WO2000034840A1 - Dispositif de commande pourvu d'une manette avec au moins deux degres de liberte de deplacement - Google Patents

Dispositif de commande pourvu d'une manette avec au moins deux degres de liberte de deplacement Download PDF

Info

Publication number
WO2000034840A1
WO2000034840A1 PCT/EP1999/009443 EP9909443W WO0034840A1 WO 2000034840 A1 WO2000034840 A1 WO 2000034840A1 EP 9909443 W EP9909443 W EP 9909443W WO 0034840 A1 WO0034840 A1 WO 0034840A1
Authority
WO
WIPO (PCT)
Prior art keywords
handle
operating device
function
torque
display
Prior art date
Application number
PCT/EP1999/009443
Other languages
German (de)
English (en)
Inventor
Oliver Kirsch
Guido Meier-Arendt
Ulrich Roskoni
Joachim Schulz
Original Assignee
Mannesmann Vdo Ag
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 Mannesmann Vdo Ag filed Critical Mannesmann Vdo Ag
Priority to EP99965433A priority Critical patent/EP1119803B1/fr
Priority to AT99965433T priority patent/ATE241164T1/de
Priority to AU20951/00A priority patent/AU2095100A/en
Priority to DE59905675T priority patent/DE59905675D1/de
Publication of WO2000034840A1 publication Critical patent/WO2000034840A1/fr

