WO2021121900A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

Info

Publication number
WO2021121900A1
WO2021121900A1 PCT/EP2020/083605 EP2020083605W WO2021121900A1 WO 2021121900 A1 WO2021121900 A1 WO 2021121900A1 EP 2020083605 W EP2020083605 W EP 2020083605W WO 2021121900 A1 WO2021121900 A1 WO 2021121900A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
joystick
control device
deflection
vibration generator
Prior art date
Application number
PCT/EP2020/083605
Other languages
German (de)
English (en)
Inventor
Thomas Haug
Original Assignee
Thomas Haug
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 Thomas Haug filed Critical Thomas Haug
Priority to EP20816443.4A priority Critical patent/EP4078326A1/fr
Publication of WO2021121900A1 publication Critical patent/WO2021121900A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the invention relates to a control device, such as in particular a portable remote control, for controlling an object according to the preamble of claim 1.
  • This control device has a control housing on which at least one joystick is pivotably held.
  • the joystick has a first deflection area with a first control characteristic and a second deflection area with a second control characteristic.
  • the control device has a vibration generator for generating a tactilely perceptible vibration movement on the joystick and an activation device for activating the vibration generator.
  • the vibration generator can be activated in an initial position as a function of a deflection angle of a longitudinal axis of the joystick with respect to a position of the longitudinal axis. In this way, feedback is given to the user as a function of a control position of the joystick.
  • a control device of a work machine such as an excavator
  • This has a joystick with a vibration element, a work machine and a sensor carried along with the work machine.
  • the vibration element can be activated on the joystick.
  • feedback can be given to the user, for example with regard to a threshold value reached on an excavator shovel for a loading weight or a digging force, a working space limitation or contact with an obstacle.
  • US10,377,458B1 describes a joystick for controlling a motor boat, which has two different control characteristics in two deflection areas. In both Deflection areas, different biases in the direction of its rest position or different vibrations are generated on the joystick.
  • the object of the invention is to enable easier and more precise operation of a generic control device with a joystick.
  • control device with the features of claim 1.
  • the control characteristics in the deflection areas have a mutually different proportionality between an angle change of the joystick and a transmitted control signal corresponding to a control variable.
  • relatively large areas of a control variable of the remotely controlled object can be covered, such as, for example, a speed or force generated thereon.
  • the vibration generator is activated by the activation device when a critical angle between the first and the second deflection area is reached. This makes it possible, for example, to predefine areas with different control behavior on the joystick and to indicate to the user that such a predetermined area has been reached by briefly activating the vibration generator.
  • the different control areas enable the user to carry out relatively diverse and complex control processes with just one joystick, without losing track of the current position of the joystick or the current control area.
  • the transition from the first deflection area to the second deflection area or the other way around is clearly signaled to the user without having to look at the joystick.
  • he can safely adjust to the change in the control characteristics, which leads to a changed control of a process variable of the remotely controlled object.
  • the changed controlled process variable can be, for example, a force and / or speed generated on the object.
  • Certain control areas can be predefined on the joystick in which relatively small changes in the relevant control variable can be precisely controlled.
  • At least one further critical angle at the transition to at least one further deflection area with a further control characteristic is provided on which the vibration generator can be activated by the activation device.
  • the critical angles are advantageously provided circumferentially around the starting longitudinal axis. In this way, the different control areas of the joystick can be controlled independently of a deflection direction.
  • the control variable corresponding to the transmitted control signal advantageously includes a speed of the object or a functional part of the object, whereby a single joystick can cover a relatively large speed range within which even small changes in speed can be controlled precisely.
  • the activation device has an angle sensor for determining an angular position of the joystick in order to be able to ensure an exact control of the vibration generator as a function of the current control position of the joystick.
  • the activation device has activation electronics that are integrated into control electronics of the control device is integrated. In this way, the additional costs and the additional assembly effort for setting up the vibration function can be minimized.
