EP4078326A1 - Controller - Google Patents

Controller

Info

Publication number
EP4078326A1
EP4078326A1 EP20816443.4A EP20816443A EP4078326A1 EP 4078326 A1 EP4078326 A1 EP 4078326A1 EP 20816443 A EP20816443 A EP 20816443A EP 4078326 A1 EP4078326 A1 EP 4078326A1
Authority
EP
European Patent Office
Prior art keywords
control
joystick
control device
deflection
vibration generator
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.)
Pending
Application number
EP20816443.4A
Other languages
German (de)
French (fr)
Inventor
Thomas Haug
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP4078326A1 publication Critical patent/EP4078326A1/en
Pending legal-status Critical Current

Links

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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • 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 a control device, such as in particular a portable remote control, for controlling an object according to the preamble of claim 1.
  • This control device has a control housing on which at least one joystick is pivotably held.
  • the joystick has a first deflection area with a first control characteristic and a second deflection area with a second control characteristic.
  • the control device has a vibration generator for generating a tactilely perceptible vibration movement on the joystick and an activation device for activating the vibration generator.
  • the vibration generator can be activated in an initial position as a function of a deflection angle of a longitudinal axis of the joystick with respect to a position of the longitudinal axis. In this way, feedback is given to the user as a function of a control position of the joystick.
  • a control device of a work machine such as an excavator
  • This has a joystick with a vibration element, a work machine and a sensor carried along with the work machine.
  • the vibration element can be activated on the joystick.
  • feedback can be given to the user, for example with regard to a threshold value reached on an excavator shovel for a loading weight or a digging force, a working space limitation or contact with an obstacle.
  • US10,377,458B1 describes a joystick for controlling a motor boat, which has two different control characteristics in two deflection areas. In both Deflection areas, different biases in the direction of its rest position or different vibrations are generated on the joystick.
  • the object of the invention is to enable easier and more precise operation of a generic control device with a joystick.
  • control device with the features of claim 1.
  • the control characteristics in the deflection areas have a mutually different proportionality between an angle change of the joystick and a transmitted control signal corresponding to a control variable.
  • relatively large areas of a control variable of the remotely controlled object can be covered, such as, for example, a speed or force generated thereon.
  • the vibration generator is activated by the activation device when a critical angle between the first and the second deflection area is reached. This makes it possible, for example, to predefine areas with different control behavior on the joystick and to indicate to the user that such a predetermined area has been reached by briefly activating the vibration generator.
  • the different control areas enable the user to carry out relatively diverse and complex control processes with just one joystick, without losing track of the current position of the joystick or the current control area.
  • the transition from the first deflection area to the second deflection area or the other way around is clearly signaled to the user without having to look at the joystick.
  • he can safely adjust to the change in the control characteristics, which leads to a changed control of a process variable of the remotely controlled object.
  • the changed controlled process variable can be, for example, a force and / or speed generated on the object.
  • Certain control areas can be predefined on the joystick in which relatively small changes in the relevant control variable can be precisely controlled.
  • At least one further critical angle at the transition to at least one further deflection area with a further control characteristic is provided on which the vibration generator can be activated by the activation device.
  • the critical angles are advantageously provided circumferentially around the starting longitudinal axis. In this way, the different control areas of the joystick can be controlled independently of a deflection direction.
  • the control variable corresponding to the transmitted control signal advantageously includes a speed of the object or a functional part of the object, whereby a single joystick can cover a relatively large speed range within which even small changes in speed can be controlled precisely.
  • the activation device has an angle sensor for determining an angular position of the joystick in order to be able to ensure an exact control of the vibration generator as a function of the current control position of the joystick.
  • the activation device has activation electronics that are integrated into control electronics of the control device is integrated. In this way, the additional costs and the additional assembly effort for setting up the vibration function can be minimized.
  • the vibration generator is attached to the joystick in order to be able to generate a vibration signal that can be haptically perceived by the user using simple means.
  • the vibration generator is attached to the control housing, whereby it can be accommodated on the joystick without any problems even with relatively large external dimensions, for example on or adjacent to its pivot bearing.
  • Figure 1 shows a control device according to the invention for controlling an object
  • FIG. 2 shows a plan view of an upper housing part of the control device according to FIG.
  • Figure 3 is a view of a rear side of the upper housing part according to Figure 2 and
  • FIG. 4 shows a side view of the control device in direction IV from FIG.
  • the remotely controlled object can be formed, for example, by a vehicle, a lifting device or some other adjustable or drivable device, such as a device or a system for industrial or commercial applications.
  • the control device 2 has a control housing 6 on which at least one joystick 8 is pivotably mounted.
  • at least one joystick 8 is pivotably mounted.
  • further operating elements are provided, which are designed, for example, as a display 10 and as push buttons 12.
  • the operating means serve at least partially as an interface for the input of control commands, on the basis of which the control device 2 generates control signals S and transmits them to the object 4.
