch 6 (see Fig. 2c ) is pressed with his upper body 2 directly on the knob 31 of the operating lever or joystick 30 of the control unit 15 and a force F, FOL on the knob 31 exerts. In this situation, the operator 1 would no longer be able to bring the operating lever or joystick 30 into a zero position and thus to stop further extension of the telescopic jib 13.

The Fig. 5a and 5b show a joystick module 20a / b in a side view. The mechanical components of the joystick 30 are arranged on a printed circuit board 43, preferably screwed thereto. The joystick lever 30 consists essentially of a knob 31, which serves the operator 1 to operate the joystick 30 in different directions. Directly below the knob 31 is a latch 33, which must be pulled up before each actuation of the joystick. This prevents an unconscious or unwanted operation of the joystick 30 and thus an unconscious or unwanted movement of the crane mechanism 12, the telescopic boom 13 and / or the basket 14 of the platform 10. This can happen when the operator 1, for example, in the basket 14 turn around must and with the elbow accidentally comes against the joystick lever 30. To protect the mechanism located inside the joystick 30, a so-called bellows 32 is arranged in the lower part, which consists of a movable material. In a lateral movement of the joystick 30, as in Fig. 5b shown, the bellows 32 is compressed on one side and on the pulled apart on the other side. The required electronics for detecting and evaluating the joystick movements are ideally located below the printed circuit board 43 and essentially consists of a Hall sensor 40. Joystick movements are detected by a magnet attached to the mechanism, not shown here.

The joystick module 20a / b is preferably releasably secured in the outer edge regions of the printed circuit board 43 to holders 35a / b by means of fastening means 36. In a force F acting on the knob 31 of the operating lever or joystick 30 of the operating unit 15, a force is thus also exerted on the printed circuit board 43, which leads to mechanical tension or mechanical deformations of the printed circuit board 43. Such mechanical stresses can be measured with the present invention by means of at least one DMS sensor 41 and / or 42 arranged on the printed circuit board 43.

An overloading, ie a force acting on the joystick lever 30 beyond the maximum permissible load limit, can also be as schematically shown in FIGS Fig. 6a and 6b represented, with the at least one arranged on the circuit board 43 DMS sensor 41 and / or 42 are detected. The overloading of the joystick lever 30 is indicated schematically by the dashed line 44, which shows that the joystick 30 is in comparison to the illustration in FIG Fig. 5b with a stronger force FOL was pressed. In such an overload of the joystick, there are stronger mechanical stresses and significant deformation of the circuit board 43. In those designated by the reference numerals 45a and 45b areas, the circuit board 43 lowers in an overload or lifts. This should also be made clear by the two arrows FD and FU, which show a direction of movement of the printed circuit board areas 45a and 45b up and down. Such mechanical overstresses can also be measured with the present invention by means of the DMS sensors 41 and / or 42 arranged on the printed circuit board 43. If such an overuse or overload is detected by an evaluation unit (see Fig. 1 ), so for example, a collision situation as described above may be present, ie the operator could be trapped between the building porch 6 and the control unit 15, the upper body 2 of the operator 1 then presses on the joystick lever 30 with a force FOL beyond the maximum permissible load limit ,

In the above embodiments, it has been particularly assumed that the force sensors / strain gauges in the region of the bottom plate or in a printed circuit board, which is arranged on the bottom plate, are provided. The Fig. 7a to 7b illustrate, indicated by hatching, the voltage conditions in the bottom plate / circuit board 43 when the joystick 30 is deflected out of the dotted line rest position. The rest position is indicated by dashed lines, wherein the deflection or the force leading to the deflection is marked F.

Although in the above embodiment in particular it was assumed that this is a two-dimensional joystick, the z. B. can protrude vertically from the bottom plate / circuit board, it should be noted at this point that it is also another movable element, the z. B. is angled at a different angle, can act.

In addition, it should also be noted that the operating device is suitable not only for the above-explained embodiments working platforms, but also for other construction machines.

According to further embodiments, the motion sensor can be realized for example by an inductive element or a capacitive element. The force sensor does not necessarily have to be realized as a strain gauge, but can also be designed differently.

Further embodiments relate to a method for operating the aerial work platform. The method includes the steps of monitoring the motion / position of the joystick and outputting a corresponding motion signal, monitoring a force applied to the joystick, and outputting a corresponding force signal, as well as controlling the construction machine in response to the two monitored quantities.

