WO2019175107A1

WO2019175107A1 - Operating device

Info

Publication number: WO2019175107A1
Application number: PCT/EP2019/056026
Authority: WO
Inventors: Boris Zils
Original assignee: Moba Mobile Automation Ag
Priority date: 2018-03-12
Filing date: 2019-03-11
Publication date: 2019-09-19
Also published as: EP3539820A1; EP3539820B1

Abstract

The invention relates to an operating device for a construction machine, comprising a base, a manual controller, a movement sensor, and a force sensor. The manual controller is arranged at an angle to the base and can be moved in at least one dimension relative to the base. The movement sensor is designed to determine the position and/or the movement of the manual controller relative to the base and to output a movement signal depending on the determined position and/or the determined movement. The force sensor is designed to determine a force acting on the manual controller and to output a force signal depending on the determined force.

Description

operating device

description

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

Joysticks or hand control generally serve to a construction machine, such. As an aerial work platform or in particular to control its boom. For example, in aerial work platforms, these hand control transmitters are located on the platform so that the operator can control the aerial work platform on which he is standing. A danger is that the operator is trapped in the control or in the movement of the Hubarbeits- by the same and thus may no longer operate the controller properly. Already in the prior art, the problem is addressed here.

Known from the prior art is the control system described in European Patents 2 462 048 and 2 462 049 of a control cabin with increased safety. Therein, a protective or load switch is essentially described, which is arranged on a movable control panel. If the machine operator is in a situation as described above, the load switch is triggered by the movement of the control panel. Furthermore, EP 2 794 460 A1 describes a hydraulic work platform with a control station, wherein the work platform has a control console with two semis, which each have at least one lever or a knob for manual control of the work platform. The semi-desks are arranged side of an operator, so that no control lever or knob is in front of the operator.

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

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

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

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

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

The object is solved by the independent claims.

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

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

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

According to further exemplary embodiments, the operating unit comprises an evaluation unit which, in particular, receives the force signal of the at least one force sensor in order to detect an overload. This externality feature can be integrated into the evaluation electronics of the joystick that are already present.

According to exemplary embodiments, the evaluation electronics are designed, for example, to stop a movement of the construction machine or a movement speed of components of the construction machine, such as, for example, an extension of the telescopic arm, at the specific overload. In this respect, in an overload of the joystick, that is, when it is operated beyond the maximum range of motion, for example, a movement of the telescopic arm of the machine stopped and triggered according to other embodiments, a countermovement, through which the operator can later free himself from the trapped situation , Here, a countermovement is a movement in a preferred manner opposite direction of movement, in general case but different directions of movement relative to the current movement.

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

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

According to further embodiments, an alarm signal may also be output when the joystick is in a partially disabled state, for example, and yet is attempting to move in either direction. This force can be detected by the evaluation electronics with the aid of the at least one force sensor, so that the operator then receives an appropriate message to unlock / unlock the joystick on the display or can generally be output.

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

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

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

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

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

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

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

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

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

Determining a position and / or moving the joystick relative to the bottom plate and outputting a motion signal dependent on the determined position and / or motion;

Determining a force prevailing on the joystick to detect an overload signal and outputting a force signal dependent on the determined force; and

Influencing the movement of the construction machine or components of the construction machine, such as a telescopic arm, depending on the movement signal and in dependence of the force signal. Further developments are defined below accordingly. Exemplary embodiments of the present invention are explained below with reference to the accompanying drawings:

1 shows a schematic representation of an operating device according to a base embodiment;

FIGS. 2a-c a schematic illustration of an aerial work platform during the movement, to illustrate how the safety problems solved by means of embodiments of the present invention can occur;

3 shows a schematic illustration of a further operating device according to an extended exemplary embodiment;

4 shows a schematic representation of an operating device together with an operator for illustration of the possibly arising dangerous situation, starting from the operating device from FIG. 3;

5a-5b are schematic representations of an operating device, in particular one

Manual control transmitter according to extended embodiments;

6a-6b are schematic representations of the manual control transmitter from FIGS. 5a to 5b, wherein the determination of the force resulting from the overload is illustrated here; and

7a-7b are schematic representations for illustrating the deformation of components of the operating device according to embodiments.