  • control housing 6 is designed in at least two parts and has an upper housing part 14 and a housing part 16 which can be removed therefrom.
  • the upper housing part 14 forms an outer side 18 from which the joystick 8 protrudes, and on a rear side 20 facing away from it a receiving space 22 that can be closed by the housing part 16 , is supplied with electrical power.
  • the control electronics 24 are connected to all operating elements and generate the control signal S as a function of the signals received from them.
  • the control electronics 24 are connected to an angle sensor 28 for determining an angular position of the joystick 8.
  • An activation device 30 can also be controlled as a function of this angular position.
  • a vibration generator 32 can be activated, which is used to generate a tactilely perceptible vibration movement.
  • the vibration generator 32 is arranged, for example, on the joystick 8 itself or on the control housing 6 in such a way that the generated vibrations can be perceived by the user's hand lying against it or holding it.
  • the activation device 30 preferably has activation electronics 34 integrated in the control electronics 16, which can be implemented purely in terms of programming, for example. This works in such a way that it activates the vibration generator 32 as soon as a longitudinal axis LA of the joystick 8 according to FIG Output longitudinal axis LAO, along which the joystick 8 extends in an unloaded state, is deflected over a predefined first limit angle W1.
  • the first critical angle W1 defines a particularly circular transition from a first deflection area B1 with a first control characteristic to a second deflection area B2 with a second control characteristic different from the first control characteristic.
  • At least one further, in particular circular, limiting angle Wn can be provided, which defines the transition to at least one further deflection area Bn in which a further control characteristic of the control electronics 24 is provided.
  • the different control characteristics relate to a different proportionality between an angle change of the joystick 8 within the relevant deflection areas Bl, B2, Bn and the control signal S corresponding to a change in speed of the object 4 or a functional part of the object 4 Deflection angle of the joystick 8 by one degree a smaller change in a travel or lifting speed of a lifting device can be provided than with a corresponding angle change by one degree in the second deflection area B 2 or in the further deflection area Bn. As a result, both exact positioning and rapid relocation of the lifting part can be carried out if necessary.
  • the different control characteristics can also relate to any other control variable of the object 4 or of a functional part of the object 4, such as a lifting force of a lifting element or a delivery rate of a pump.
  • the joystick 8 when the joystick 8 is deflected during operation over one of the predefined limit angles Wl, Wn, the attainment of the relevant limit angle Wl, Wn is detected by the angle sensor 28 and a corresponding signal is sent from this to the activation electronics 34. This is then used to activate the vibration generator 32, which can be perceived by the user on the joystick 8 and / or on the control housing 6 in a tactile manner. This way the user gets during of the control process, the information that the joystick 8 has been moved into a different deflection area Bl, B2, Bn in which a different control characteristic is specified.
  • different vibration signals can be provided for the at least two critical angles Wl, Wn, which enable the user to orientate himself even better.
  • it can be provided that upon entry into one of the deflection areas B1, B2, Bn, a vibration signal that is assigned to it and is always the same is generated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Position Input By Displaying (AREA)

Abstract

A controller (2), such as in particular a portable remote controller, for controlling an object (4) has a controller housing (6), on which at least one joystick (8) is pivotably retained. The joystick has a first deflection range (B1) having a first controller characteristic and a second deflection range (B2) having a second controller characteristic, and a vibration generator (32) for generating a vibration motion that is perceptible by touch on the joystick (8). The joystick (8) also has an activation device (30) for activating the vibration generator (32) on the basis of a deflection angle of a longitudinal axis (LA) of the joystick (8) relative to a starting longitudinal axis (LAO). According to the invention, the controller characteristics in the deflection ranges (B1, B2, Bn) have different proportionality between a change in angle of the joystick (8) and an emitted control signal (S) corresponding to a control variable, and the vibration generator (32) can be activated by the activation device (30) when a limit angle (W1) is reached between the first and the second deflection ranges (B1, B2).

Description

Steuerungsvorrichtung Control device
Beschreibung description
Die Erfindung betrifft eine Steuerungsvorrichtung, wie insbesondere eine tragbare Fernsteuerung, für die Steuerung eines Objekts nach dem Oberbegriff des Anspruchs 1. Diese Steuerungsvorrichtung weist ein Steuerungsgehäuse auf, an dem wenigstens ein Joystick verschwenkbar gehalten ist. Hierbei weist der Joystick einen ersten Auslenkbereich mit einer ersten Steuerungscharakteristik und einen zweiten Auslenkbereich mit einer zweiten Steuerungscharakteristik auf. Zudem weist die Steuerungsvorrichtung einen Vibrationsgenerator zur Erzeugung einer am Joystick taktil wahrnehmbaren Vibrationsbewegung auf sowie eine Aktivierungseinrichtung zur Aktivierung des Vibrationsgenerators. Dabei kann der Vibrationsgenerator in Abhängigkeit von einem Auslenkwinkel einer Längsachse des Joysticks gegenüber einer Position der Längsachse in einer Ausgangsstellung aktiviert werden. Auf diese Weise wird dem Benutzer in Abhängigkeit einer Steuerungsstellung des Joysticks eine Rückmeldung gegeben. The invention relates to a control device, such as in particular a portable remote control, for controlling an object according to the preamble of claim 1. This control device has a control housing on which at least one joystick is pivotably held. The joystick has a first deflection area with a first control characteristic and a second deflection area with a second control characteristic. In addition, the control device has a vibration generator for generating a tactilely perceptible vibration movement on the joystick and an activation device for activating the vibration generator. The vibration generator can be activated in an initial position as a function of a deflection angle of a longitudinal axis of the joystick with respect to a position of the longitudinal axis. In this way, feedback is given to the user as a function of a control position of the joystick.