Although some aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device. Some or all of the method steps may be performed by a hardware device (or using a hardware apparatus), such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the most important method steps may be performed by such an apparatus.

Depending on particular implementation requirements, embodiments of the invention may be implemented in hardware or in software. The implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory are stored on the electronically readable control signals that can cooperate with a programmable computer system or cooperate such that the respective method is performed. Therefore, the digital storage medium can be computer readable.

Thus, some embodiments according to the invention include a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is performed.

In general, embodiments of the present invention may be implemented as a computer program product having a program code, wherein the program code is operative to perform one of the methods when the computer program product runs on a computer.

The program code can also be stored, for example, on a machine-readable carrier.

Other embodiments include the computer program for performing any of the methods described herein, wherein the computer program is stored on a machine-readable medium.

In other words, an embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described herein when the computer program runs on a computer.

A further embodiment of the inventive method is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program is recorded for carrying out one of the methods described herein. The data carrier, the digital storage medium or the computer-readable medium are typically representational and / or non-transitory.

A further embodiment of the method according to the invention is thus a data stream or a sequence of signals, which represent the computer program for performing one of the methods described herein. The data stream or the sequence of signals may be configured, for example, to be transferred via a data communication connection, for example via the Internet.

Another embodiment includes a processing device, such as a computer or a programmable logic device, that is configured or adapted to perform one of the methods described herein.

Another embodiment includes a computer on which the computer program is installed to perform one of the methods described herein.

Another embodiment according to the invention comprises a device or system adapted to transmit a computer program for performing at least one of the methods described herein to a receiver. The transmission can be done for example electronically or optically. The receiver may be, for example, a computer, a mobile device, a storage device or a similar device. For example, the device or system may include a file server for transmitting the computer program to the recipient.

In some embodiments, a programmable logic device (eg, a field programmable gate array, an FPGA) may be used to perform some or all of the functionality of the methods described herein. In some embodiments, a field programmable gate array may cooperate with a microprocessor to perform one of the methods described herein. Generally, in some embodiments, the methods are performed by a any hardware device performed. This may be a universal hardware such as a computer processor (CPU) or hardware specific to the process, such as an ASIC.

The devices described herein may be implemented, for example, using a hardware device, or using a computer, or using a combination of a hardware device and a computer.

The devices described herein, or any components of the devices described herein, may be implemented at least in part in hardware and / or software (computer program).

For example, the methods described herein may be implemented using a hardware device, or using a computer, or using a combination of a hardware device and a computer.

The methods described herein, or any components of the methods described herein, may be performed at least in part by hardware and / or by software.

The embodiments described above are merely illustrative of the principles of the present invention. It will be understood that modifications and variations of the arrangements and details described herein will be apparent to others of ordinary skill in the art. Therefore, it is intended that the invention be limited only by the scope of the appended claims and not by the specific details presented in the description and explanation of the embodiments herein.

LIST OF REFERENCE NUMBERS

1

Person / operator

2

Upper body of person / operator

5

building wall

6

Building / extension (for example balcony)

10

platform

11

vehicle chassis

12

crane mechanism

13

telescopic boom

14

basket

15

operating unit

16

lifting cylinder

20a / b

joystick module

21

keyboard module

22

display

30

joystick

31

joystick knob

32

bellow

33

lock

35a / b

bracket

36

fastener

40

Hall sensor

41

Strain gauge sensor

42

Strain gauge sensor

43

circuit board

44

Limit line to the overload

45a / b

PCB areas

B

Direction of movement telescopic boom

F _D , F _U

Forces PCB

F, F _OL

Forces on joystick knob

X, Y, Z

Movement directions Joystick / hand control transmitter

150

Operating unit / operating device

300

Hand control transmitter / joystick

301

Perpendicular

401

force signal

411

motion signal

410.410 '

force sensor

430

Base plate / circuit board

500

evaluation

Claims (15)

