ITRM20080124A1 - MANUAL CONTROL DEVICE TO CHECK THE MOVEMENT OF REAL OR VIRTUAL ITEMS - Google Patents

Description

DESCRIPTION

The present invention relates to the technical sector of manual control devices and, more particularly, it refers to a manual control device as defined in the preamble of the first claim.

The use of so-called intuitive manual control devices is known and is currently widespread to allow an operator to manually control the movement of objects of various kinds, be they real or virtual objects.

For example, in the case of real objects equipped on board with their own propulsion and / or maneuvering means, manual control devices are used, such as for example cloches, joysticks, handcuffs, or levers in general, to control the means of propulsion and / or or maneuvering in order to move the object according to desired trajectories, in practice by controlling the object in such a way that it is subjected to translation, rotation, or combined movements having a translation component and a rotation component. For example, through these manual control devices it is possible to control the propulsion means so as to control the speed or direction of travel of the object and it is possible to control the maneuvering means and / or the propulsion means to make the object perform desired trajectories.

Manual control devices of the aforesaid type are also used in a similar way to control the movement of non-real but virtual objects, i.e. objects commonly generated by processing devices in the form of digital graphic representations on suitable display devices, as generally happens in programs entertainment, typically video games, or simulation programs.

The need to have manual control devices available that can be operated reliably and intuitively is greatly felt in the particular field of application of systems for the conduct or maneuvering of boats.

In fact, it is known that the maneuvering of boats in confined waters, especially in the case of multi-engine boats, involves difficulties essentially due to the multiplicity of manual control devices and their scarce intuitiveness which, especially in adverse weather conditions, can cause serious difficulties. the pilot, especially if not experienced.

To simplify the steering of boats, various control systems have recently been introduced, including the one described in patent application WO 06/040785, which allow the pilot to directly control the movements and rotations of the boat, freeing him from the need to control the individual means of maneuver and having to take into account the effects of external perturbations.

The control systems for boats described above provide a manual control interface based on the use of a joystick which, although much more comfortable than traditional control throttles, requires a certain manual skill and a certain experience of the pilot. This is due to the fact that, while it is relatively simple to control translation movements and rotation movements around an instantaneous center of rotation close to the center of gravity of the boat through a joystick, the execution of rotation movements around a center of rotation significantly unbalanced towards the stern or towards the bow of the boat requires a particularly complex manipulation of the joystick by the operator. The execution of the latter type of movements is essential in complex maneuvers in restricted waters that are typically carried out in the mooring operations of the boat.

The need to have available manual control devices that can be operated reliably and intuitively is considerably felt also in the particular field of application of handling trolleys having at least a first and at least a second pair of steering wheels, respectively arranged on a front axle and on a rear axle, the first and second pair being separately controllable. To move these trolleys, three separate types of commands are currently required to control the following drives:

- steering angle of the pair of wheels arranged on the front axle;

- steering angle of the pair of wheels arranged on the rear axle;

- forward, reverse and neutral conditions.

By manually setting the three drives indicated above, it is possible to make the handling trolley perform the desired evolutions, however the control of the movement of these trolleys is not very intuitive and inconvenient due to different control levers that must be activated.

The object of the present invention is to provide a manual control device which allows an operator to control the movement of a real or virtual object in an intuitive and particularly easy and effective way.

This object is achieved by means of a manual control device as defined in general in the attached claim 1.

Advantageous embodiments of a control device according to the present invention are defined in the attached dependent claims.

The present invention also relates to a control system and a boat as defined respectively in claims 21 and 22.

A further object of the present invention is to provide a control system for handling trolleys as defined in claim 23.

Further features and advantages of the invention will appear from the detailed description that follows, carried out purely by way of non-limiting example, with reference to the attached drawings, in which:

Figure 1 is a functional block diagram of an example of a control system comprising a manual control device according to the present invention;

- Figure 2 is a functional block diagram showing the application of the control system of Figure 1 to a boat equipped with its own means of maneuvering and propulsion;

- Figure 3a is a schematic top view of a manual control device according to a currently preferred embodiment of the present invention;

Figure 3b is a side schematic view from the arrow IV side of the manual control device of Figure 3a;

Figure 3c is a side schematic view from the arrow VI side of the manual control device of Figure 3a;

- figure 4 is a schematic top view of the manual control device of figure 3a, in which said device is shown in a first operating control configuration;

- figure 5 is a schematic top view of the manual control device of figure 3a, in which the device is shown in a second operating control configuration;

- figure 6 is a schematic top view of the manual control device of figure 3a, in which the device is shown in a third operating control configuration;

- figure 7 is a schematic top view of the manual control device of figure 3a, in which the device is shown in a further operating control configuration;

- Figure 8 is a schematic top view of the manual control device of Figure 3e, in which some parameters that can be obtained by processing information acquired through the control device are graphically highlighted;

Figure 9 is a schematic view, with some parts in section, showing an example of a control device according to the present invention, said device being represented in a first operating configuration;

Figure 10 is a schematic view showing the control device of Figure 9 in a second operating configuration;

Figure 11 is a schematic view, with some parts in section, showing a further example of a control device according to the present invention;

Figure 12 is a schematic view, with some parts in section, showing a further example of a control device according to the present invention;

Figure 13 is a schematic view, with some parts in section, showing a further example of a control device according to the present invention; Figure 14 is a graph showing a relationship between a force applied manually to the control device and a displacement of the latter;

Figure 15 is a schematic view, with some parts in section, showing a further example of a control device according to the present invention;

Figure 16 is a plan view which schematically shows a further example of a control device according to the present invention;

- figure 17 shows a side sectional view of the control device of figure 16;

figure 18 shows a further operative configuration of the control device of figure 3a;

Figure 19 shows an example of operation of a control device according to the present invention, in which the device is used to control the movement of a handling trolley; And

figure 20 shows a further example of operation of the control device of figure 20.

In the figures, identical or similar elements are indicated with the same numerical references.

Figure 1 shows an exemplary block diagram of a particular example of control system 1 in which a manual control device 10 according to the present invention can be advantageously used.

The control system 1 is in particular a system suitable for allowing an operator to manually control, by means of the control device 1, the movement or position of a real or virtual object 14. From now on in the present description, it is will indicate with the term "pilot" the operator intended to manually operate the control device 1, without thereby introducing any limitation.