Aus DE102017219540A1 ist eine Steuerungsvorrichtung einer Arbeitsmaschine, wie beispielsweise eines Baggers bekannt. Diese weist einen Joystick mit einem Vibrationselement, eine Arbeitsmaschine und einen an der Arbeitsmaschine mitgeführten Sensor auf. In Abhängigkeit einer über den Sensor ermittelten Prozessgröße kann das Vibrationselement am Joystick aktiviert werden. Hierdurch kann dem Benutzer ein Feedback gegeben werden, wie beispielsweise hinsichtlich eines an einer Baggerschaufel erreichten Schwellenwertes eines Beladungsgewichts oder einer Grabkraft, einer Arbeitsraumlimitierung oder einem Kontakt mit einem Hindernis. From DE102017219540A1 a control device of a work machine, such as an excavator, is known. This has a joystick with a vibration element, a work machine and a sensor carried along with the work machine. Depending on a process variable determined by the sensor, the vibration element can be activated on the joystick. In this way, feedback can be given to the user, for example with regard to a threshold value reached on an excavator shovel for a loading weight or a digging force, a working space limitation or contact with an obstacle.
Neben der Anzeige von Prozessgrößen, die an dem ferngesteuerten Objekt auftreten, gibt es am Markt ferner auch ein Bedürfnis dahingehend, ein besseres Gefühl für die an einem Joystick eingegebenen Steuerungsbefehle zu entwickeln. In addition to the display of process variables that occur on the remote-controlled object, there is also a need on the market to develop a better feeling for the control commands entered on a joystick.
US10,377,458B1 beschreibt einen Joystick zur Steuerung eines Motorbootes, der in zwei Auslenkbereichen zwei unterschiedliche Steuerungscharakteristika aufweist. In den beiden Auslenkbereichen werden dabei auf den Joystick unterschiedliche Vorspannungen in Richtung von dessen Ruheposition oder unterschiedliche Vibrationen erzeugt. US10,377,458B1 describes a joystick for controlling a motor boat, which has two different control characteristics in two deflection areas. In both Deflection areas, different biases in the direction of its rest position or different vibrations are generated on the joystick.
Die Aufgabe der Erfindung ist es, bei einer gattungsgemäßen Steuerungsvorrichtung mit Joystick eine leichtere und präzisere Bedienung zu ermöglichen. The object of the invention is to enable easier and more precise operation of a generic control device with a joystick.
Diese Aufgabe wird durch eine Steuerungsvorrichtung mit den Merkmalen des Anspruchs 1 gelöst. Dabei weisen die Steuerungscharakteristika in den Auslenkbereichen eine zueinander unterschiedliche Proportionalität zwischen einer Winkeländerung des Joysticks und einem einer Steuerungsgröße entsprechenden, ausgesendeten Steuerungssignal auf. Hierdurch können relativ große Bereiche einer Steuerungsgröße des ferngesteuerten Objekts abgedeckt werden, wie beispielsweise eine an diesem generierte Geschwindigkeit oder Kraft. Zudem wird der Vibrationsgenerator durch die Aktivierungseinrichtung bei Erreichen eines Grenzwinkels zwischen dem ersten und dem zweiten Auslenkbereich aktiviert. Dadurch ist es beispielsweise möglich, am Joystick Bereiche mit einem unterschiedlichen Steuerungsverhalten vorzudefinieren und dem Benutzer das Erreichen eines solchen vorbestimmten Bereichs durch kurzzeitige Aktivierung des Vibrationsgenerators exakt anzuzeigen. Die unterschiedlichen Steuerungsbereiche ermöglichen es dem Benutzer dabei, relativ vielfältige und komplexe Steuerungsvorgänge mit nur einem Joystick auszuführen, ohne dabei den Überblick über die jeweils aktuelle Stellung des Joysticks beziehungsweise den jeweils aktuellen Steuerungsbereich zu verlieren. Dabei wird dem Benutzer der Übergang vom ersten Auslenkbereich in den zweiten Auslenkbereich beziehungsweise anders herum klar signalisiert, ohne dass er hierfür den Joystick einsehen muss. Dadurch kann er sich sicher auf die Änderung in der Steuerungscharakteristik einstellen, die zu einer veränderten Ansteuerung einer Prozessgröße des ferngesteuerten Objekts führt. Bei der verändert angesteuerten Prozessgröße kann es sich dabei beispielsweise um eine an dem Objekt generierte Kraft- und/oder Geschwindigkeit handeln. Dabei können bestimmte Steuerungsbereiche am Joystick vordefiniert werden, in denen relativ geringe Änderungen der betreffenden Steuerungsgröße präzise angesteuert werden. This object is achieved by a control device with the features of claim 1. In this case, the control characteristics in the deflection areas have a mutually different proportionality between an angle change of the joystick and a transmitted control signal corresponding to a control variable. In this way, relatively large areas of a control variable of the remotely controlled object can be covered, such as, for example, a speed or force generated thereon. In addition, the vibration generator is activated by the activation