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

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

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

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

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

As soon as an overload is detected, it is possible to intervene in the control of the aerial work platform in accordance with exemplary embodiments. If, for example, it is assumed that the joystick 300 is moved forwards in the direction A so that the lifting platform is extended in this case, for example, then in the event of an overload resulting from a movement in the direction A, the corresponding control signal from the evaluation unit 500 can not More will be passed, but the movement of the jib will be stopped. Alternatively, it would also be conceivable that the movement is reversed, as if the joystick 300 is moved in the opposite direction in order to free the operator from the entrapment situation in the case of damage outlined above. Hereinafter, the structure of the operating device will be explained in detail and in particular exemplary installation situations thereof in an aerial work platform.

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

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

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

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

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

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

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

Also, overloading, i. H. a beyond the maximum allowable load limit force acting on the joystick lever 30, as shown schematically in Figs. 6a and 6b, are detected with the at least one arranged on the circuit board 43 DMS sensor 41 and / or 42. The overloading of the joystick lever 30 is indicated schematically by the dashed line 44, which shows that joystick 30 was actuated with a stronger force FOL compared to the illustration in FIG. 5b. In the case of such overloading of the joystick, there are stronger mechanical stresses and also clear deformations of the printed circuit board 43. In those regions denoted by reference numerals 45a and 45b, the printed circuit board 43 lowers or lifts when overloaded. This should also be made clear by the two arrows FD and FU, which show a direction of movement of the printed circuit board areas 45a and 45b up and down. Such mechanical overstresses can also be measured with the present invention by means of the DMS sensors 41 and / or 42 arranged on the printed circuit board 43. If such an overstress or overload is detected by an evaluation unit (see FIG. 1), then, for example, a collision situation as described above may exist, ie. H. the operator could be clamped between the building porch 6 and the operating unit 15, wherein the upper body 2 of the operator 1 then presses the joystick lever 30 with a force FOL exceeding the maximum permissible load limit.

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

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

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

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

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

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

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

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

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

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

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

In other words, an embodiment of the method according to the invention is thus a computer program which has a program code for performing one of the methods described hereinbefore when the computer program is running on a computer. A further exemplary embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded. The data carrier, the digital storage medium or the computer-readable medium are typically representational and / or non-transitory or non-transient.

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

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

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

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

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

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

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

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

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

LIST OF REFERENCE NUMBERS

1 person / operator

2 upper body of person / operator

5 building wall

6. Building / extension (for example balcony)

10 aerial work platform

11 vehicle chassis

12 crane mechanism

13 telescopic boom

14 basket

15 operating unit

16 lifting cylinders

20a / b joystick module

21 keyboard module

22 display

30 joystick

31 joystick knob

32 bellows

33 locking

35a / b bracket

36 fasteners

40 Hall sensor

41 strain gauge sensor

42 strain gauge sensor

43 circuit board

44 Limit to overload

45a / b board areas

B Movement direction telescopic boom

F _d , F _U forces PCB

F, F _0L forces on joystick _knob

C, U, Z Movement directions Joystick / hand control transmitter 150 Control unit / operating device

300 hand control transmitter / joystick

301 lotus point

401 force signal Motion signal, 410 "force sensor

Base plate / circuit board evaluation unit

Claims

claims

An operating device (150, 15) for a construction machine, comprising: a bottom plate (430, 43); a manual control transmitter (30, 300) disposed at an angle to the bottom plate (430, 43) and movable at least one-dimensionally with respect to the bottom plate (430, 43); and a motion sensor (40, 400) configured to determine a position and / or a movement of the manual control transmitter (30, 300) relative to the bottom plate (430, 43) and depending on the particular position and / or the particular Movement to output a motion signal; and a force sensor (410, 410 ', 41, 42) which is arranged in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43) and which is formed around a on the manual control transmitter (30, 300) acting and by the manual control transmitter (30, 300) on the bottom plate (430, 43) transmitted ne force to be determined and output depending on the determined force a Kraftig- nal (401).