The control system 1 comprises, in addition to the manual control device 10, an acquisition and processing unit 11 operatively connected to the manual control device 10 to receive information detected by the device 10 in response to a manual movement of the latter by of the pilot. The acquisition and processing unit 11 starting from the information received is such as to output corresponding electrical control signals for the movement of the object 14.

The manual control device 10 and the acquisition and processing unit 11 can be two separate units or can be functionally integrated into a single device.

The control system 1 also comprises an interface unit 12 operatively connected to the acquisition and processing unit 11 to receive at the input the control signals output by the acquisition and processing unit 11 and to carry out appropriate conversions and processing on these signals. so as to produce corresponding output signals which can be received and interpreted by a control unit or system of the maneuver 13 provided in the object 14 to be moved.

In the case of a real object 14, the control system of the maneuver 13 includes, for example, means suitable for activating and controlling the means of maneuver and / or propulsion provided on board the object 14 for the movement of the latter.

It should be noted that by using a control system 1 of the type described above, it will be possible to adapt the control system 1 to different objects to be moved 14 by defining each time suitable interface units 12 which allow the control system 1 to communicate with the system control of the maneuver 13 provided in the particular object to be moved 14.

It should also be noted that although in Figure 1 the control system 1 has been represented as an entity external to the object to be moved 14, this system 1 in practical applications can be indifferently implemented as an entity external to the object 14, for example for remote control of the object 14, or as a unit provided directly on board the object 14. It is evident that this last implementation is only possible in the case of a real object 14.

In a particularly preferred embodiment, without introducing any limitations, the control system 1 is a system suitable for controlling the movement of a motor boat, i.e. a boat equipped with its own maneuvering means and / or means of propulsion. In the following, a motor boat will be understood as any boat equipped with any means of propulsion and / or maneuver, such as, for example, but not limited to: hydrojet motor vehicles, stern drives, surface propellers, shaft-line propellers.

Although, from now on, for the sake of simplicity, the present description will refer almost exclusively to a control system 1 and a manual control device 10 for boats, a manual control device 10 and a control system 1 should be kept in mind. according to the present invention they can also be used to control the movement of means or objects equipped with wheels in which it is possible to identify at least two distinct steering axes, as occurs for example in handling trolleys, or to control the movement of virtual objects. Neither should the application of the system and the control device to a real flying object be considered excluded.

In a particularly preferred embodiment, as schematically represented in the example of figure 1 by the arrows 15, 16, 17, 18, in the control system 1 a bidirectional operating connection is provided between the object to be moved 14 and the control device manual 10, so as to be able to provide the pilot, through this device, with a tactile effect feedback suitable for communicating to the pilot useful information for an intuitive control of the movement of the object 14. For example, such tactile effects can consist of vibrations having different intensity and duration over time based on the specific information to be transmitted to the pilot.

Figure 2 shows a particularly preferred embodiment of the control system 1 in which this system is applied to a boat 14 equipped with a maneuver control system or unit 13 operably connectable to the control system 1 by means of an interface 12 provided in the control system 1 and preferably, but not limited to, of the wireless type.

The boat 14 is preferably provided with a left thruster, corresponding in the figure to the functional block 19, a right thruster, in the figure corresponding to the functional block 20. The right and left thrusters 19, 20 are preferably arranged substantially in correspondence with the stern of the boat 14.

In the example of Figure 2, the boat 14 also comprises a bow maneuvering motor, indicated in the figure by the functional block 21. The control system 1 of Figure 2 allows a pilot to control the movement of the boat 14, in which this control takes place by manually operating the manual control device 10 so that the boat 14 follows selected trajectories, or that it maintains a certain attitude or a certain position.

In a particularly preferred embodiment, the maneuver control system 13 of the boat 14 is made in accordance with the teachings of the international patent application WO 06/040785, whereby the maneuver control system 13 is such as to act on the propellers and motors 19, 20, 21 so as to compensate for the effects of possible perturbations, such as for example wind, currents and other external perturbations acting on the motion of the boat 14.

Figure 3a shows a schematic top view of a manual control device 10 according to a currently preferred embodiment of the present invention, to control the movement of a boat equipped with propulsion and / or maneuvering means. Figures 3b and 3c are schematic side views of the manual control device 10 of Figure 3a, respectively from the side of the arrow IV and from the side of the arrow VI.

The manual control device 10 can indifferently be integral with the boat, or it can be a mobile remote control device that can be operated by a pilot who is or is not on board the boat. The manual control device 10 can also be removably associated with a suitable seat in a fixed control station provided on the boat, from which it can be removed in order to be used remotely from this fixed control station.

The manual control device 10 can be indifferently of the wired type or the wireless type (ie equipped with a radio connection to a boat control unit).

As shown in figures 3a-3c, the manual control device 10 comprises a support base 31 and a manual interface 30 movable with respect to the support base 31 to allow a pilot to control the movement of the boat.

In a particularly preferred embodiment, the manual interface 30 has the stylized shape of the object whose movement you want to control. In the example shown in the figures it can be seen how the manual interface 30 presents the stylized shape of a boat.

Preferably, the manual interface 30 has an ergonomic shape. In the example shown, the manual interface 30 has a raised central portion 33 intended to act as a support area for the palm of a pilot's hand and a lowered peripheral portion 34 intended to act as a support for the fingers of that hand. Preferably, the raised central portion 33 and the lowered peripheral portion 34 are joined together by a rounded and concave region 35, so that the interface profile 30 is essentially hat-shaped (clearly visible in figures 3b and 3c).

The manual control device 10 further comprises coupling means 32, only schematically represented in Figures 3a-3c and which will be described in greater detail below, suitable for binding the manual interface 30 to the support base 31 so as to define a first preferential axis of rotation Z of the manual interface 30 with respect to the support base 31, the manual interface 30 being rotatable about said first preferential axis Z to control the movement of the boat so that this rotates around a first instantaneous axis of rotation. Preferably, this instantaneous axis of rotation is a vertical axis substantially arranged at the center of gravity of the boat.

Advantageously, the coupling means 32 are also such as to constrain the manual interface 30 to the support base 31 so as to define at least a second preferential axis of rotation Zf of the manual interface 30 with respect to the support base 31, the manual interface 30 being rotatable about said second preferential axis of rotation Zf to control the movement of the boat so that it rotates around a second instantaneous axis of rotation. Preferably, the second instantaneous axis of rotation is a vertical axis that is moved towards the bow or the stern of the boat with respect to the center of gravity of the boat. In the example described, this axis is a vertical axis moved towards the bow of the boat.