device when a critical angle between the first and the second deflection area is reached. This makes it possible, for example, to predefine areas with different control behavior on the joystick and to indicate to the user that such a predetermined area has been reached by briefly activating the vibration generator. The different control areas enable the user to carry out relatively diverse and complex control processes with just one joystick, without losing track of the current position of the joystick or the current control area. The transition from the first deflection area to the second deflection area or the other way around is clearly signaled to the user without having to look at the joystick. As a result, he can safely adjust to the change in the control characteristics, which leads to a changed control of a process variable of the remotely controlled object. The changed controlled process variable can be, for example, a force and / or speed generated on the object. Certain control areas can be predefined on the joystick in which relatively small changes in the relevant control variable can be precisely controlled.
Zudem ist es günstig, wenn wenigstens ein weiterer Grenzwinkel am Übergang zu wenigstens einem weiteren Auslenkbereich mit einer weiteren Steuerungscharakteristik vorgesehen ist, an dem der Vibrationsgenerator durch die Aktivierungseinrichtung aktivierbar ist. Hierdurch können dem Benutzer an einem einzigen Joystick nahezu beliebig viele unterschiedliche Steuerungsbereiche vorgesehen und haptisch wahrnehmbar angezeigt werden. In addition, it is advantageous if at least one further critical angle at the transition to at least one further deflection area with a further control characteristic is provided on which the vibration generator can be activated by the activation device. As a result, almost any number of different control areas can be provided to the user on a single joystick and displayed in a haptically perceptible manner.
Hierbei ist es besonders günstig, wenn bei mehr als zwei vorgesehenen Auslenkbereichen an den unterschiedlichen Grenzwinkeln unterschiedliche Vibrationsbewegungen beziehungsweise Vibrationssignale generiert werden. Dabei kann beim Eintritt des Joysticks in einen der Auslenkbereiche ein diesem zugeordnetes, immer gleiches Vibrationssignal erzeugt werden, das sich von den Vibrationssignalen unterscheidet, die den anderen Auslenkbereichen zugeordnet sind. Auf diese Weise kann der Benutzer während eines Steuerungsvorganges beim Übergang in einen anderen Auslenkbereich leichter erkennen, in welchen Auslenkbereich er eintritt beziehungsweise welche Steuerungscharakteristik aktuell vorliegt. In this case, it is particularly favorable if, in the case of more than two provided deflection areas, different vibration movements or vibration signals are generated at the different limit angles. When the joystick enters one of the deflection areas, a vibration signal assigned to it, which is always the same, can be generated which differs from the vibration signals which are assigned to the other deflection areas. In this way, during a control process, when transitioning to another deflection area, the user can more easily recognize which deflection area he is entering or which control characteristic is currently present.
Vorteilhafterweise sind die Grenzwinkel jeweils umlaufend um die Ausgangslängsachse herum vorgesehen. Hierdurch können die unterschiedlichen Steuerungsbereiche des Joysticks unabhängig von einer Auslenkungsrichtung angesteuert werden. The critical angles are advantageously provided circumferentially around the starting longitudinal axis. In this way, the different control areas of the joystick can be controlled independently of a deflection direction.
Vorteilhafterweise umfasst die dem ausgesendeten Steuerungssignal entsprechende Steuerungsgröße eine Geschwindigkeit des Objekts oder eines Funktionsteils des Objekts, wodurch mit einem einzigen Joystick ein relativ großer Geschwindigkeitsbereich abgedeckt werden kann, innerhalb dessen auch geringe Geschwindigkeitsänderungen präzise angesteuert werden können. The control variable corresponding to the transmitted control signal advantageously includes a speed of the object or a functional part of the object, whereby a single joystick can cover a relatively large speed range within which even small changes in speed can be controlled precisely.
Ferner ist es günstig, wenn die Aktivierungseinrichtung einen Winkelsensor zur Ermittlung einer Winkelstellung des Joysticks aufweist, um in Abhängigkeit der jeweils aktuellen Steuerungsstellung des Joysticks eine exakte Steuerung des Vibrationsgenerators gewährleisten zu können. Furthermore, it is favorable if the activation device has an angle sensor for determining an angular position of the joystick in order to be able to ensure an exact control of the vibration generator as a function of the current control position of the joystick.
In einer weiteren vorteilhaften Ausführungsform weist die Aktivierungseinrichtung eine Aktivierungselektronik auf, die in eine Steuerungselektronik der Steuerungsvorrichtung integriert ist. Auf diese Weise können die zusätzlichen Kosten und der zusätzliche Montageaufwand für die Einrichtung der Vibrationsfunktion minimiert werden. In a further advantageous embodiment, the activation device has activation electronics that are integrated into control electronics of the control device is integrated. In this way, the additional costs and the additional assembly effort for setting up the vibration function can be minimized.
Ferner ist es günstig, wenn der Vibrationsgenerator am Joystick angebracht ist, um mit einfachen Mitteln ein vom Benutzer haptisch wahrnehmbares Vibrationssignal erzeugen zu können. It is also advantageous if the vibration generator is attached to the joystick in order to be able to generate a vibration signal that can be haptically perceived by the user using simple means.
Alternativ hierzu ist es günstig, wenn der Vibrationsgenerator am Steuerungsgehäuse angebracht ist, wodurch diese auch bei relativ großen Außenabmessungen problemlos am Joystick untergebracht werden kann, wie beispielsweise an oder benachbart zu dessen Schwenklager. As an alternative to this, it is advantageous if the vibration generator is attached to the control housing, whereby it can be accommodated on the joystick without any problems even with relatively large external dimensions, for example on or adjacent to its pivot bearing.
Es wird darauf hingewiesen, dass alle oben beschriebenen Merkmale des erfindungsgemäßen Gegenstandes untereinander austauschbar beziehungsweise kombinierbar sind, sofern ein Austausch oder eine Kombination derselben aus technischen Gründen nicht ausgeschlossen ist. It should be noted that all of the above-described features of the subject matter according to the invention are interchangeable or can be combined with one another, provided that an exchange or a combination thereof is not excluded for technical reasons.
In den Figuren ist eine beispielhafte Ausfuhrungsform der Erfindung dargestellt. Es zeigen: An exemplary embodiment of the invention is shown in the figures. Show it:
Figur 1 eine erfindungsgemäße Steuerungsvorrichtung zur Steuerung eines Objekts, Figure 1 shows a control device according to the invention for controlling an object,
Figur 2 eine Draufsicht auf ein Gehäuseoberteil der Steuerungsvorrichtung nachFIG. 2 shows a plan view of an upper housing part of the control device according to FIG
Figur 1 bei abgenommenen Gehäusebodenelement, Figure 1 with the housing base element removed,
Figur 3 eine Ansicht einer Rückseite des Gehäuseoberteils nach Figur 2 und Figure 3 is a view of a rear side of the upper housing part according to Figure 2 and
Figur 4 eine Seitenansicht der Steuerungsvorrichtung in Richtung IV aus Figur 1. FIG. 4 shows a side view of the control device in direction IV from FIG.
Fig. 1 zeigt eine Steuerungsvorrichtung 2 in einer in der Hand gehaltenen, insbesondere einhändig tragbaren Ausfuhrungsform, die zur Fernsteuerung eines Objekts 4 vorgesehen ist. Das ferngesteuerte Objekt kann dabei beispielsweise durch ein Fahrzeug, ein Hubgerät oder ein sonstiges verstellbares oder antreibbares Gerät gebildet sein, wie insbesondere ein Gerät oder eine Anlage für industrielle oder gewerbliche Anwendungen. Die Steuerungsvorrichtung 2 weist hierzu ein Steuerungsgehäuse 6 auf, an dem wenigstens ein Joystick 8 verschwenkbar gelagert ist. Neben dem wenigstens einen Joystick 8 sind weitere Bedienelemente vorgesehen, die beispielhaft als Display 10 und als Druckknöpfe 12 ausgebildet sind. Die Bedienmittel dienen wenigstens teilweise als Schnittstelle für die Eingabe von Steuerungsbefehlen, anhand derer die Steuerungsvorrichtung 2 Steuerungssignale S erzeugt und an das Objekt 4 aussendet. 1 shows a control device 2 in a hand-held, in particular one-hand portable embodiment, which is provided for remote control of an object 4 is. The remotely controlled object can be formed, for example, by a vehicle, a lifting device or some other adjustable or drivable device, such as a device or a system for industrial or commercial applications. For this purpose, the control device 2 has a control housing 6 on which at least one joystick 8 is pivotably mounted. In addition to the at least one joystick 8, further operating elements are provided, which are designed, for example, as a display 10 and as push buttons 12. The operating means serve at least partially as an interface for the input of control commands, on the basis of which the control device 2 generates control signals S and transmits them to the object 4.
Wie aus den Figuren 2 und 3 zu entnehmen ist, ist das Steuerungsgehäuse 6 wenigstens zweiteilig ausgebildet und weist ein Gehäuseoberteil 14 und ein davon abnehmbares Gehäuseteil 16 auf. Das Gehäuseoberteil 14 bildet eine Außenseite 18, von der der Joystick 8 weg ragt, sowie an einer davon abgewandten Rückseite 20 einen durch das Gehäuseteil 16 verschließbaren Aufnahmeraum 22. In diesem ist eine Steuerungselektronik 24 untergebracht, die von einer Energieversorgungseinrichtung 26, wie beispielsweise einem Akkupack, mit elektrischem Strom versorgt wird. Die Steuerungselektronik 24 ist mit allen Bedienelementen verbunden und generiert in Abhängigkeit der von diesen eingehenden Signale das Steuerungssignal S. As can be seen from FIGS. 2 and 3, the control housing 6 is designed in at least two parts and has an upper housing part 14 and a housing part 16 which can be removed therefrom. The upper housing part 14 forms an outer side 18 from which the joystick 8 protrudes, and on a rear side 20 facing away from it a receiving space 22 that can be closed by the housing part 16 , is supplied with electrical power. The control electronics 24 are connected to all operating elements and generate the control signal S as a function of the signals received from them.
Dabei ist die Steuerungselektronik 24 mit einem Winkelsensor 28 zur Ermittlung einer Winkelstellung des Joysticks 8 verbunden. In Abhängigkeit von dieser Winkelstellung ist zudem eine Aktivierungseinrichtung 30 ansteuerbar. Mittels dieser Aktivierungseinrichtung 30 kann ein Vibrationsgenerator 32 aktiviert werden, der zur Erzeugung einer taktil wahrnehmbaren V ibrationsbe wegung dient. Hierzu ist der Vibrationsgenerator 32 beispielsweise am Joystick 8 selbst oder am Steuerungsgehäuse 6 derart angeordnet, dass die erzeugten Vibrationen über eine anliegende beziehungsweise haltende Hand des Benutzers wahrgenommen werden können. The control electronics 24 are connected to an angle sensor 28 for determining an angular position of the joystick 8. An activation device 30 can also be controlled as a function of this angular position. By means of this activation device 30, a vibration generator 32 can be activated, which is used to generate a tactilely perceptible vibration movement. For this purpose, the vibration generator 32 is arranged, for example, on the joystick 8 itself or on the control housing 6 in such a way that the generated vibrations can be perceived by the user's hand lying against it or holding it.
Die Aktivierungseinrichtung 30 weist vorzugsweise eine in die Steuerungselektronik 16 integrierte Aktivierungselektronik 34 auf, die beispielsweise rein programmtechnisch umgesetzt sein kann. Diese arbeitet dabei derart, dass sie den Vibrationsgenerator 32 aktiviert, sobald eine Längsachse LA des Joysticks 8 gemäß Figur 4 gegenüber einer Ausgangslängsachse LAO, entlang der sich der Joystick 8 in einem unbelasteten Zustand erstreckt, über einen vordefinierten ersten Grenzwinkel W1 ausgelenkt ist. The activation device 30 preferably has activation electronics 34 integrated in the control electronics 16, which can be implemented purely in terms of programming, for example. This works in such a way that it activates the vibration generator 32 as soon as a longitudinal axis LA of the joystick 8 according to FIG Output longitudinal axis LAO, along which the joystick 8 extends in an unloaded state, is deflected over a predefined first limit angle W1.
Der erste Grenzwinkel W1 definiert dabei einen insbesondere kreisförmig umlaufenden Übergang von einem ersten Auslenkbereich Bl mit einer ersten Steuerungscharakteristik zu einem zweiten Auslenkbereich B2 mit einer zur ersten Steuerungscharakteristik unterschiedlichen zweiten Steuerungscharakteristik. The first critical angle W1 defines a particularly circular transition from a first deflection area B1 with a first control characteristic to a second deflection area B2 with a second control characteristic different from the first control characteristic.
Darüber hinaus kann, wie dargestellt, wenigstens ein weiterer, insbesondere kreisförmig umlaufender Grenzwinkel Wn vorgesehen sein, der den Übergang zu wenigstens einem weiteren Auslenkbereich Bn definiert, in dem eine weitere Steuerungscharakteristik der Steuerungselektronik 24 vorgesehen ist. Die unterschiedlichen Steuerungscharakteristika betreffen dabei eine unterschiedliche Proportionalität zwischen einer Winkeländerung des Joysticks 8 innerhalb der betreffenden Auslenkbereiche Bl, B2, Bn und dem einer Geschwindigkeitsänderung des Objekts 4 oder eines Funktionsteils des Objekts 4 entsprechenden Steuerungssignal S. so kann beispielsweise im ersten Auslenkbereich Bl bei Änderung des Auslenkwinkels des Joysticks 8 um ein Grad eine geringere Änderung einer Fahr- oder Hubgeschwindigkeit einer Hubvorrichtung vorgesehen sein als bei entsprechender Winkeländerung um ein Grad im zweiten Auslenkbereich B 2 oder im weiteren Auslenkbereich Bn. Dadurch kann bei Bedarf sowohl eine exakte Positionierung als auch eine schnelle Verlagerung des Hubteils vorgenommen werden. In addition, as shown, at least one further, in particular circular, limiting angle Wn can be provided, which defines the transition to at least one further deflection area Bn in which a further control characteristic of the control electronics 24 is provided. The different control characteristics relate to a different proportionality between an angle change of the joystick 8 within the relevant deflection areas Bl, B2, Bn and the control signal S corresponding to a change in speed of the object 4 or a functional part of the object 4 Deflection angle of the joystick 8 by one degree a smaller change in a travel or lifting speed of a lifting device can be provided than with a corresponding angle change by one degree in the second deflection area B 2 or in the further deflection area Bn. As a result, both exact positioning and rapid relocation of the lifting part can be carried out if necessary.
Alternativ oder zusätzlich zur Geschwindigkeit können die unterschiedlichen Steuerungscharakteristika auch jede andere Steuerungsgröße des Objekts 4 oder eines Funktionsteils des Objekts 4 betreffen, wie beispielsweise eine Hubkraft eines Hubelementes oder eine Fördermenge einer Pumpe. As an alternative or in addition to the speed, the different control characteristics can also relate to any other control variable of the object 4 or of a functional part of the object 4, such as a lifting force of a lifting element or a delivery rate of a pump.
In jedem Fall wird bei einer Auslenkung des Joysticks 8 im Betrieb über einen der vordefinierten Grenzwinkel Wl, Wn hinweg das Erreichen des betreffenden Grenzwinkels Wl, Wn durch den Winkelsensor 28 detektiert und von diesem ein entsprechendes Signal an die Aktivierungselektronik 34 abgegeben. Über diese erfolgt dann eine Aktivierung des Vibrationsgenerators 32, die für den Benutzer am Joystick 8 und/oder am Steuerungsgehäuse 6 taktil wahrnehmbar ist. Auf diese Weise erhält der Benutzer während des Steuerungsvorganges die Information, dass der Joystick 8 in einen anderen Auslenkbereich Bl, B2, Bn bewegt wurde, in dem eine andere Steuerungscharakteristik vorgegeben ist. Bei mehr als zwei vorgesehenen Auslenkbereichen Bl, B2 können für die wenigstens zwei Grenzwinkel Wl, Wn hierbei unterschiedliche Vibrationssignale vorgesehen werden, die dem Benutzer eine noch bessere Orientierung ermöglichen. Dabei kann insbesondere vorgesehen werden, dass beim Eintritt in einen der Auslenkbereiche Bl, B2, Bn ein diesem zugeordnetes, immer gleiches Vibrationssignal generiert wird. In any case, when the joystick 8 is deflected during operation over one of the predefined limit angles Wl, Wn, the attainment of the relevant limit angle Wl, Wn is detected by the angle sensor 28 and a corresponding signal is sent from this to the activation electronics 34. This is then used to activate the vibration generator 32, which can be perceived by the user on the joystick 8 and / or on the control housing 6 in a tactile manner. This way the user gets during of the control process, the information that the joystick 8 has been moved into a different deflection area Bl, B2, Bn in which a different control characteristic is specified. In the case of more than two provided deflection areas B1, B2, different vibration signals can be provided for the at least two critical angles Wl, Wn, which enable the user to orientate himself even better. In particular, it can be provided that upon entry into one of the deflection areas B1, B2, Bn, a vibration signal that is assigned to it and is always the same is generated.
Es wird darauf hingewiesen, dass alle oben beschriebenen Elemente und Merkmale der verschiedenen Ausführungsformen des erfindungsgemäßen Gegenstandes untereinander austauschbar beziehungsweise kombinierbar sind, sofern ein Austausch oder eine Kombination derselben aus technischen Gründen nicht ausgeschlossen ist. It should be noted that all of the above-described elements and features of the various embodiments of the subject matter according to the invention are interchangeable or can be combined with one another, provided that an exchange or a combination thereof is not excluded for technical reasons.