Second operating device (150, 15) according to claim 1, further comprising an evaluation electronics (500), wherein the evaluation electronics (500) is adapted to receive the force signal (401) and on exceeding a predetermined threshold to overload determine.

3. Operating device (150, 15) according to one of the preceding claims, wherein the force sensor (410, 410 ', 41, 42) is realized by means of strain gauges.

4. operating device (150, 15) according to claim 3, wherein the force sensor (410, 410 ',

41, 42) or the strain gauge formed force sensor (410, 410 ', 41, 42) is adapted to determine a deformation of the bottom plate (430, 43) or the bottom plate (430, 43) connected component (43) and output a force signal (401) in response to the deformation.

5 operating device (150, 15) according to one of the preceding claims, wherein the operating device in addition to the force sensor (410, 410 ', 41, 42) comprises a further force sensor (410, 410', 41, 42) and the force sensor (410, 410 ', 41, 42) and the further force sensor (410, 410', 41, 42) are integrated in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43), that these are arranged around a Lotfußpunkt (301) of the manual control transmitter (30, 300) on the bottom plate (430, 43) or with the bottom plate (430, 43) verbun dene component (43) around.

6. Operating device (150, 15) according to one of the preceding claims, wherein the motion sensor (40, 400) in the bottom plate (430, 43) or in a with the bottom plate (430, 43) connected component (43) is integrated ; and / or wherein the motion sensor (40, 400) in a Lotfußpunkt (301) of the Handsteu- ergebers (30, 300) on the bottom plate (430, 43) or with the bottom plate (430, 43) connected component (43) is.

7. Operating device (150, 15) according to one of the preceding claims, wherein the motion sensor (40, 400) is a Hall sensor (40).

8. Operating device (150, 15) according to claims 3, 4, 5, 6 or 7, wherein the component (43) connected to the bottom plate (430, 43) comprises a printed circuit board into which the force sensor (410, 410 ', 41, 42) and / or the motion sensor (40, 400) are integrated.

9. Operating device (150, 15) according to one of claims 2 to 8, wherein the evaluation electronics (500) is designed to stop at the specific overload movement of the construction machine (10) and / or at a low overload, a movement speed to reduce the construction machine (10).

10. operating device (150, 15) according to any one of claims 2 to 9, wherein the evaluation electronic (500) is designed to solve in case of overload countermovement, wherein the countermovement movement different from an ac tual movement of the construction machine (10 ).

1 1. Operating device (150, 15) according to one of claims 2 to 10, wherein the

Transmitter (500) is designed to be in the presence of an overload and at

Presence of a locked manual control transmitter (30, 300) to issue an indication to unlock the manual control transmitter (30, 300) and / or to issue an indication regarding the overload in the presence of an overload.

12. Operating device (150, 15) according to one of claims 2 to 11, wherein the evaluation electronics (500) is designed to store the force signal (401) and / or to store a maximum value for the force signal (401).

13. Operating device (150, 15) according to one of claims 2 to 12, wherein the

Evaluation electronics (500) is designed to detect a drift of the force sensor (410, 410 ',

41, 42) and / or a drift of the motion sensor (40, 400) to detect.

14. construction machine (10) or aerial work platform with an operating device (150, 15) according to one of the preceding claims.

15. A method for operating a construction machine (10) using an operating device (150, 15) with a bottom plate (430, 43); a manual control transmitter (30, 300) disposed at an angle to the bottom plate (430, 43) and movable at least one-dimensionally relative to the bottom plate (430, 43); a motion sensor (40, 400); and a force sensor (410, 410 ', 41, 42) disposed in the bottom plate (430, 43) or in a component (43) connected to the bottom plate (430, 43), the method comprising the steps of :

Determining a position and / or movement of the manual control transmitter (30, 300) relative to the bottom plate (430, 43) and outputting a motion signal (41 1) dependent on the determined position and / or motion;

Determining a force prevailing on the manual control transmitter (30, 300) by means of the force sensor (410, 410 ', 41, 42) to detect an overload and outputting a force signal (401) dependent on the determined force; and Influencing the movement of the construction machine (10) or components (12, 13, 16) of the construction machine (10) in dependence of the movement signal (411) and in dependence of the force signal (401).