  • the vibration generator is attached to the joystick in order to be able to generate a vibration signal that can be haptically perceived by the user using simple means.
  • the vibration generator is attached to the control housing, whereby it can be accommodated on the joystick without any problems even with relatively large external dimensions, for example on or adjacent to its pivot bearing.
  • Figure 1 shows a control device according to the invention for controlling an object
  • FIG. 2 shows a plan view of an upper housing part of the control device according to FIG.
  • Figure 3 is a view of a rear side of the upper housing part according to Figure 2 and
  • FIG. 4 shows a side view of the control device in direction IV from FIG.
  • the remotely controlled object can be formed, for example, by a vehicle, a lifting device or some other adjustable or drivable device, such as a device or a system for industrial or commercial applications.
  • the control device 2 has a control housing 6 on which at least one joystick 8 is pivotably mounted.
  • at least one joystick 8 is pivotably mounted.
  • further operating elements are provided, which are designed, for example, as a display 10 and as push buttons 12.
  • the operating means serve at least partially as an interface for the input of control commands, on the basis of which the control device 2 generates control signals S and transmits them to the object 4.
  • control housing 6 is designed in at least two parts and has an upper housing part 14 and a housing part 16 which can be removed therefrom.
  • the upper housing part 14 forms an outer side 18 from which the joystick 8 protrudes, and on a rear side 20 facing away from it a receiving space 22 that can be closed by the housing part 16 , is supplied with electrical power.
  • the control electronics 24 are connected to all operating elements and generate the control signal S as a function of the signals received from them.
  • the control electronics 24 are connected to an angle sensor 28 for determining an angular position of the joystick 8.
  • An activation device 30 can also be controlled as a function of this angular position.
  • a vibration generator 32 can be activated, which is used to generate a tactilely perceptible vibration movement.
  • the vibration generator 32 is arranged, for example, on the joystick 8 itself or on the control housing 6 in such a way that the generated vibrations can be perceived by the user's hand lying against it or holding it.
  • the activation device 30 preferably has activation electronics 34 integrated in the control electronics 16, which can be implemented purely in terms of programming, for example. This works in such a way that it activates the vibration generator 32 as soon as a longitudinal axis LA of the joystick 8 according to FIG Output longitudinal axis LAO, along which the joystick 8 extends in an unloaded state, is deflected over a predefined first limit angle W1.
  • the first critical angle W1 defines a particularly circular transition from a first deflection area B1 with a first control characteristic to a second deflection area B2 with a second control characteristic different from the first control characteristic.
  • At least one further, in particular circular, limiting angle Wn can be provided, which defines the transition to at least one further deflection area Bn in which a further control characteristic of the control electronics 24 is provided.
  • the different control characteristics relate to a different proportionality between an angle change of the joystick 8 within the relevant deflection areas Bl, B2, Bn and the control signal S corresponding to a change in speed of the object 4 or a functional part of the object 4 Deflection angle of the joystick 8 by one degree a smaller change in a travel or lifting speed of a lifting device can be provided than with a corresponding angle change by one degree in the second deflection area B 2 or in the further deflection area Bn. As a result, both exact positioning and rapid relocation of the lifting part can be carried out if necessary.
  • the different control characteristics can also relate to any other control variable of the object 4 or of a functional part of the object 4, such as a lifting force of a lifting element or a delivery rate of a pump.
  • the joystick 8 when the joystick 8 is deflected during operation over one of the predefined limit angles Wl, Wn, the attainment of the relevant limit angle Wl, Wn is detected by the angle sensor 28 and a corresponding signal is sent from this to the activation electronics 34. This is then used to activate the vibration generator 32, which can be perceived by the user on the joystick 8 and / or on the control housing 6 in a tactile manner. This way the user gets during of the control process, the information that the joystick 8 has been moved into a different deflection area Bl, B2, Bn in which a different control characteristic is specified.
  • different vibration signals can be provided for the at least two critical angles Wl, Wn, which enable the user to orientate himself even better.
  • it can be provided that upon entry into one of the deflection areas B1, B2, Bn, a vibration signal that is assigned to it and is always the same is generated.