Claims

Schutzansprüche Protection claims
1. Steuerungsvorrichtung (2), insbesondere tragbare Fernsteuerung, für die Steuerung eines Objekts (4) mit einem Steuerungsgehäuse (6), an dem wenigstens ein Joystick (8) verschwenkbar gehalten ist, der einen ersten Auslenkbereich (Bl) mit einer ersten Steuerungscharakteristik und einen zweiten Auslenkbereich (B2) mit einer zweiten Steuerungscharakteristik aufweist, mit einem Vibrationsgenerator (32) zur Erzeugung einer am Joystick (8) taktil wahrnehmbaren Vibrationsbewegung, und mit einer Aktivierungseinrichtung (30) zur Aktivierung des Vibrationsgenerators (32) in Abhängigkeit von einem Auslenkwinkel einer1. Control device (2), in particular portable remote control, for controlling an object (4) with a control housing (6) on which at least one joystick (8) is pivotably held, which has a first deflection area (B1) with a first control characteristic and has a second deflection area (B2) with a second control characteristic, with a vibration generator (32) for generating a tactilely perceptible vibration movement on the joystick (8), and with an activation device (30) for activating the vibration generator (32) as a function of a deflection angle
Längsachse (LA) des Joysticks (8) gegenüber einer Ausgangslängsachse (LAO), dadurch gekennzeichnet, dass die Steuerungscharakteristika in denLongitudinal axis (LA) of the joystick (8) with respect to an output longitudinal axis (LAO), characterized in that the control characteristics in the
Auslenkbereichen (Bl, B2, Bn) eine zueinander unterschiedliche Proportionalität zwischen einer Winkeländerung des Joysticks (8) und einem einerDeflection areas (Bl, B2, Bn) a mutually different proportionality between an angle change of the joystick (8) and a one
Steuerungsgröße entsprechenden, ausgesendeten Steuerungssignal (S) aufweisen und der Vibrationsgenerator (32) durch die Aktivierungseinrichtung (30) bei Erreichen eines Grenzwinkels (Wl) zwischen dem ersten und dem zweiten Auslenkbereich (B 1 , B2) aktivierbar ist. Have control variable corresponding, transmitted control signal (S) and the vibration generator (32) can be activated by the activation device (30) when a limit angle (Wl) between the first and the second deflection range (B 1, B2) is reached.
2. Steuerungsvorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass wenigstens ein weiterer Grenzwinkel (Wn) am Übergang zu wenigstens einem weiteren Auslenkbereich (Bn) mit einer weiteren Steuerungscharakteristik vorgesehen ist, an dem der Vibrationsgenerator (32) durch die2. Control device according to claim 1, characterized in that at least one further critical angle (Wn) is provided at the transition to at least one further deflection area (Bn) with a further control characteristic, on which the vibration generator (32) by the
Aktivierungseinrichtung (30) aktivierbar ist. Activation device (30) can be activated.
3. Steuerungsvorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass an den unterschiedlichen Grenzwinkeln (Wl, Wn) unterschiedliche Vibrationssignale generiert werden. 3. Control device according to claim 2, characterized in that different vibration signals are generated at the different limit angles (Wl, Wn).
4. Steuerungsvorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Grenzwinkel (Wl, Wn) jeweils umlaufend um die Ausgangslängsachse (LAO) herum vorgesehen sind. 4. Control device according to one of claims 1 to 3, characterized in that the critical angles (Wl, Wn) are each provided circumferentially around the output longitudinal axis (LAO).
5. Steuerungsvorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die dem ausgesendeten Steuerungssignal (S) entsprechende Steuerungsgröße eine Geschwindigkeit des Objekts (4) beziehungsweise eines Funktionsteils des Objekts (4) umfasst. 5. Control device according to claim 4, characterized in that the control variable corresponding to the transmitted control signal (S) comprises a speed of the object (4) or a functional part of the object (4).
6. Steuerungsvorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Aktivierungseinrichtung (34) einen Winkelsensor (28) zur Ermittlung einer Winkelstellung des Joysticks (8) aufweist. 6. Control device according to one of claims 1 to 5, characterized in that the activation device (34) has an angle sensor (28) for determining an angular position of the joystick (8).
7. Steuerungsvorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Aktivierungseinrichtung (30) eine Aktivierungselektronik (34) aufweist, die in eine Steuerungselektronik (24) der Steuerungsvorrichtung (2) integriert ist. 7. Control device according to one of claims 1 to 6, characterized in that the activation device (30) has activation electronics (34) which are integrated into control electronics (24) of the control device (2).
8. Steuerungsvorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass der Vibrationsgenerator (32) am Joystick (8) angebracht ist. 8. Control device according to one of claims 1 to 7, characterized in that the vibration generator (32) is attached to the joystick (8).
9. Steuerungsvorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass der Vibrationsgenerator (32) am Steuerungsgehäuse (6) angebracht ist. 9. Control device according to one of claims 1 to 7, characterized in that the vibration generator (32) is attached to the control housing (6).
EP20816443.4A 2019-12-17 2020-11-27 Controller Pending EP4078326A1 (en)

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DE202019107024.2U DE202019107024U1 (en) 2019-12-17 2019-12-17 stages joystick
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CN114020090A (en) * 2021-09-15 2022-02-08 浙江钱塘机器人及智能装备研究有限公司 Electrically controlled reversing connecting rod control operating rod mechanism
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US8576170B2 (en) * 2011-01-10 2013-11-05 International Business Machines Corporation Joystick type computer input device with mouse
US9004218B2 (en) * 2013-06-23 2015-04-14 Cnh Industrial America Llc Joystick with improved control for work vehicles
US10377458B1 (en) 2016-01-29 2019-08-13 Brp Us Inc. Joystick system for a watercraft
DE102016225309B4 (en) * 2016-12-16 2021-12-23 Gebrüder Frei GmbH & Co. KG One-axis control unit for safety-relevant applications
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