Links

Classifications

    • 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 an operating device with a handle with at least two degrees of freedom of adjustment, in which the position of the handle can be changed under the action of an actuating force.
  • a handle in the form of, for example, a joystick about an X axis and can be pivoted about a Y-axis
  • operating devices are known in which a handle is arranged to be displaceable within a plane.
  • joysticks are known which have at least one type of haptic feedback in the form of changeable forces acting on the handle. that these joysticks unintentionally perform their own movements when they are not being held by an operator's hand, there are additional sensor elements which detect the presence or absence of an operator's hand and the joystick in the absence of a hand in a green position
  • the object of the invention is therefore to provide an operating device in which additional sensors for determining the presence of a hand on the handle or gripping a handle by means of one hand can be dispensed with
  • the handle can be moved to a desired position as a function of the actual position by means of at least one controller and at least one drive element, the position being The force acting on the handle and / or the torque acting on the handle can be modulated as a function of the actual position
  • the invention has the advantage that the handle can take several different positions after removing the operator's hand, depending on the last position in which it was before the operator let go
  • One possibility of modulating the force and / or torque acting on the handle is that the force acting on the handle and / or the torque acting on the handle can be limited by means of a force table and / or torque table depending on the actual position As a result, different haptic feedback to the operator can be implemented in a simple manner by the handle
  • a selection function for a function selected by means of the handle can be designed in a simple manner and logically for the operator
  • the selection function can also be triggered by other input devices, such as, for example, buttons, which are preferably arranged in the vicinity of the handle
  • the operator By means of a display on which the function groups, functions and / or function values to be selected by means of the handle can be represented, the operator also receives visual feedback about the setting just made using the handle
  • the torque curve of a handle can be designed in such a way that when a display mark, which is controlled by means of the handle via the display, comes close to a special point, the handle points to a the position corresponding to the geographical point is regulated and the operator thus has the impression that the display marker is being pulled onto the geographical point and the handle is being moved to a position corresponding to the geographical point
  • the operability can be further improved by an acoustic feedback.
  • acoustic feedback For example, single tones, tone sequences or spoken words can be used
  • FIG. 1 shows an example of an operating device according to the invention
  • Figure 2 shows the exemplary ideal torque curve in a
  • Figure 3 shows a possible block diagram of the control loop for a
  • FIG. 4 shows an example of an angular profile and torque profile of the block diagram from FIG. 3,
  • Figure 5 shows an exemplary embodiment of the content of an advertisement
  • FIGS. 6 and 7 further examples of a display
  • Figure 8 shows an example of a map shown on a display
  • a handle 1 of a joystick 2, shown schematically in FIG. 1, can be rotated about an X axis and a Y axis.
  • a trigger unit not shown, such as a button
  • Two drive elements 3, 4 can each have a torque.
  • An arithmetic unit 5 can implement different torque profiles of the handle 1 by appropriately controlling the drive elements 3, 4, so that an operator can feel different haptic feedback messages FIG.
  • FIG. 2 shows an example of a torque curve, for example a rotation of the handle 1 about the X-axis, represents notches of the same size. If the handle 1 is in the angular range between a and c, for example, it is moved into position b by the drive element 3 without external force moved In the angular ranges c - e or e - g the handle 1 is moved to position d or f accordingly without external force.
  • the drive element 3 If an operator moves the handle from position b in the positive direction, the drive element 3 first generates a torque M DX , which is opposite to the movement, so that the operator becomes an ever larger nde force must to continue the movement If the handle 1 is moved over the point c, the drive element 3 generates a torque which acts in the direction of movement, so that the handle 1 is pulled to the point d, the operator has a feeling a detent at point d Due to the different shape of the torque curve, different noticeable detent steps (e.g. soft, soft, hard) can be simulated
  • FIG. 3 shows an embodiment of the control circuit according to the invention using the example of the drive element 3.
  • the control circuit comprises the joystick 2 with the handle 1, an angle detection device 6, a target position specification device 7, an adder 8, a controller 9, a torque table 10 and the drive element 3
  • Angle detection device 6 detects the position of the handle 1.
  • the target position specification device 7 determines according to the position of the handle 1 and the predefined torque curve (for example the torque curve from FIG. 2) the desired position of the handle 1.
  • the predefined torque curves can vary depending on the operating task being carried out in order to inform the operator about the current function.
  • the control difference between the actual position and the target position is formed in the adder 8 and passed to the controller 9, which determines a corresponding manipulated variable.
  • This manipulated variable is compared with the torque table 10, in which, for example, the torque curve shown in FIG. 2 is stored. If the manipulated variable is greater than the value of the torque table 10, it is limited to the value D of the torque table, otherwise the unchanged manipulated variable R controls the drive element 3 and generates a corresponding torque M DX , M DY on the handle 1.
  • the time course of the control difference and the modulated manipulated variable S is shown in FIG. 4 using the example of control to a target position.
  • the handle 1 is at a target position ⁇ SoH at the time t 0 .
  • the handle 1 is deflected by the operator by the angle ⁇ at the time t and a control difference ⁇ arises at the time t 2 .
  • the operator 1 then releases the handle (t 3 ).
  • the controller reacts to the control difference ⁇ with the manipulated variable R.
  • the torque curve D which is stored in Table 10, modulates or limits the value of the manipulated variable R to its value, provided that the amount is smaller than the value of the manipulated variable R. So the drive element 3 is controlled in the areas between the times t 1 to 1 3 and t 4 to 1 5 with the value of the torque curve D. During the remaining time, the manipulated variable R controls the drive element 3 unchanged.
  • the control for the drive element 4 is constructed identically. Compound torque profiles can also be generated by means of the drive elements 3 and 4.
  • the controller 9, torque tables 10 and the target position setting device 7 can be implemented by the computing unit 5.
  • FIG. 5 shows a possible representation of an additional display 11.
  • Five different functions F1-F5 can be selected, the next higher or lower function being selected by rotating the handle 1 about the X axis.
  • the currently selected function can be displayed, for example, by changing the color of the selected function.
  • the switchover to the next function can be perceived by a torque curve as in FIG. 2 by noticeable notches, each notch F1-F5 being assigned a notch.
  • the selected functions can be selected, for example, either by rotating the handle 1 about the X axis or by moving the handle in its axial direction.
  • the selection can also be made by a selection element, not shown, arranged on the handle 1 or in its vicinity, for example a push button. If only two functions can be selected, as shown in FIG.
  • function F6 offers the possibility of leaving this menu. If the function F6 is selected, this can be represented, for example, by a special feel of the handle 1, for example the simulation of a rutting machine.
  • a cursor or a display mark 12 can be controlled by means of the handle 1 via the display 11, for example the display mark 12 moves when it rotates the handle 1 around the X axis in the vertical direction and when the handle 1 rotates around the Y axis in the horizontal direction.
  • the indicator mark 12 comes close to particular points 13, for example of a hotel, an airport or a train station, a torque is generated generated, the direction of which corresponds to the direction of the indicator mark to the particular point, so that an operator is given the feeling that the indicator mark 12 is drawn to the special point 13.
  • the special point 13 can then be moved by moving the handle 1 in its axial direction or selected by pressing a separate button.
  • the destination can be entered for a navigation system located in the motor vehicle. It is of course also possible to select any other point on the map by moving the display marker 12 accordingly to the corresponding point and in the one described above Way to choose
  • every conceivable object can be shown on the display and every point on the display can be selected. For example, a technical drawing can be displayed

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • User Interface Of Digital Computer (AREA)
  • Surgical Instruments (AREA)
  • Rotary Switch, Piano Key Switch, And Lever Switch (AREA)
  • Domestic Plumbing Installations (AREA)
  • Switches With Compound Operations (AREA)
  • Mechanically-Actuated Valves (AREA)

