JP2016019729A - 空中装置の移動を制御するための制御システムおよび方法 - Google Patents
空中装置の移動を制御するための制御システムおよび方法 Download PDFInfo
- Publication number
- JP2016019729A JP2016019729A JP2015124438A JP2015124438A JP2016019729A JP 2016019729 A JP2016019729 A JP 2016019729A JP 2015124438 A JP2015124438 A JP 2015124438A JP 2015124438 A JP2015124438 A JP 2015124438A JP 2016019729 A JP2016019729 A JP 2016019729A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- input device
- deflection
- control system
- maximum possible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 16
- 230000000670 limiting effect Effects 0.000 claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
- E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
- E06C5/04—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/06—Manipulators combined with a control cab for the operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
- E06C5/32—Accessories, e.g. brakes on ladders
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Emergency Management (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Ladders (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
12 ジョイスティック
14 処理ユニット
16 作動ユニット
18 センサ
20 計算ユニット
22 制限手段
Claims (10)
- 空中装置の移動を制御するための、詳細には消防車両の旋回可能な梯子を制御するための制御システム(10)において、偏向力によって少なくとも1つの空間的方向に偏向可能な、手動で操作可能な入力デバイスと、前記入力デバイスの偏向量を対応する速度信号に変換するための処理ユニット(14)と、前記空中装置を前記速度信号に対応する速度で移動させるための作動ユニット(16)とを備える、制御システム(10)であって、可能な最大速度を判定する判定手段(18、20)と、前記判定された可能な最大速度に応じて前記入力デバイスの偏向を相殺または限定する制限手段(22)とを有することを特徴とする、制御システム(10)。
- 前記制限手段が、前記判定された可能な最大速度に応じた復元力を、前記入力デバイスに印加するように設けられており、前記復元力が、前記偏向力に対抗して前記入力デバイスを復元させるように作用することを特徴とする、請求項1に記載の制御システム。
- 前記入力デバイスが、ジョイスティック(12)であることを特徴とする、請求項1または2に記載の制御システム。
- 前記判定手段(18)が、速度センサ、加速度センサ、荷重センサ、偏向センサ、および物体までの距離を判定するための距離センサのうちの少なくとも1つを備えることを特徴とする、請求項1〜3のいずれか一項に記載の制御システム。
- 前記判定手段(18、20)が、測定されたセンサデータと、制御対象の前記空中装置の構造パラメータに関係する所定のデータとに基づいて、可能な最大速度を判定するように設けられていることを特徴とする、請求項4に記載の制御システム。
- 空中装置の移動を制御するための、詳細には消防車両の旋回可能な梯子を制御するための方法において、手動で操作可能な入力デバイスが、偏向力によって少なくとも1つの空間的方向に偏向され、前記入力デバイスの偏向量が対応する速度信号に変換され、前記速度信号に対応する速度で、前記空中装置が移動させられる方法であって、可能な最大速度が判定され、前記判定された可能な最大速度に応じて、前記入力デバイスの偏向が相殺または限定されることを特徴とする方法。
- 前記判定された可能な最大速度に応じた復元力が、前記入力デバイスに印加され、前記復元力が、前記偏向力に対抗して前記入力デバイスを復元させるように作用することを特徴とする、請求項6に記載の方法。
- 可能な最大速度が、測定されたセンサデータと、前記制御される空中装置の構造パラメータに関係する所定のデータとに基づいて、判定されることを特徴とする、請求項7に記載の方法。
- コンピュータ・プログラムであって、そのプログラムがコンピュータ上で実行されるときに、請求項6〜8のいずれか一項に記載の各ステップを全て実行するように構成されたコンピュータ・プログラムコード手段を含む、コンピュータ・プログラム。
- 記録されたプログラムを有するコンピュータ可読媒体であって、プログラムがコンピュータ上で実行されるときに、請求項6〜8のいずれか一項に記載の各ステップを全て実行するように構成されたコンピュータ・プログラムコード手段を含む、コンピュータ可読媒体。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14173886.4 | 2014-06-25 | ||
EP14173886.4A EP2960746B1 (en) | 2014-06-25 | 2014-06-25 | Control system and method for controlling the movement of an aerial apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016019729A true JP2016019729A (ja) | 2016-02-04 |
JP6552884B2 JP6552884B2 (ja) | 2019-07-31 |
Family
ID=51022239
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015124438A Active JP6552884B2 (ja) | 2014-06-25 | 2015-06-22 | 空中装置の移動を制御するための制御システムおよび方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9739090B2 (ja) |
EP (1) | EP2960746B1 (ja) |
JP (1) | JP6552884B2 (ja) |
CN (1) | CN105217390B (ja) |
CA (1) | CA2895450C (ja) |
ES (1) | ES2663471T3 (ja) |
RU (1) | RU2695419C2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9677335B2 (en) * | 2014-04-01 | 2017-06-13 | Hme, Incorporated | Firefighting or rescue apparatus including ladder with status indicators |