Preferably, the first and second preferential axes of rotation Z, Zf are two axes substantially parallel to each other and more preferably two substantially vertical axes.

For the purposes of the present description, a preferential axis of rotation means an axis around which the interface 30 can be manually rotated with respect to the support base 31 by an operator more easily or comfortably with respect to other possible axes of rotation which can be defined in a relative rotational movement between the interface 30 and the support base 31. In practice, a preferential axis of rotation is an axis that a pilot can quickly or conveniently identify and / or an axis around which the manual interface 30 can be rotated with less physical effort than another possible axis of rotation of the manual interface 30. Keep in mind that although in an ideal situation we can speak of "a preferential axis" as an axis that can be precisely defined and identified, in a real situation it will happen it is likely that, for example due to mechanical play, the preferential rotation axis around which it is possible to easily rotate the interface 30 is actually a bundle of axes spatially arranged in a neighborhood of an ideal preferential axis.

In a particularly advantageous embodiment, the acquisition and processing unit 11 is such as to evaluate the position and / or configuration of the manual interface 30 with respect to the support base 31 in order to establish whether or not, on the basis of predetermined geometric criteria, whether the pilot intended in any case to rotate the interface 30 around the ideal preferential rotation axis even if the actual rotation of the control interface 30 took place, for example due to mechanical play, around an axis other than the rotation axis ideal preferential. In this way, the acquisition and processing unit 11 will in any case be able to output signals suitable for controlling the control unit for the maneuver 13 of the boat 14 so that it performs a rotation movement around the instantaneous axis of rotation associated with the preferential axis of ideal rotation.

In a particularly advantageous embodiment, the coupling means 32 are also such as to constrain the manual interface 30 to the support base 31 so as to define a first preferential axis of translation Y of the manual interface 30 with respect to the support base 31 and preferably so as to also define a second preferential axis of translation X of the manual interface 30 with respect to the support base 31, the two translation axes Y, X being orthogonal to each other, to control the boat 14 so that this is subjected to corresponding linear translational movements respectively along a first and a second translation direction orthogonal to each other. Preferably, these translation directions are substantially perpendicular to the first and second instantaneous axis of rotation.

In the particular example shown, a translation along the preferential axis Y of the manual interface 30 with respect to the support base 31 is preferably such as to control a translation movement of the boat 14 along a translation direction substantially coinciding with the longitudinal axis of the 'boat. Conveniently, the direction of translation of the interface 30 with respect to the base 31 along the preferential axis of translation Y can correspondingly influence the direction of travel of the boat.

Furthermore, in the particular example shown, a translation along the preferential axis X of the manual interface 30 with respect to the support base 31 is preferably such as to control a translation movement of the boat 14 along a translation direction substantially perpendicular to the longitudinal axis of the boat 14, thus causing a lateral displacement of the boat with a movement in which the boat moves generally parallel to itself, to port or to starboard according to the direction of translation of the interface 30 along the axis translation preferential X.

Conveniently, the coupling means 32 are also such as to allow to constrain the manual interface 30 to the support base 31 so as to be able to translate said interface 30 along diagonal directions, i.e. having a non-zero translation component along the preferential axis of translation Y and a non-zero component of translation along the preferential translation axis X, to control translation movements of the boat along a corresponding diagonal translation direction.

With regard to the interpretation of the term "preferential" also for the preferential axes of translation Y, X, what has already been said above with reference to the preferential axes of rotation is substantially valid.

Conveniently, it is possible to provide coupling means 32, or an appropriate force feedback system cooperating with said coupling means 32, such that in attempting to undertake a translation of the manual interface 30 along these diagonal directions, the pilot perceives a tactile sensation of greater effort with respect to movements of the manual interface 30 along the preferential translation axes Y and X, to communicate to the pilot the sensation of coming out of one of the two preferential translation axes Y, X on a tactile level. once the pilot has forced the manual interface 30 out of one of the two preferential translation axes Y, X, the tactile sensation of greater effort is canceled and all diagonal translations are equally favored.

In a particularly preferred embodiment, the coupling means 32 are also such as to constrain the manual interface 30 to the support base 31 so as to define at least a third preferential axis of rotation Za of the manual interface 30 with respect to the support base 31, the manual interface 30 being rotatable around said third preferential axis of rotation Za to control the movement of the boat so that it rotates around a third instantaneous axis of rotation.

Preferably, the third preferential axis of rotation is a vertical axis parallel to the other two preferential axes of rotation.

Preferably, the third instantaneous axis of rotation is substantially parallel to the first and second instantaneous axis of rotation and more preferably it is a vertical axis. In a particularly preferred embodiment, the three above described instantaneous axes of rotation are essentially aligned along the prevailing longitudinal direction of the boat.

In figure 3a the manual interface 30 has been shown arranged with respect to the support base 31 in a neutral operating configuration, or neutral position. In a particularly preferred embodiment, the coupling means 32 are such that in order to bring the manual interface 30 from the neutral operating position to any other operating position, a greater effort is required from the pilot than any other effort required to bring the interface. manual 30 between any two further possible operative configurations, so as to indicate to the pilot the sensation of tactile passage through the neutral position or an exit from that position.

Possibly, the coupling means 32 can be such as to make the manual interface 30 self-centering, in practice making it return to the neutral position when not subjected to forces applied manually by the pilot.

Alternatively, the coupling means 32 can be such as to retain the manual interface 30 in any operating command position in which it is left by the pilot (non self-centering mode). To allow the implementation of this non-self-centering mode, it is sufficient that these coupling means include (or are associated with):

- a mechanical clutch system which can be activated on command by means of a suitable actuator; or

- a mechanical clutch system which can be activated magnetically; or

- coupling means comprising shape memory materials.

In a further embodiment, it is possible to provide switching means which allow an operator to manually and selectively set the self-centering mode or the non-self-centering mode. It is possible to provide for this setting to take place automatically based on the navigation methods of the boat.

In Figures 4, 5 and 6 the manual interface 30 is schematically shown in respective configurations or operating positions that this can, for example, assume with respect to the support base 31 (not represented for simplicity in these figures) and which are distinct from the configuration operating neutral (figure 3a).

In particular, in figure 4, it can be observed that following the application of a thrust force along the direction and the direction indicated by the arrow F1 and applied near a rear end portion of the manual interface 30, this assumes a configuration operative in which said interface 30 has undergone a rotation around the first preferential axis of rotation Zf with respect to the neutral operative configuration, indicated by the dashed line marked by the reference 40.

Again with reference to Figure 4, following this movement of the manual interface 30 the control system 1 (Figure 2) is such as to send, via the maneuver control unit 13 (Figure 2) to the maneuvering means and / o propulsion of the boat 14 suitable controls for moving the boat 14 so that it rotates around an instantaneous axis of rotation Zf_i, or instantaneous axis of advanced rotation, which is unbalanced or displaced with respect to the center of gravity of the boat 14 , towards the bow of the boat 14.

In figure 5 it can be observed that following the application of a thrust force along the direction and the direction indicated by the arrow F2 and applied near a front end portion of the manual interface 30, this takes on an operating configuration in which this interface 30 has undergone a rotation around the third preferential axis of rotation Za with respect to the neutral operating configuration, indicated by the dashed line marked by the reference 40.

Again with reference to figure 5, following this movement of the manual interface 30 the control system 1 (figure 2) is such as to send, through the maneuvering unit 13 to the maneuvering and / or propulsion means of the boat 14 suitable controls adapted to move the boat 14 so that it rotates around an instantaneous axis of rotation Za_i, or instantaneous axis of backward rotation, which with respect to the center of gravity of the boat 14 is unbalanced towards the stern of the boat 14.

In figure 6 it can be seen instead that following the simultaneous application of:

- a thrust force along the direction and the direction indicated by arrow F1 and applied near a portion of the rear end of the manual interface 30, and

- a thrust force along the direction and the direction indicated by the arrow F2 and applied near a portion of the front end of the manual interface 30;

the manual interface 30 assumes an operating configuration in which this interface 30 has undergone a rotation around the preferential axis of rotation Z with respect to the neutral operating configuration (indicated by the dotted line marked by reference 40).

Again with reference to figure 6, following this movement of the manual interface 30 the control system 1 (figure 2) is such as to send, through the control unit of the maneuver 13 to the means of maneuvering and / or propulsion of the boat 14 suitable controls for moving the boat 14 in such a way that it rotates around an instantaneous axis of rotation Z_i, or instantaneous axis of central rotation, substantially arranged in correspondence with the center of gravity of the boat 14. It is possible to advantageously provide that in the event that the pair of forces F1, F2 applied to the interface 30 present a certain degree of imbalance, the control system 10 ignores this imbalance and controls the boat 14 so that this in any case performs a rotation around the axis Z_i .

It should be noted that in addition to performing the preferential rotations described with reference to figures 4, 5, 6, the manual interface 30 can assume different command configurations, such as the one represented in figure 7, to perform so-called compound movements.

The control device 10 must detect the movements of the manual interface 30, for example through a reference system such as the one represented in Figure 7, in which:

- Xf represents the displacement of the preferential axis of rotation Zf in the X direction; - Xa represents the displacement of the preferential rotation axis Za in the X direction; - Yf represents the displacement of the preferential rotation axis Zf in the Y direction; - Ya represents the displacement of the preferential rotation axis Za in the Y direction. It should be observed that the displacement of the preferential rotation axis Z in the X direction and in the Y direction, given by the Xz and Yz coordinates, can instead be obtained indirectly once detected the aforementioned displacements for the preferential rotation axes Zf and Za.

The displacements of the manual interface 30 with respect to the support base 31 can be detected in the control device 10 in different ways and based on different physical effects and / or on different detection technologies. For example, and without introducing any limitations, the following can be used to detect such movements:

- one or more joystick-type devices;

- measurements of variation of electrical resistance;

- measures of capacity variation;

- magnetic field variation measurements, for example by exploiting the Hall effect;

- magnetic coupling variation measurements, for example carried out by means of an LVDT transformer (acronym for Linear Variable Differential Transformer);

- an optical system for absolute surface recognition;

- an optical system for recognizing the relative displacement (for example an optical mouse).

With reference to Figure 2, once the movements of the preferential rotation axes have been detected by means of the control device 10, the control device 10 is such as to transmit, by means of a suitable signal, the detected movements to the acquisition and processing unit 11. The latter is such as to process the information received to produce, starting from the quantities acquired by the control device 10, a set of information to be sent via the interface 12 to the maneuver control unit 13 to control corresponding movements of the boat 14 by means of the means of maneuvering and / or propulsion.

In a currently preferred embodiment, the acquisition and processing unit 11 is such as to output, starting from the information acquired by the control device 10, the following set of information:

- FZF - Preferential rotation axis Zf;

- FZ - Preferential rotation axis Z;

- FZA - Preferential axis of rotation Za;

- DS - Direction of Travel;

- MS - Displacement Module;

- RT - Rotation.

FZF, FZ and FZA are binary digital variables to which, for example, the following coding can be associated:

1 - Axis in the rest position;

0 - Axis out of rest position.

For example, you will have FZF = 0 and FZ = 1 and FZA = 0 if the manual interface 30, with respect to the rest position, has been rotated around the preferential axis of rotation Z.

For example, to check whether a generic preferential axis "i" is in the rest position or not, it will be sufficient for the acquisition and processing unit 11 to verify that the following condition is met:

in which the quantities measure system parameters. It should be noted that by suitably dimensioning the value of the parameters Mi it will be possible that the control system 1 detects a rotation of the manual interface 30 around a preferential axis of rotation even when, due to mechanical play or inaccuracy in handling by of the pilot, the manual interface 30 is rotated around an axis which does not exactly coincide with this preferential axis of rotation.

To determine the quantities DS, MS and RT starting from the information acquired by the control device 10, one can proceed as explained below.

Define the transformation matrix of the coordinate system in the system. The unit vector is given by:

The unit vector is given by the orthogonality and normalization conditions:

hence that:

By imposing:

You get:

It can therefore be determined:

And therefore:

Hence the quantities:

Some examples of possible embodiments of a control device 10 according to the present invention will be schematically described below.

Figure 9 shows a first so-called "single joystick" embodiment, since this embodiment can be implemented by means of a joystick, for example of a commercial type. In this embodiment, the control device 10 comprises a support base 31 and a manual interface 30 of the type already described above. The support base 31 comprises a joystick 40 comprising a joystick body 41, which can be fixed to the support base 31, and a joystick lever 42 essentially rod-shaped. The joystick 40 is such as to detect movements of the lever 42 with respect to the X and Y axes.

The control device 10 comprises mechanical coupling means for binding the manual interface 30 to the support base 31. Preferably these means include means suitable for binding the lever 42 of the joystick 40 to the manual interface 30. In the example shown in Figure 9 , these means include, but are not limited to, a ball joint 43 connected to a free end portion of the lever 42 so that the manual interface 30 can be moved parallel with respect to the support base 31 and / or inclined with respect to it.

In a particularly preferred embodiment, the mechanical coupling means between the manual interface 30 and the base 31 further comprise suspension means adapted to keep the manual interface 30 spaced apart and parallel to the support base 31. In the example shown, the suspension means comprise a system of shoes 44, 45, each shoe comprising a slider 45 slidably received in a suitable seat provided in the manual interface 30 and kept in position against the action of elastic means 44, such as for example a helical spring . As visible in the upper part of Figure 9, in the example described the skates system comprises four skids 44,45 substantially arranged at the vertices of a quadrilateral.

Again with reference to Figure 9, it should be noted that the axis of prevalent longitudinal extension of the lever 42 of the joystick 40 defines a first preferential axis of rotation Z of the interface 30 with respect to the base 31. A rotation of the interface around this preferential axis Z it may for example produce a rotation of the boat 14 around a first instantaneous axis of rotation, for example a vertical axis substantially passing through the center of gravity of the boat or in the vicinity thereof.

In the example shown in Figure 9, the coupling means between interface 30 and base 31 advantageously comprise first locking means 46, 47 which can be selectively activated manually to pivot, when activated, the manual interface 30 to the support base 31 substantially in correspondence with a second preferential axis of rotation Zf. In a preferred embodiment, these locking means 46, 47 comprise a recess 46 and a pin 47 arranged facing each other and respectively provided on the interface 30 and on the base 31, or vice versa.

Preferably, the coupling means between interface 30 and base 31 further comprise second locking means 48, 49 which can be selectively activated manually to pivot, when activated, the manual interface 30 to the support base 31 substantially in correspondence with a third preferential axis of rotation Za . In a preferred embodiment, these locking means 48, 49 comprise a recess 48 and a pin 49 arranged facing each other and respectively provided on the interface 30 and on the base 31, or vice versa.

With reference to Figure 10, it should be noted that a pressure (arrow VII) applied manually to the manual interface 30 and in correspondence with a region of this advanced with respect to the preferential axis of rotation Z, is such as to activate the locking means 46, 47 so that the pin 47 engages in the corresponding recess 46. In this way it is possible to constrain the manual interface 30 to the support base 31 so as to rotatably couple the interface 30 to the base 31 in correspondence with the preferential axis of rotation advanced Zf. It is also evident that starting from the neutral configuration shown in Figure 9, by applying a pressure in a zone of the manual interface 30 which is set back with respect to the central rotation axis Z, the locking means 48, 49 can be activated in a similar way to couple the interface 30 at the base 31 rotatably in correspondence with the preferential backward rotation axis Za.

It is also evident that in the neutral position represented in Figure 9, thanks to the presence of the lever 42 and the ball joint 43, the manual interface 30 is rotatably coupled to the support base 31 in correspondence with the central axis of rotation Z.

Based on the above it can be seen that, thanks to the presence of the following coupling means between the manual interface and the base:

- ball joint 43 and lever 42 of the joystick 40;

- locking means 46, 47, 48, 49;

the advanced rotation axes Zf, central Z and backward Za constitute three preferential rotation axes.

Again with reference to the embodiment shown in Figures 9 and 10, it should also be noted that, due to the presence of the constraint imposed by the joystick lever, in the case of rotation around the preferential axes Za and Zf, the coupling means between the The manual interface 30 and the base 31 allow relative rotations between these according to arcs having limited amplitude.

In a preferred embodiment, the joystick 40 can be equipped with an elastic return system capable of returning the interface 30 to the neutral position through the lever 42 (manual interface 30 self-centering). More preferably, this elastic system can be made in such a way as to identify the X and Y axes as two preferential translation axes.

In a further embodiment, the joystick 40 can possibly be equipped with a clutch system, possibly activated on command, so as to ensure the stop of the manual interface 30 at the release point (non-self-centering manual interface 30).

Figure 11 shows a second so-called "double joystick" embodiment, since this embodiment can be implemented by means of a pair of joysticks, for example of a commercial type. In this embodiment, the control device 10 comprises a support base 31 and a manual interface 30 similar to those already described previously.

The support base 31 comprises two joysticks 40, for example of the type already described with reference to Figures 9 and 10. Preferably each of the two joysticks 40 is equipped with a system for acquiring the movements along the X and Y axes. In the example, the manual interface 30 is coupled to each of the two joysticks by means of respective ball joints 43.

In an advantageous embodiment, the joysticks 40 can be equipped with an elastic return system capable of returning the respective lever 42 to the neutral position. This elastic system can also be realized in such a way as to identify the two directions X and Y as preferential directions of translation.

The device shown in Figure 11 also provides a suspension system with skids of the type already described with reference to Figures 9 and 10.

Everything already described with reference to figures 9 and 10 is to be considered valid also with reference to the embodiment of figure 11, except for the fact that the latter does not include the locking means 46, 47, 48, 49 which can be selectively activated.

It should be noted that in the neutral position represented in Figure 11, thanks to the presence of the two levers 42 and the ball joints 43, the manual interface 30 is rotatably coupled to the support base 31 at a first Zf and a second Za preferential axis of rotation. It should also be noted that in the embodiment shown in Figure 11 the coupling means between the manual interface 30 and the base 31 allow relative rotations of the first with respect to the second around the preferential axes Za and Zf according to arcs having limited amplitude.

By adding elastic mechanical coupling means to the embodiment of Figure 11, it is also possible to identify a third preferential axis of rotation. The use of elastic coupling means to tie the manual interface 30 to the base 31 will be described in greater detail below with reference to the examples of figures 12, 13 and 15.

Figure 12 schematically illustrates a further embodiment of the present invention. In this embodiment, the coupling means between the manual interface 30 and the base 31 comprise elastic coupling means 50, 51 able to constrain the manual interface 30 to the base 31 so as to define a pair of preferential rotation axes Zf and Za. Preferably, these elastic coupling means 50, 51 also act as support means of the manual interface 30, practically also performing the function of suspension means.

In particular, in the example described the coupling elastic means 50, 51 comprise helical springs 50, 51, having an end portion fixed to the manual interface 30 and an opposite end portion fixed to the support base 31.

On the side of the interface 30 facing the base 31 there are recesses 52 each suitable for hosting a portion of a respective helical spring 50, 51. Preferably, these recesses 52 have a generally conical or frusto-conical shape. As an alternative to the helical springs 50, 51, any type of elastic element can be provided, for example having, but not limited to, tubular or cylindrical shape. For example, the springs 50, 51 can be replaced with respective rubber elastic elements having an end portion fixed to the manual interface 30 and an opposite end portion fixed to the support base 31.

In the particular example shown in Figure 12, three helical springs 50, 51 are provided, arranged at the vertices of a triangle. This arrangement allows to ensure the parallelism of the interface 30 to the support base 31, and therefore with respect to a reference plane Pr. This arrangement is also such that the front helical spring 50 defines the preferential advanced rotation axis Zf. The resultant of the elastic forces of the two rear springs 51 is such as to define the preferential backward axis Za of rotation.

It should be noted that the rotational movements, or more generally the roto-translational movements of the interface 30 with respect to the reference plane Pr, cause a torsion of the springs 50, 51.

The acquisition of the movements of the interface 30 can take place using sensors 53 of the type already described in the part of this description relating to the acquisition of the movements in the control device 10. The sensors 53 can be indifferently provided on the support base 31 or on the manual interface 30, or be of the distributed type, ie associated in part with the manual interface 30 and in part with the base 31. The sensors 53 are for example optical sensors, preferably infrared ones.

By adding additional elastic coupling elements it is possible to define preferential translation directions of the interface 30. The same result can be obtained by preloading the elastic coupling elements. In this regard, and by way of example, see the embodiment shown in Figure 13, in which the two rear coil springs 51, in the rest position of the manual interface 30, are torsionally preloaded to identify the longitudinal axis Y as a direction translation preferential.

By adding further elastic elements and possibly planning appropriately the distribution of the elastic constants of these elements, it is also possible to create movement zones with different constraint reaction so that the pilot has a tactile perception of the zone in use. Advantageously, different operating modes of the control device 10 can be associated to the different zones. For example, with reference to Figure 14, it is possible to distribute the elastic loads so that, for example, to obtain a certain displacement of the manual interface 30 along the translation axis Y is required to the pilot to apply a force Fy which varies in relation to the displacement according to a law of the type represented in the graph of figure 14. In particular, in this graph two zones can be identified, regulated by respective reads and arranged to the left and right of line IX respectively, each of which can possibly be associated with a different operating mode of the control device 10.

Figure 15 shows an embodiment variant of the control device 10 represented in Figure 12. This embodiment variant differs from that already described with reference to Figure 12 exclusively in that a further elastic element 54 for mechanical coupling is provided. This additional elastic element makes it possible to identify a third preferential axis of rotation, in practice the central preferential axis Z.

Also in the embodiments described above with reference to figures 12, 13, 14 it is possible to provide in the control system 1 a system of clutches, possibly activated on command, to allow the locking of the manual interface 30 at the release point.

Figures 16 and 17 show a further embodiment of a control device 10 according to the present invention. This embodiment provides that the displacement of the manual interface 30 with respect to the support base 31 takes place indirectly, that is, by means of an active movement system, ie motorized, in the example with three degrees of freedom. This active movement system is controlled by a processing and control system, based on representative measures of forces applied by the pilot to the manual interface 30.

The control device 10 shown in Figures 16 and 17 is preferably made by integrating the following four distinct systems:

- an active movement system with three degrees of freedom;

- a system for measuring the forces applied by the pilot to the manual interface 30;

- a system for measuring the position of the manual interface 30;

- a processing and control system.

In the particular example shown, the control device 10 comprises a manual interface 30 and a support base 31. The control device 10 also comprises coupling means between the interface 30 and the support base 31.

The coupling means comprise a first slide 60 constrained to the support base 31 and defining a first preferential axis of translation Y, or longitudinal axis Y.

The slide 60 has two carriages 63, of which only one is visible in the figures. Preferably, only one of these trolleys, for example the trolley 63 visible in figure 17, is such that it can be moved along the slide 60 in a motorized way, the other of these trolleys (i.e. the one not visible in the figures) being freely sliding along the slide 60. The carriage 63 can be moved along the slide 60 by means of motor means indifferently of the reversible or irreversible type.

The coupling means also comprise two further slides 61, 62, each of which is solidly coupled to a respective carriage 63 of the slide 60. The two further slides 61 and 62 are parallel to each other and arranged perpendicular to the slide 60. In the example shown , these slides 61, 62 extend along respective axes Xa and Xf parallel to each other and parallel to a second preferential translation axis, or translation axis X.

Based on the above, it can be seen that the slide 61 is sliding on the slide 60 through the motorized carriage 63 (Figure 17) and the other slide 62 is sliding on the slide 60 through the other carriage, that is, the non-motorized one.

In figure 16, the quantity D_fa represents the distance between the slides 61 and 62. This distance is variable according to the orientation of the manual interface 30 with respect to the reference plane Pr. In practice, the two slides 61 and 62, according to due to the orientation of the manual interface 30 with respect to the reference plane Pr, they can move towards or away from it. As it can be seen, in the neutral configuration represented in Figure 16 this distance D_fa assumes the maximum value.

Each of the two slides 61 and 62 is provided with a respective sliding carriage. Both of these trolleys are motorized. The motorization can indifferently be of the reversible or irreversible type. Only one of these carriages, ie the carriage 64, sliding on the slide 61, is visible in the figures (Figure 17).

The manual interface 30 is rotatably connected to each of the two carriages respectively arranged along the slide 61 and along the slide 62. In the example shown in Figures 16 and 17, the manual interface 30 is hinged to each of these carriages in correspondence with the axes indicated in the figure with Zf and Za.

The control device 10 comprises in the example shown a force measuring system for measuring the forces applied by the pilot to the manual interface 30. The force measuring system preferably comprises three sensors schematically represented with S1, S2, S3 respectively provided for measure: a component of the force applied along the Xf axis, a component of the force applied along the Xa axis and a component of the force applied along the longitudinal axis Y.

The control device 10 also comprises a processing and control system, not shown in the figures, suitable for receiving the quantities supplied at the output of the force sensors S1, S2, S3 to supply command signals for the motors associated with the two carriages at the output. motorized motors sliding respectively along the slides 61, 62 and for the motor associated with the carriage 63.

In a particularly preferred embodiment, the processing and control system is such as to control, through the aforementioned motors, the movement of the manual interface 30 on the basis of the forces applied by the pilot to the manual interface 30 and therefore determining a movement, by means of these trolleys motorized, of the manual interface 30 so as to impart to the manual interface 30 the translations and rotations with respect to the reference plane Pr imposed by the pilot.

In a particularly preferred embodiment, a so-called self-centering operating mode is provided, which can possibly be activated and deactivated on command, on the basis of which the processing and control system is such as to return the manual interface 30 to the neutral position shown in figure 16 in case the pilot releases the manual interface 30.

If this self-centering mode is not provided or is disabled, in case of release of the manual interface 30 by the pilot, the processing and control system is such as to leave the manual interface 30 in the position taken before being released.

The control device 10 also includes a system for measuring the position of the manual interface 10 with respect to the reference plane and for example with respect to the neutral position. This position measurement system includes, for example, linear encoders associated with slides 60, 61, 62. The position measurements acquired by this system are for example:

- used by the acquisition and processing system 11 (figure 2) of the control system 1 for the synthesis of command signals to be sent, via the interface 12, to the control unit of the maneuver 13 of the boat 14; And

- used by the processing and control system that controls the movement of the manual interface 30 with respect to the reference plane Pr.

It should be noted that the two systems indicated above are logically two distinct systems, but could be integrated into a single processing system.

It should be noted that in the embodiment shown in Figures 16 and 17, it is possible to program the processing and control means in such a way that the mechanical coupling means between the manual interface 30 and the base 31 allow to identify a first Zf and a second preferential axis of rotation Z, two preferential axes of translation Y, X and possibly also a third preferential axis Z of rotation. For example, with reference to Figure 16, the system for processing and controlling the movement of the manual interface 30, by comparing the force measurements provided by the sensors S1 and S2, will be able to control the motorizations of the motorized carriages in order to allow defining the preferential axes of rotation. To give a practical example, this processing and control system can impose a movement of the manual interface 30 around the preferential rotation axis Zf, if the force detected by the sensor S1 is relatively small (for example, lower than a predetermined threshold or zero. ) and if the force detected by sensor S2 is relatively large (higher than a predetermined threshold). In practice, the processing and control system "feels" that the pilot is applying a force only to the rear part of the manual interface 30, because essentially he intends to rotate the interface around the advanced preferential axis Zf, for example with the intent to command a rotation of the boat around an instantaneous rotation axis unbalanced towards the bow of the boat.

On the contrary, the processing and control system can impose a movement of the manual interface 30 around the axis Za, if the force detected by the sensor S2 is relatively small (for example, lower than a predetermined threshold or zero) and if the detected force from sensor S1 is relatively large (higher than a predetermined threshold). In practice, the processing and control system "feels" in this case that the pilot is applying a force only on the front part of the manual interface 30, because essentially he intends to rotate the interface around the preferential rear axis Za, for example with the intent to command a rotation of the boat around an instantaneous axis of rotation unbalanced towards the stern of the boat.

Furthermore, the processing and control system will be able to impose a movement of the manual interface 30 around the Z axis, if the forces detected by the sensors S1 and S2 are relatively large (for example higher than a predetermined threshold), if these forces have a substantially similar module and if they have opposite direction (the situation is that already described with reference to figure 6). In practice, the processing and control system "feels" in this case that the pilot is applying a couple of substantially balanced forces on the manual interface 30, because essentially he intends to rotate the interface around the preferential central axis Z of rotation, to for example with the intent of controlling a rotation of the boat around an axis of instantaneous rotation substantially passing through the center of gravity of the boat.

As is evident from the various examples described above, it should be noted that the coupling means between the manual interface 30 and the support base can comprise both coupling means of an exclusively mechanical type (described for example with reference to the embodiments of the figures to be 9 to 15), and electromechanical coupling means (described in the example of Figures 16 and 17).

It should be noted that in particular, in the embodiment of figures 16 and 17, it is the particular interaction of the mechanical coupling means (guides and carriages), of the electromechanical means (motors) and of the relative control and processing system based on the measurement of forces applied to the manual interface 30 which allows you to define the preferential rotation axes.

It should be noted that furthermore, in the particular embodiment of Figures 16 and 17 it is relatively simple to implement tactile feedback effects. For example, it will be possible to design the processing and control system of the trolley motors so that every time the pilot attempts to rotate the interface 30 according to rotation axes other than the preferential ones, or to make it slide along axes different from the preferred ones. the longitudinal Y and the transverse X, the processing and control system requires a greater force from the pilot to carry out these movements, in order to communicate a sensation of greater effort and therefore of escape from the rotation axes or from the preferential directions. It will also be possible to design the processing and control system of the trolley motors so that whenever the movement by the pilot of the interface 30 is such as to produce commands which, on the basis of a current navigation mode or on the basis of factors external (currents, winds, etc.), correspond to risky or unauthorized maneuvers, the processing and control system produces through the interface 30 a corresponding tactile effect that communicates to the pilot the impossibility of carrying out the maneuver or the fact that such maneuver is risky.

As is evident from what has been described above in relation to various exemplary and non-limiting embodiments, a control device in accordance with the present invention allows the prefixed objectives to be fully achieved, allowing the pilot to control an object more comfortably and in a more convenient way. more intuitive way.

It should be noted that in the particular case of the conduct of boats, a control device 10 of the type described above in its various embodiments is ideally suited, suitably designing the acquisition and processing system 11 (figure 2) and the control system of maneuver 13, to the implementation of different ways of conducting a boat 14, to be activated selectively according to the conditions of use. The selective activation of these modes can take place automatically or based on a selection made directly by the pilot.

In particular, it is possible to ensure that the movements of the manual interface 30 with respect to the reference plane Pr allow to obtain different commands and functions based on the particular mode of conduct activated.

Although in the present description reference has mainly been made to a control device for the conduct of boats, it should be noted that a control device according to the present invention can have various other applications not limited to the boat sector.

With reference to figures 19 and 20, the use of a control device of the type described above is shown by way of example to control the movement of a handling trolley 70, or more generally any vehicle or means having a front torque of steering wheels 71 and a rear pair of steering wheels 72.

Figure 19 shows how by bringing the manual interface 30 forward and rotating it in correspondence with an advanced rotation axis, it is possible to very intuitively control a corresponding advancement movement of the carriage 70 together with a rotation around a steering axis. unbalanced towards the front of the carriage 70.

Figure 20 shows how by bringing the manual interface 30 forward and rotating it in correspondence with a retracted axis of rotation, it is possible to very intuitively control a corresponding advancement movement of the carriage 70 together with a rotation around a steering axis. unbalanced towards the rear of the carriage 70.

It should be noted that the control of the movement of the carriage 70 is particularly intuitive since an operator acts on the manual interface 30 as if he were directly moving the carriage 60 with his hands to make it perform the desired movement directly.

Without prejudice to the principle of the invention, the embodiments and construction details may be widely varied with respect to what has been described and illustrated purely by way of non-limiting example, without thereby departing from the scope of the invention as defined in the attached claims.

Claims (23)

CLAIMS 1. Manual control device (10) for controlling the movement of a real or virtual object (14), the control device (10) comprising: - a support base (31); - a manual interface (30) movable with respect to the support base (31) to control the movement of said object (14); And - coupling means (32) adapted to constrain the manual interface (30) to the support base (31), said coupling means being able to constrain the manual interface (30) to the base so as to define a first preferential axis (Z) of rotation of said interface, the manual interface (30) being rotatable around said first preferential axis (Z) to control the movement of said object (14) so that this rotates around a first instantaneous axis of rotation (Z_i), characterized by the fact that the coupling means are such as to constrain the interface (30) to the base (31) so as to define at least a second preferential axis (Zf) of rotation of the interface, the interface (30) being rotatable about said second axis (Zf) preferential to control the movement of said object (14) so that it rotates around a second instantaneous axis of rotation (Zf_i). Manual control device (10) according to claim 1, wherein said first (Z) and second (Zf) preferential axis of rotation are two parallel axes. 3. Manual control device (10) according to any one of the preceding claims, in which said coupling means allow said manual interface (30) to be moved so as to translate with respect to said support base (31) along an axis of longitudinal translation (Y), an axis of transversal translation (X) or along an oblique direction having a component along said longitudinal axis (Y) and a component along said transverse axis (X). 4. Control device according to claim 3 wherein said longitudinal axis (Y) and said transverse axis (X) constitute two preferential axes of translation of said interface (30) with respect to said support base (31). 5. Manual control device (10) according to any one of the preceding claims, in which the coupling means allow to constrain the manual interface (30) to the base (31) so as to define a third preferential axis (Za) of rotation of said interface, the interface (30) being rotatable around said third preferential axis (Za) to control the movement of said object (14) so that this rotates around a third instantaneous axis of rotation (Zf_i). 6. Manual control device (10) according to claims 3 and 5, wherein said first (Z), second (Zf) and third (Za) preferential rotation axis are aligned along said longitudinal translation axis (Y). Manual control device (10) according to any one of the preceding claims, further comprising at least a first joystick (40) coupled to said base (30) and comprising a control lever (42), the coupling means comprising means (43) ) adapted to constrain the manual interface (30) to the control lever (42), and in which said first preferential axis of rotation (Z) is defined by an axis of prevalent longitudinal extension of said control lever (42). Manual control device (10) according to claim 7, wherein the coupling means further comprise locking means (46, 47) which can be activated manually to pivot the manual interface (30) to the support base (31) in a manner that this is rotatable about said second preferential axis of rotation. Manual control device (10) according to claims 5 and 8, wherein said coupling means comprise further locking means (48, 49) which can be activated manually to pivot the manual interface (30) to the support base (31) so that this is rotatable around said third preferential axis (Za) of rotation. Manual control device (10) according to claim 7, further comprising a second joystick, coupled to said base and comprising a control lever (42), said coupling means comprising further means (43) for binding the manual interface (30) to the control lever (42) of the second joystick, and in which said second preferential axis of rotation is defined by an axis of prevalent longitudinal extension of the control lever of the second joystick. 11. Manual control device (10) according to any one of the preceding claims, wherein said coupling means comprise elastic suspension means (44,45) adapted to keep the manual interface (30) spaced apart and parallel to said base of support (3). Manual control device (10) according to claim 11, wherein the elastic suspension means comprise a system of shoes (44, 45), each shoe comprising a slider (45) slidably received in a respective seat provided in the interface manual (30) and held in position against the action of elastic means. Manual control device (10) according to any one of the preceding claims 1 to 6, wherein the coupling means comprise elastic coupling means (50, 51) having an end portion fixed to the manual interface (30) and an opposite end portion fixed to the support base (31). Manual control device (10) according to claim 13, wherein said elastic coupling means comprise helical springs (50, 51). Manual control device (10) according to claims 13 or 14, wherein rotational movements of the manual interface (30) with respect to the support base (31) are such as to cause a torsion of said elastic elements (50, 51) ). Manual control device (10) according to any one of the preceding claims 1 to 6, wherein the coupling means comprise an active movement system of said manual interface (30) and sensor means suitable for detecting forces applied by an operator to said manual interface (30), said manual control device (10) further comprising a processing and control system of said movement system for moving said manual interface (30) on the basis of said detected forces. Manual control device (10) according to claim 16, wherein said movement system comprises: - a first slide (60) having a first and a second carriage; - a second slide (61) fixed to the first carriage; - a third slide (62) fixed to the second carriage. 18. Manual control device (10) according to claim 17, wherein the second (61) and third slide (62) include a third and fourth carriage and wherein the manual interface (30) is pivotally hinged to said third and to said fourth carriage. 19. Manual control device (10) according to any of the previous claims, in which the manual interface (30) has the stylized form of said object (14). Manual control device (10) according to any one of the preceding claims, wherein the control device (10) is a control device for controlling the movement of a boat. Control system for boats (1) comprising a manual control device (10) according to any one of the preceding claims. Boat (14) comprising a manual control device (10) according to claim 20 or a control system (1) according to claim 21. Control system for handling trolleys comprising a manual control device (10) according to any one of the preceding claims 1 to 19.