WO2022089998A1 - Steuerverfahren für einen zur bedienung einer betriebs- und/oder arbeitsfunktion vorgesehenen handbedienhebel - Google Patents
Steuerverfahren für einen zur bedienung einer betriebs- und/oder arbeitsfunktion vorgesehenen handbedienhebel Download PDFInfo
- Publication number
- WO2022089998A1 WO2022089998A1 PCT/EP2021/078958 EP2021078958W WO2022089998A1 WO 2022089998 A1 WO2022089998 A1 WO 2022089998A1 EP 2021078958 W EP2021078958 W EP 2021078958W WO 2022089998 A1 WO2022089998 A1 WO 2022089998A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- operating
- work function
- control
- lever
- control method
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007935 neutral effect Effects 0.000 claims abstract description 20
- 230000007704 transition Effects 0.000 claims abstract description 17
- 230000000284 resting effect Effects 0.000 claims abstract description 5
- 238000011156 evaluation Methods 0.000 claims abstract description 4
- 230000007717 exclusion Effects 0.000 claims description 4
- 230000001953 sensory effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000003213 activating effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000001364 causal effect Effects 0.000 description 2
- 241000947772 Strawberry crinkle virus Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
-
- 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
- G05G5/005—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for preventing unintentional use of a control mechanism
-
- 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
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- 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
- 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
-
- 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
- G05G2009/04774—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 with additional switches or sensors on the handle
Definitions
- the invention relates to a control method for a manual operating lever provided for operating an operating and/or working function, the manual operating lever comprising a device for hand recognition which only releases operation of the operating and/or working function when it is evaluated by sensors the positioning of a palm resting on a handle of the manual operating lever indicates the presence of an operator's intention to operate.
- Such a manual control lever in the form of a joystick can be found, for example, in DE 10 2014 214 989 A1, which has a handpiece for manual operation of the joystick and a sensor matrix covering the handpiece in a grip area with a large number of touch-detecting sensor elements.
- An evaluation unit generates a hand presence signal indicating an operator's intention to operate when, on the basis of sensor signals provided by the touch-detecting sensor elements, it recognizes that the gripping area is being touched with the palm of the hand or is touched with the fingers.
- the manual control lever includes a device for hand recognition that only releases operation of the operating and/or work function when a sensory evaluation of the positioning of a handle on a handle f f piece of the hand control lever applied palm on the presence of an actuation intention of an operator is closed. If the hand control lever is deflected from a neutral or From the rest position, an operating command corresponding to the current deflection state is generated, whereby a control command provided for the execution of the operating and/or work function is adapted by a control unit to the operating command resulting from the deflection state in accordance with a predetermined transition function as soon as the operation the operating and / or work function is released by the device for hand recognition.
- the operating command on the one hand which reflects the operator's request represented by the respective deflection state of the manual operating lever
- the control command on the other hand which is the basis for the actual actuation of the units provided for carrying out the operating and/or work function.
- the adjustment between control and operating commands from the control unit can take place between analog or digital values.
- transition function which can in particular have the course of a ramp, which starts from one of the neutral or If the output value corresponding to the rest position of the manual control lever approaches the current value of the operating command and thereby adapts to this, it is possible, with the activation of the device for hand recognition, to successively set the operating and/or work function to the state desired by the operator, without further measures or Actions on its part would be required . This results in a significant gain in ease of use.
- the successive and thus comparatively slow adjustment process allows the operator to release or Neutral position of the hand control lever to prematurely interrupt the start of the operating and/or work function.
- the manual control lever can be a conventional joystick, with the function implemented according to the method being available for each of the joystick's operating degrees of freedom or only for selected actuation or Deflection directions can be provided. In this respect, there is also the Possibility of free configurability by the operator, depending among other things on the respective operating and/or work function to be carried out.
- the hand control lever housed in a driver's cab of the agricultural tractor is typically used to operate operating and/or work functions that are associated with a front loader on the agricultural tractor, a three-point linkage, an attachment attached to the three-point linkage, or a driving function of the agricultural tractor itself related .
- the control command is preferably only executed by the control unit if the release from the device for hand recognition is given within a specified exclusion time after leaving the neutral or neutral position. Rest position takes place. This largely ensures that there is a causal connection between the actuation of the hand control lever (by deflecting it out of the neutral or rest position) and the actual intention to operate the associated operating and/or work function.
- the cut-off time for this is specified in the range from 0.5 to 1.0 seconds, although any other value may also be expedient, depending on the operational and/or work function to be operated.
- the execution of the control command starts with a delay corresponding to a predetermined latency time.
- the latency time is used for the defined resetting of the control command to one of the neutral or Output value corresponding to the rest position of the hand control lever (reset).
- the latency time is typically in the order of magnitude of a single clock cycle of the usually microprocessor-controlled control unit.
- the stored functional state can be, for example, a specified position of a hydraulically raised or lowered device. act lowerable front loader arm or a hydraulically tiltable loading tool. The latter has, for example, the shape of a shovel or a loading fork. This functional state is retained until the operator moves the hand control lever to neutral or Returns rest position and deflects it again.
- SCVs hydraulic control valves
- SCVs hydraulic control valves
- These are used to connect hydraulic units that are included in attachments that can be attached to the agricultural tractor.
- the control valves can be brought into an unpressurized floating position, in which a free hydraulic flow is possible.
- the stored functional state can accordingly be formed by a floating position covered by the control valve.
- the hand control lever is often also used for operating functions such as controlling the travel speed or Direction of travel of the agricultural tractor, in which case the stored functional state can correspond to a predeterminable speed or direction of travel.
- the control command can be set directly to a value corresponding to the full deflection by modifying the transition function.
- This situation differs from the one described above in that the operator clearly intends to call up the functional state associated with the full deflection of the manual control lever for the relevant operational and/or work function even before the hand recognition device responds. If, on the other hand, several singular full deflections occur one after the other on the hand control lever, it is assumed that the operator made a mistake and the transition function is not modified.
- control command is immediately set to a value corresponding to the full deflection by modifying the transition function. This represents a modification of the previous case in that the operator actuates the manual control lever at the time the device for hand recognition responds with the clear intention of calling up the functional state stored for the relevant operational and/or work function.
- Fig. 1 an arrangement operated by means of the control method according to the invention with a manual control lever designed as a joystick for an agricultural tractor,
- Fig. 2 a first diagram illustrating the functioning of the control method according to the invention
- 3 shows a second diagram in which a first special function of the control method according to the invention is reproduced
- FIG. 5 shows a fourth diagram in which a third special function of the control method according to the invention is reproduced.
- Fig. 1 shows an arrangement for an agricultural tractor (not shown) operated by means of the control method according to the invention.
- the arrangement 10 comprises a manual operating lever 14 designed as a joystick 12.
- the manual operating lever 14 has a grip 16 and a mounting base 18, within which the grip 16 can be deflected out of a neutral or rest position 20 along different actuating paths 22, 24, so that has an associated operating and/or work function operated manually.
- An actuation sensor 26 is used to detect the respective deflection state of the handle 16 and to generate deflection signals that correspond thereto.
- the grip 16 includes a sensor array 34 embedded in a grip surface 32 , which is part of a hand recognition device 36 . Closes the hand recognition facility 36 by evaluating the position of a palm resting on the grip piece 16 detected by the sensor array 34 for the presence of an operator's intention to operate, this generates a hand presence signal releasing the operation of the operating and/or work function.
- the hand presence signal is supplied together with the deflection signals to a microprocessor-controlled control unit 38 for further processing.
- the hand operating lever 14 can be assigned to different operating and/or work functions. These may relate to the agricultural tractor itself or to a front loader located on the agricultural tractor, a three-point hitch, an implement attached to the three-point hitch, and the like.
- the manual control lever 14 is used to control a driving function of the agricultural tractor, more precisely a driving speed or driving direction .
- the driving speed or In this case, the direction of travel is adjusted at the instigation of the control unit 38 by corresponding interventions in a drive train 40, and consequently in an engine and/or transmission control 42a, 42b of the agricultural tractor.
- the adaptation takes place in accordance with the deflection signals supplied by the actuation sensor 26 .
- the manual control lever 14 can be moved along a primary actuating path 22 in both deflection directions, overcoming a tangible detent, into an upper, fully deflected position 44 or spend lower fully deflected position 46.
- the primary actuating gate 22 is used to specify the driving speed, including the movement of the agricultural tractor by deflecting the manual control lever 14 starting from the neutral or. Accelerate resting position 20 upwards and decelerate downwards.
- the fully deflected position 44 , 46 of the manual operating lever 14 is assigned a specific functional state of the drive train 40 , in particular one that is stored by the operator. For example, it is a travel speed specification in the form of a maximum speed or maximum speed that can be specified by the operator. an "active" standstill of the agricultural tractor, in which it is held in its current position without the brakes being applied.
- a choice of travel direction as well as a fine adjustment of the travel speed in the manner of a "speed zoom” is possible in a secondary actuating gate 24 of the hand control lever 14 .
- an operating command 48 on the one hand, which reflects the operator's request represented by the respective deflection state of the manual operating lever 14, and a control command 50, on the other hand, which actually activates the operating and/or work function provided Units, here the engine and / or transmission control 42a, 42b of the agricultural tractor, based on the transmitted to the control unit 38 deflection signals.
- the operator steers the manual control lever 14 at the point in time tO, starting from the neutral or Rest position 20 along the primary actuating alley 22 upwards.
- a value corresponding to the deflection state for the operating command 48 is generated by the control unit 38 as a function of the deflection signals supplied by the actuation sensor 26 .
- the operating command 48 from the control unit 38 is initially not converted into corresponding interventions in the engine and/or transmission control 42a, 42b. More precisely, the value of the control command 50 in FIG. 2 corresponds to that of the operating command 48 , but remains inactive until the device for hand recognition 36 responds.
- the control command 50 from the control unit 38 is initially sent to one of the neutral or Output value 52 corresponding to the rest position 20 of the hand control lever 14 is reset (reset).
- the execution of the control command 50 starts with a delay corresponding to a predefined latency At_delay.
- the latency At_delay is typically in the order of magnitude of a single clock cycle of the control unit 38 .
- control command 50 is only executed by the control unit 38 if the device for hand recognition 36 is enabled within a predetermined exclusion time At_enable after leaving the neutral or idle position 20 er- follows . This largely ensures that there is a causal connection between the actuation of the manual control lever 14 (by deflecting it out of the neutral or idle position 20) and the actual intention to increase the driving speed or
- the exclusion time At_enable is specified in the range from 0.5 to 1.0 seconds.
- control unit 38 adapts the control command 50 to the operating command 48 according to a predetermined transition function 54 .
- transition function 54 shown in FIG. 2 has an example of the course of a ramp, which, starting from the neutral or If the output value 52 corresponding to the rest position 20 of the manual control lever 14 approaches the current value 56 of the operating command 48 and thereby adapts to it, it is possible, with the response of the device for hand recognition 36, to successively set the driving function to the state desired by the operator, without further measures or Actions are required on its part. This results in a significant gain in ease of use.
- Fig. 3 to 5 illustrate special functions of the control method according to the invention using additional diagrams. These are optional depending on the operating and/or work function to be operated. The following explanations therefore relate only by way of example to the driving function of the agricultural tractor described above.
- the manual control lever 14 is moved along the primary actuating path 22 while overcoming the tangible detent into the upper, fully deflected position 44 so that the driving speed is adjusted to the maximum speed specified by the operator. If, on the other hand, the manual operating lever 14 is moved along the primary actuating path 22, overcoming the tangible detent, into the lower, fully deflected position 46, the “active” standstill is adjusted.
- the control command 50 by modification of the transition function 54 with expiry of the specified latency time At_delay directly to the full deflection corresponding Value 58 set.
- This situation differs from the one described above in that the operator clearly intends to call up the functional state stored by the operator and assigned to the full deflection of the manual operating lever 14 before the point in time t1 when the device for hand recognition 36 responds.
- the control command 50 is set immediately to a value 58 corresponding to the full deflection by modifying the transition function 54 after the specified latency period At_delay has expired. This represents a modification of the previous case in that the operator actuates the manual control lever 14 at the time t1 when the device for hand recognition 36 responds with the clear intention of calling up the functional state stored by the operator and associated with the full deflection of the manual control lever 14.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Control Devices (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/250,343 US20230399815A1 (en) | 2020-10-28 | 2021-10-19 | Control method for a manually actuated lever provided for actuating an operating and/or work function |
EP21798605.8A EP4237926A1 (de) | 2020-10-28 | 2021-10-19 | Steuerverfahren für einen zur bedienung einer betriebs- und/oder arbeitsfunktion vorgesehenen handbedienhebel |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020128321.0 | 2020-10-28 | ||
DE102020128321.0A DE102020128321A1 (de) | 2020-10-28 | 2020-10-28 | Steuerverfahren für einen zur Bedienung einer Betriebs- und/oder Arbeitsfunktion vorgesehenen Handbedienhebel |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022089998A1 true WO2022089998A1 (de) | 2022-05-05 |
Family
ID=78402089
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2021/078958 WO2022089998A1 (de) | 2020-10-28 | 2021-10-19 | Steuerverfahren für einen zur bedienung einer betriebs- und/oder arbeitsfunktion vorgesehenen handbedienhebel |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230399815A1 (de) |
EP (1) | EP4237926A1 (de) |
DE (1) | DE102020128321A1 (de) |
WO (1) | WO2022089998A1 (de) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0981078A2 (de) * | 1998-08-17 | 2000-02-23 | Deere & Company | Handbedienungselement |
US20080311993A1 (en) * | 2007-06-16 | 2008-12-18 | Rafi Gmbh & Co. Kg | Device for generating control signals that can be evaluated electrically |
DE102014214989A1 (de) | 2014-07-30 | 2016-02-04 | Deere & Company | Bedienanordnung für ein Nutzfahrzeug |
-
2020
- 2020-10-28 DE DE102020128321.0A patent/DE102020128321A1/de active Pending
-
2021
- 2021-10-19 WO PCT/EP2021/078958 patent/WO2022089998A1/de unknown
- 2021-10-19 EP EP21798605.8A patent/EP4237926A1/de active Pending
- 2021-10-19 US US18/250,343 patent/US20230399815A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0981078A2 (de) * | 1998-08-17 | 2000-02-23 | Deere & Company | Handbedienungselement |
US20080311993A1 (en) * | 2007-06-16 | 2008-12-18 | Rafi Gmbh & Co. Kg | Device for generating control signals that can be evaluated electrically |
DE102014214989A1 (de) | 2014-07-30 | 2016-02-04 | Deere & Company | Bedienanordnung für ein Nutzfahrzeug |
Also Published As
Publication number | Publication date |
---|---|
DE102020128321A1 (de) | 2022-04-28 |
EP4237926A1 (de) | 2023-09-06 |
US20230399815A1 (en) | 2023-12-14 |
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