Landscapes

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

Abstract

Un dispositif de commande (2), en particulier une télécommande portable, conçu pour commander un objet (4) comprend un boîtier de dispositif de commande (6) sur lequel au moins un levier de commande (8) est maintenu de manière pivotante. Le levier de commande comporte une première plage de déviation (B1) ayant une première caractéristique de dispositif de commande et une seconde plage de déviation (B2) ayant une seconde caractéristique de dispositif de commande, ainsi qu'un générateur de vibration (32) conçu pour générer un mouvement de vibration perceptible au contact du levier de commande (8). Le levier de commande (8) comprend en outre un dispositif d'activation (30) conçu pour activer le générateur de vibration (32) sur la base d'un angle de déviation d'un axe longitudinal (LA) du levier de commande (8) par rapport à un axe longitudinal de départ (LAO). D'après l'invention, les caractéristiques du dispositif de commande dans les plages de déviation (B1, B2, Bn) ont une proportionnalité différente entre un changement d'angle du levier de commande (8) et un signal de commande émis (S) correspondant à une variable de commande. De plus, le générateur de vibration (32) peut être activé par le dispositif d'activation (30) lorsqu'un angle limite (W1) est atteint entre les première et seconde plages de déviation (B1, B2).
PCT/EP2020/083605 2019-12-17 2020-11-27 Dispositif de commande WO2021121900A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20816443.4A EP4078326A1 (fr) 2019-12-17 2020-11-27 Dispositif de commande

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202019107024.2U DE202019107024U1 (de) 2019-12-17 2019-12-17 Stufenjoystick
DE202019107024.2 2019-12-17

Publications (1)

Publication Number Publication Date
WO2021121900A1 true WO2021121900A1 (fr) 2021-06-24

Family

ID=69412323

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/083605 WO2021121900A1 (fr) 2019-12-17 2020-11-27 Dispositif de commande

Country Status (3)

Country Link
EP (1) EP4078326A1 (fr)
DE (1) DE202019107024U1 (fr)
WO (1) WO2021121900A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114020090A (zh) * 2021-09-15 2022-02-08 浙江钱塘机器人及智能装备研究有限公司 一种电控换向连杆控制操作杆机构
EP4293471A1 (fr) * 2022-06-17 2023-12-20 Fraunhofer Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif de commande à une main

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023101484A1 (de) * 2023-01-20 2024-07-25 Aerofoils Gmbh Handsteuerung für ein Tragflügel-Wasserfahrzeug

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120176315A1 (en) * 2011-01-10 2012-07-12 International Business Machines Corporation Joystick type computer input device with mouse
US9004218B2 (en) * 2013-06-23 2015-04-14 Cnh Industrial America Llc Joystick with improved control for work vehicles
DE102016225309A1 (de) * 2016-12-16 2018-06-21 Gebrüder Frei GmbH & Co. KG Ein-Achs-Bedieneinheit für sicherheitsrelevante Anwendungen
DE102017219540A1 (de) 2017-11-03 2019-05-09 Robert Bosch Gmbh Vorrichtung und Verfahren zur Steuerung einer Arbeitsmaschine
US10377458B1 (en) 2016-01-29 2019-08-13 Brp Us Inc. Joystick system for a watercraft

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120176315A1 (en) * 2011-01-10 2012-07-12 International Business Machines Corporation Joystick type computer input device with mouse
US9004218B2 (en) * 2013-06-23 2015-04-14 Cnh Industrial America Llc Joystick with improved control for work vehicles
US10377458B1 (en) 2016-01-29 2019-08-13 Brp Us Inc. Joystick system for a watercraft
DE102016225309A1 (de) * 2016-12-16 2018-06-21 Gebrüder Frei GmbH & Co. KG Ein-Achs-Bedieneinheit für sicherheitsrelevante Anwendungen
DE102017219540A1 (de) 2017-11-03 2019-05-09 Robert Bosch Gmbh Vorrichtung und Verfahren zur Steuerung einer Arbeitsmaschine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114020090A (zh) * 2021-09-15 2022-02-08 浙江钱塘机器人及智能装备研究有限公司 一种电控换向连杆控制操作杆机构
EP4293471A1 (fr) * 2022-06-17 2023-12-20 Fraunhofer Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif de commande à une main

Also Published As

Publication number Publication date
EP4078326A1 (fr) 2022-10-26
DE202019107024U1 (de) 2020-01-16

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