US11934588B1 (en) * | 2021-02-21 | 2024-03-19 | Meta Platforms Technologies, Llc | Controller for sensing downward force applied to a movable thumbstick and providing a haptic response thereto, and methods of use thereof |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000211898A (ja) * | 1999-01-18 | 2000-08-02 | Shin Meiwa Ind Co Ltd | 高所作業車の制御装置 |
JP2009029544A (ja) * | 2007-07-25 | 2009-02-12 | Morita Holdings Corp | 高所作業車 |
US20100302017A1 (en) * | 2009-06-01 | 2010-12-02 | Econtrols, Inc. | Tactile Feedback for Joystick Position/Speed Controls |
JP2011059934A (ja) * | 2009-09-09 | 2011-03-24 | Ker:Kk | 力覚提示型ジョイスティックならびに全方向移動対象物の操作制御装置および制御方法 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2033469B2 (de) | 1970-07-07 | 1979-01-18 | Carl Metz Gmbh, 7500 Karlsruhe | Kippmomentabhängige Leitersteuerung |
SU1594484A1 (ru) * | 1988-05-19 | 1990-09-23 | Предприятие П/Я В-8670 | След ща система с ограниченным диапазоном регулировани |
RU2008199C1 (ru) * | 1992-01-29 | 1994-02-28 | Геннадий Александрович Спирин | Способ управления перемещением рабочего органа грузоподъемного устройства |
US6166723A (en) * | 1995-11-17 | 2000-12-26 | Immersion Corporation | Mouse interface device providing force feedback |
US5724068A (en) * | 1995-09-07 | 1998-03-03 | Microsoft Corporation | Joystick with uniform center return force |
JP3167958B2 (ja) * | 1997-05-08 | 2001-05-21 | コナミ株式会社 | 多方向切替操作装置 |
US6020875A (en) * | 1997-10-31 | 2000-02-01 | Immersion Corporation | High fidelity mechanical transmission system and interface device |
US20030158635A1 (en) * | 1999-07-30 | 2003-08-21 | Oshkosh Truck Corporation | Firefighting vehicle with network-assisted scene management |
US6882917B2 (en) * | 1999-07-30 | 2005-04-19 | Oshkosh Truck Corporation | Steering control system and method |
US20080215700A1 (en) * | 1999-07-30 | 2008-09-04 | Oshkosh Truck Corporation | Firefighting vehicle and method with network-assisted scene management |
US6993421B2 (en) * | 1999-07-30 | 2006-01-31 | Oshkosh Truck Corporation | Equipment service vehicle with network-assisted vehicle service and repair |
US7107129B2 (en) * | 2002-02-28 | 2006-09-12 | Oshkosh Truck Corporation | Turret positioning system and method for a fire fighting vehicle |
WO2004021330A1 (en) * | 2002-08-29 | 2004-03-11 | Dept. Of Veterans Affairs | Variable compliance joystick with compensation algorithms |
JP4584019B2 (ja) * | 2005-05-10 | 2010-11-17 | 三菱電機ビルテクノサービス株式会社 | エレベータの制御装置 |
US7658349B2 (en) | 2006-10-26 | 2010-02-09 | Honeywell International Inc. | Pilot flight control stick haptic feedback system and method |
EP2288758B1 (en) * | 2008-05-27 | 2018-07-04 | Volvo Construction Equipment AB | A method and a system for operating a working machine |
DE602008006435D1 (de) * | 2008-12-16 | 2011-06-01 | Iveco Magirus | Sicherheitsvorrichtung für einen Leitersatz |
CN102606721B (zh) * | 2012-03-20 | 2014-08-27 | 宁波弗莱格液压有限公司 | 变速杆操纵机构 |
CN103386687A (zh) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 一种具有力觉临场感的2-dof机器人遥操作装置 |
CN103406908A (zh) * | 2013-07-31 | 2013-11-27 | 北京邮电大学 | 三自由度转动力反馈手控器 |
-
2014
- 2014-06-25 ES ES14173886.4T patent/ES2663471T3/es active Active
- 2014-06-25 EP EP14173886.4A patent/EP2960746B1/en active Active
-
2015
- 2015-06-22 JP JP2015124438A patent/JP6552884B2/ja active Active