Abstract

L'invention concerne un dispositif de commande comportant une manette avec au moins deux degrés de liberté de déplacement, dans lequel la position de la manette peut être modifiée sous l'effet d'une force d'actionnement manuelle et la manette dispose d'au moins une réponse aptique sous la forme de forces et/ou de couples variables agissant sur elle. Selon l'invention, il est prévu que la manette (1) puisse être déplacée, en fonction de sa position réelle, jusqu'à une position de consigne, au moyen d'au moins un régulateur (9) et d'au moins un élément d'entraînement (3), la force et/ou le couple agissant sur la manette pouvant être modulés en fonction de la position réelle.
PCT/EP1999/009443 1998-12-09 1999-12-03 Dispositif de commande pourvu d'une manette avec au moins deux degres de liberte de deplacement WO2000034840A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP99965433A EP1119803B1 (fr) 1998-12-09 1999-12-03 Dispositif de commande pourvu d'une manette avec au moins deux degres de liberte de deplacement
AT99965433T ATE241164T1 (de) 1998-12-09 1999-12-03 Bedienvorrichtung mit einer handhabe mit mindestens zwei verstellfreiheitsgraden
AU20951/00A AU2095100A (en) 1998-12-09 1999-12-03 Operating device comprising a lever with at least two degrees of freedom of displacement
DE59905675T DE59905675D1 (de) 1998-12-09 1999-12-03 Bedienvorrichtung mit einer handhabe mit mindestens zwei verstellfreiheitsgraden

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19856722.7 1998-12-09
DE19856722A DE19856722A1 (de) 1998-12-09 1998-12-09 Bedienvorrichtung mit einer Handhabe mit mindestens zwei Verstellfreiheitsgraden

Publications (1)

Publication Number Publication Date
WO2000034840A1 true WO2000034840A1 (fr) 2000-06-15

Family

ID=7890462

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1999/009443 WO2000034840A1 (fr) 1998-12-09 1999-12-03 Dispositif de commande pourvu d'une manette avec au moins deux degres de liberte de deplacement

Country Status (5)

Country Link
EP (1) EP1119803B1 (fr)
AT (1) ATE241164T1 (fr)
AU (1) AU2095100A (fr)
DE (2) DE19856722A1 (fr)
WO (1) WO2000034840A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10012436A1 (de) * 2000-03-15 2001-10-11 Volkswagen Ag Stellelement
KR100463757B1 (ko) * 2002-07-30 2004-12-29 비엔비넷(주) 수동 자유도를 갖는 2자유도 햅틱장치
DE102004017148B4 (de) 2003-04-10 2022-02-24 Caterpillar Inc. Bedienereingabegerät mit fühlbarer Rückmeldung

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3920559B2 (ja) * 2000-11-10 2007-05-30 アルプス電気株式会社 手動入力装置
DE10061619A1 (de) * 2000-12-11 2002-06-20 Bosch Gmbh Robert Bedienvorrichtung
EP1302834A1 (fr) 2001-10-12 2003-04-16 Preh-Werke GmbH & Co. KG Elément d'actionnement
DE10248993A1 (de) * 2002-10-21 2004-04-29 BSH Bosch und Siemens Hausgeräte GmbH Betätigungsvorrichtung für eine Kochmulde
JP4030437B2 (ja) 2003-01-23 2008-01-09 アルプス電気株式会社 画像情報表示装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0493795A1 (fr) * 1990-12-31 1992-07-08 Honeywell Inc. Levier de commande
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
WO1995032459A1 (fr) * 1994-05-19 1995-11-30 Exos, Inc. Systeme de simulation interactif comprenant un dispositif d'entree pour la retroaction de la force
US5691898A (en) * 1995-09-27 1997-11-25 Immersion Human Interface Corp. Safe and low cost computer peripherals with force feedback for consumer applications

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4205875A1 (de) * 1992-02-26 1993-09-02 Vdo Schindling Bedienvorrichtung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0493795A1 (fr) * 1990-12-31 1992-07-08 Honeywell Inc. Levier de commande
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
WO1995032459A1 (fr) * 1994-05-19 1995-11-30 Exos, Inc. Systeme de simulation interactif comprenant un dispositif d'entree pour la retroaction de la force
US5691898A (en) * 1995-09-27 1997-11-25 Immersion Human Interface Corp. Safe and low cost computer peripherals with force feedback for consumer applications

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10012436A1 (de) * 2000-03-15 2001-10-11 Volkswagen Ag Stellelement
KR100463757B1 (ko) * 2002-07-30 2004-12-29 비엔비넷(주) 수동 자유도를 갖는 2자유도 햅틱장치
DE102004017148B4 (de) 2003-04-10 2022-02-24 Caterpillar Inc. Bedienereingabegerät mit fühlbarer Rückmeldung

Also Published As

Publication number Publication date
EP1119803B1 (fr) 2003-05-21
ATE241164T1 (de) 2003-06-15
AU2095100A (en) 2000-06-26
EP1119803A1 (fr) 2001-08-01
DE19856722A1 (de) 2000-06-15
DE59905675D1 (de) 2003-06-26

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