Operating device (150, 15) for a construction machine, having the following features: a bottom plate (430, 43); a manual control transmitter (30, 300) disposed at an angle to the bottom plate (430, 43) and movable at least one-dimensionally with respect to the bottom plate (430, 43); and a motion sensor (40, 400) configured to determine a position and / or a movement of the manual control transmitter (30, 300) relative to the bottom plate (430, 43) and in dependence on the determined position and / or movement Output motion signal; and a force sensor (410, 410 ', 41, 42) adapted to apply a force acting on the manual control transmitter (30, 300) or a force transmitted from the manual control transmitter (30, 300) to the bottom plate (430, 43) determine and issue a force signal (401) depending on the determined force. Control device (150, 15) according to claim 1, further comprising evaluation electronics (500), wherein the evaluation electronics (500) is designed to receive the force signal (401) and to determine an overload when a predetermined threshold value is exceeded. Operating device (150, 15) according to one of the preceding claims, wherein the force sensor (410, 410 ', 41, 42) or a strain gauge formed as a force sensor (410, 410', 41, 42) in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43). Operating device (150, 15) according to claim 3, wherein the force sensor (410, 410 ', 41, 42) or the strain gauge formed force sensor (410, 410', 41, 42) is adapted to a deformation of the bottom plate (430, 43) or the component (43) connected to the bottom plate (430, 43) and output a force signal (401) as a function of the deformation. Operating device (150, 15) according to one of the preceding claims, wherein the operating device comprises, in addition to the force sensor (410, 410 ', 41, 42), a further force sensor (410, 410', 41, 42) and the force sensor (410, 410 '). , 41, 42) and the further force sensor (410, 410 ', 41, 42) in the bottom plate (430, 43) or in a connected to the bottom plate (430, 43) component (43) are integrated so that these um a Lotfußpunkt (301) from the hand control transmitter (30, 300) on the bottom plate (430, 43) or with the bottom plate (430, 43) connected component (43) are arranged around. Operating device (150, 15) according to one of the preceding claims, wherein the motion sensor (40, 400) is integrated in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43); and or
wherein the motion sensor (40, 400) in a Lotfußpunkt (301) of the manual control transmitter (30, 300) on the bottom plate (430, 43) or with the bottom plate (430, 43) connected component (43) is arranged. Operating device (150, 15) according to one of the preceding claims, wherein the motion sensor (40, 400) is a Hall sensor (40). Operating device (150, 15) according to claims 3, 4, 5, 6 or 7, wherein the component (43) connected to the bottom plate (430, 43) comprises a printed circuit board into which the force sensor (410, 410 ', 41, 42) and / or the motion sensor (40, 400) are integrated. Operating device (150, 15) according to one of claims 2 to 8, wherein the evaluation electronics (500) are designed to stop movement of the construction machine (10) at the determined overload and / or at a low overload, a movement speed of the construction machine (10 ) to reduce. Operating device (150, 15) according to one of claims 2 to 9, wherein the evaluation electronics (500) is designed to trigger a counter-movement when overloaded, wherein the counter-movement is a movement different from a current movement of the construction machine (10). Operating device (150, 15) according to one of claims 2 to 10, wherein the evaluation electronics (500) is designed to provide an indication for unlocking the manual control transmitter (30, 300) in the presence of an overload and in the presence of a locked manual control transmitter (30, 300). output and / or to issue an indication of overload in the presence of an overload. Operating device (150, 15) according to one of claims 2 to 11, wherein the evaluation electronics (500) is designed to store the force signal (401) and / or to store a maximum value for the force signal (401). Operating device (150, 15) according to one of claims 2 to 12, wherein the evaluation electronics (500) is designed to prevent a drift of the force sensor (410, 410 ', 41, 42) and / or a drift of the motion sensor (40, 400). to detect. Construction machine (10) or aerial work platform with an operating device (150, 15) according to one of the preceding claims. A method of operating a construction machine (10) using an operating device (150, 15) having a bottom plate (430, 43); a manual control transmitter (30, 300) disposed at an angle to the bottom plate (430, 43) and movable at least one-dimensionally with respect to the bottom plate (430, 43); a motion sensor (40, 400); and a force sensor (410, 410 ', 41, 42), the method comprising the steps of: Determining a position and / or movement of the manual control transmitter (30, 300) relative to the bottom plate (430, 43) and outputting a motion signal (411) dependent on the determined position and / or motion; Determining a force prevailing on the manual control transmitter (30, 300) to detect an overload and outputting a force-dependent force signal (401); and Influencing the movement of the construction machine (10) or components (12, 13, 16) of the construction machine (10) in dependence of the movement signal (411) and in dependence of the force signal (401).

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