- 2015-06-22 US US14/746,274 patent/US9739090B2/en active Active
- 2015-06-23 CA CA2895450A patent/CA2895450C/en active Active
- 2015-06-24 RU RU2015125018A patent/RU2695419C2/ru active
- 2015-06-25 CN CN201510359433.0A patent/CN105217390B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000211898A (ja) * | 1999-01-18 | 2000-08-02 | Shin Meiwa Ind Co Ltd | 高所作業車の制御装置 |
JP2009029544A (ja) * | 2007-07-25 | 2009-02-12 | Morita Holdings Corp | 高所作業車 |
US20100302017A1 (en) * | 2009-06-01 | 2010-12-02 | Econtrols, Inc. | Tactile Feedback for Joystick Position/Speed Controls |
JP2011059934A (ja) * | 2009-09-09 | 2011-03-24 | Ker:Kk | 力覚提示型ジョイスティックならびに全方向移動対象物の操作制御装置および制御方法 |
Also Published As
Publication number | Publication date |
---|---|
EP2960746B1 (en) | 2017-12-27 |
CA2895450C (en) | 2021-08-31 |
US20150376945A1 (en) | 2015-12-31 |
ES2663471T3 (es) | 2018-04-12 |
JP6552884B2 (ja) | 2019-07-31 |
RU2015125018A3 (ja) | 2018-12-13 |
RU2015125018A (ru) | 2017-01-10 |
CN105217390B (zh) | 2019-02-01 |
EP2960746A1 (en) | 2015-12-30 |
CN105217390A (zh) | 2016-01-06 |
RU2695419C2 (ru) | 2019-07-23 |
CA2895450A1 (en) | 2015-12-25 |
US9739090B2 (en) | 2017-08-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9849595B2 (en) | Contact force limiting with haptic feedback for a tele-operated robot | |
US6430473B1 (en) | Power assist apparatus and control method for same | |
JP6392910B2 (ja) | ロボットの安全確保動作機能を備えた人間協働ロボットシステム | |
US20190210854A1 (en) | System comprising a control station and a controlled device with improved operating safety | |
CN111479660A (zh) | 包括确保停止时间和距离的安全系统的机器人 | |
CA2664519A1 (en) | Systems and methods for haptics-enabled teleoperation of vehicles and other devices | |
US11897135B2 (en) | Human-cooperative robot system | |
JP5594996B2 (ja) | 航空機の操縦システム | |
JP6552884B2 (ja) | 空中装置の移動を制御するための制御システムおよび方法 | |
WO2013058171A1 (ja) | 航空機及び航空機の制御方法 | |
JP2013204260A (ja) | 車両の遠隔操作装置、車両及び車両の遠隔操作方法 | |
JP6976314B2 (ja) | 商用車をハンドオーバするためのシステムおよび方法 | |
US11649146B2 (en) | Safety system | |
JP6447141B2 (ja) | ロボットの非常停止方法、ロボットの制御装置 | |
KR20120037128A (ko) | 시간지연추정을 이용한 로봇시스템의 외력 추정방법 | |
US20220362943A1 (en) | System for Performing an Input on a Robotic Manipulator | |
KR20150000315A (ko) | 마스터-슬레이브 로봇 장치 및 그를 제어하는 마스터의 초기위치를 가이드하는 방법 | |
JP2007168000A (ja) | ロボットのダイレクト操作装置 | |
JP7161394B2 (ja) | ロボットシステム及びロボットシステムの制御方法 | |
Kuneguchi et al. | Operational assistance system using 3-DOF joystick with reaction force display to load transfer machine in a plane | |
WO2021038990A1 (ja) | 現場監視装置および現場監視システム | |
EP3795528B1 (en) | Device for remotely commanding a crane mounted to a truck and for moving said truck, system and method | |
EP4170100B1 (en) | Method and system for controlling the stability conditions of a machine | |
JP2012228736A (ja) | オフライン教示データ作成方法、及びオフライン教示データ作成システム | |
KR20150072568A (ko) | 원격제어용 조작장치 및 이에 의해 제어되는 로봇 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180515 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20190306 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190312 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190604 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190618 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190703 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6552884 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |