WO2022136771A1 - Interface homme-machine, notamment pour un vehicule ou pour un dispositif - Google Patents
Interface homme-machine, notamment pour un vehicule ou pour un dispositif Download PDFInfo
- Publication number
- WO2022136771A1 WO2022136771A1 PCT/FR2021/052355 FR2021052355W WO2022136771A1 WO 2022136771 A1 WO2022136771 A1 WO 2022136771A1 FR 2021052355 W FR2021052355 W FR 2021052355W WO 2022136771 A1 WO2022136771 A1 WO 2022136771A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- machine interface
- man
- command
- predefined zone
- gripping element
- Prior art date
Links
- 230000003993 interaction Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims description 3
- 239000010410 layer Substances 0.000 description 5
- 230000002747 voluntary effect Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
- B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G25/00—Other details or appurtenances of control mechanisms, e.g. supporting intermediate members elastically
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand 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
- TITLE Human-machine interface, in particular for a vehicle or for a device.
- the technical field of the invention relates to man-machine interfaces and more particularly such man-machine interfaces intended to be actuated by the hand of an operator.
- a handle is the human-machine interface element between a hand of an operator, such as a pilot, and an actuator of a vehicle or device.
- the handle can integrate a certain number of functionalities such as, for example, the integration of buttons or the detection of the grip of the handle by the operator.
- Such grip detection may be required for applications where it is necessary to be sure that an action on the handle is necessarily the consequence of a voluntary action by the operator.
- buttons can be of different technologies, such as electromechanical, magnetic, etc. , and are generally reported on the handle, respectively arranged in a defined area. Their location is determined during the design of the handle. They cannot be repositioned unless you design a new handle design with different button locations.
- the detection of the operator's hand also called “Hands On/Hands Off” in English, is conventionally carried out by means of a contactor.
- a contactor By way of example, it may be a pallet placed in front of the handle which must be kept pulled to confirm the commands.
- the ergonomics of the handle is relatively complex and time-consuming to develop. It is related to the shape of the handle, and to the position, shape, number and functionality of the buttons arranged on the handle. The development of the ergonomics of the handle is therefore complex and expensive.
- the object of the invention is to propose a man-machine interface providing detection of the hand of the non-intrusive operator, of relatively simple design and allowing reconfiguration of an existing interface.
- the subject of the invention is a man-machine interface, in particular for a vehicle or for a device, comprising at least one gripping element for the transmission of a command, or an instruction or a plurality of commands or instructions, as a function of at least one input item of information, in particular an angle of inclination or an angle of rotation of the gripping element with respect to a reference position and/or a force, an effort or a direction applied to the gripping element.
- the human-machine interface includes
- At least one sensor in particular a sensitive element or a matrix of sensitive elements, arranged on at least part of an outer surface of the gripping element and configured to transmit a detection signal following an action carried out by a operator on the gripping element, and
- - Computing means configured to determine a position of at least one interaction surface between the operator and the gripping element.
- the calculation means are also configured to determine whether the command is intentional by determining whether at least one first predefined surface is included at least partially in the interaction surface so as to authorize the transmission of the command by the human-machine interface when it is determined that the command is intentional.
- the sensor can be of the capacitive, resistive or inductive type.
- the man-machine interface can comprise at least one second predefined zone, distinct from the first predefined zone.
- the calculation means are then configured to transmit the command associated with the second predefined zone if the second zone predefined is included at least partially in the interaction surface.
- the man-machine interface may also include at least one directional switch.
- the calculation means can then be configured to determine a leaning movement of the operator on the directional switch in at least one predefined zone as a function of an origin position and an end position of the leaning movement and to transmit a command different from the command issued during a simple press on the predefined zone.
- the calculation means can also be configured to transmit a command associated with a simultaneous interaction on at least two predefined zones.
- the human-machine interface may include
- an informative layer comprising a delimitation and/or command indication associated with at least one predefined zone
- - information feedback means in particular haptic, making it possible to warn the operator about a command associated with the predefined zone, such as an activation, an unavailability or an error linked to the command associated with the predefined zone.
- the invention also relates to a vehicle, in particular an aircraft, a drone, a spacecraft, a construction machine, an automobile or a ship, controlled by a man-machine interface as described above.
- FIG. 1 illustrates a first embodiment of the man-machine interface according to the invention
- FIG. 1 illustrates a second embodiment of the man-machine interface according to the invention.
- the man-machine interface 1 comprises at least one gripping element 10, such as a joystick or a control handle, also called “stick” or "grip” in English.
- a gripping element 10 such as a joystick or a control handle, also called “stick” or "grip” in English.
- the gripping element 10 is provided with at least one transducer transmitting at least one command as a function of at least one input item of information, such as, for example, an angle of inclination of the gripping element 10 by relative to a reference position, a force applied to the gripping element 10 etc.
- the man-machine interface 1 allows an operator, such as a pilot or a driver, to transmit commands to a vehicle, in particular an aircraft, a drone, a spacecraft, a construction machine, motor vehicle, ship etc
- a pilot or a driver to transmit commands to a tool, in particular in remote operation, in civil engineering, etc.
- the gripping element 10 takes the form of a joystick or control stick, also called “central stick” or “command stick” in English.
- the gripping element 10 comprises a transducer determining an angle of inclination towards the front or the rear and/or an angle of inclination towards the left or the right of the man-machine interface 1.
- the gripping element 10 comprises a transducer determining an angle of rotation to the left or to the right and/or in a clockwise or counterclockwise direction of the man-machine interface 1.
- the gripping element 10 can comprise a transducer determining a force exerted by the operator on the man-machine interface 1.
- the force exerted corresponds to an intensity applied by the operator and to a direction of application of the operator on the gripping element 10, such as in particular a pull, a push, a rotation, etc.
- the gripping element 10 has the form of a thrust control stick, also called “throttle stick” or “side stick” in English.
- a thrust control stick is used in particular in a control system of the 3M type, acronym for hands on stick and joystick, also called “HOTAS”, acronym for “Hands on Throttle and Stick” in English.
- the man-machine interface 1 provided with such a gripping element 10 therefore comprises a transducer determining an angle of inclination, an angle of rotation, a force, a direction of the gripping element 10 etc.
- all or part of an outer surface of the gripping element 10 is provided with at least one sensor, in particular a sensitive element, preferably with a matrix of at least one sensor, in particular a matrix of at least one sensory element.
- the sensor in particular the sensitive element, is designed to transmit or emit a detection signal in response to an action performed by the operator.
- an action performed by the operator can be a support, a contact, a movement, a force applied by the operator on the sensor.
- the action performed by the operator constitutes an interaction between the operator and the gripping element 10 captured by the sensor, in particular the sensitive element, preferably the matrix of at least one sensor, in particular the matrix of at least one sensory element.
- the sensor can be of the capacitive, resistive or inductive type.
- the man-machine interface 1 also comprises calculation means configured to determine a position of at least one surface of interaction between the operator and the gripping element 10, corresponding in particular to that in which the sensor emits or transmits the detection signal.
- the calculation means are, for example, software means duly programmed to determine the position of the sensor emitting or transmitting the detection signal.
- the position of the sensor, in particular of the sensitive element, emitting or transmitting the detection signal is determined thanks to a unique addressing of the sensor.
- the calculation means can be physically included in the man-machine interface 1 or be remote in a computer connected to the man-machine interface 1, in particular to the matrix of sensors or sensitive elements and to the gripping element 10.
- the calculation means can also be configured to determine whether the command transmitted, respectively the commands transmitted, is intentional or accidental. Indeed, the gripping element 10 can be touched without actually being grasped. This is, for example, the case during an erroneous movement by the operator, without the latter intending to generate a command.
- the man-machine interface 1, in particular the gripping element 10, comprises at least a first predefined zone 11.
- the first predefined zone 11 makes it possible to determine whether an organ of the operator favors a hand of the operator, is placed on the gripping element 10 in an interaction surface.
- the calculation means compare the position of the surface for interaction with the operator with the position of the first predefined zone 11. According to the invention, it is determined whether an overlap, at least partial, of the first predefined surface 11 is achieved by the surface for interaction with the operator.
- the man-machine interface 1 thus makes it possible to discriminate between a handling error and an intentional command so as to ensure the operating safety of the vehicle or of the controlled device. In other words, it is possible to determine transparently for the operator whether a command entered via the man-machine interface 1 is a voluntary command or a handling error. If the command is intentional or voluntary, the calculation means authorize the transmission of commands by the man-machine interface 1 . Depending on the field of use of the man-machine interface 1 , the voluntary command detection condition may be limited to certain commands of the man-machine interface 1.
- the first predefined zone 11 is generally the part of the man-machine interface 1 in contact with the palm of the operator's hand.
- a gripping element 10 of the handle or joystick type it is generally a base of the gripping element 10 on which the palm of the operator's hand is pressed. It can be supplemented by lateral support zones and/or opposing zones.
- a gripping element 10 of the thrust control stick type it is generally an upper part of the gripping element 10 on which the palm of the operator's hand rests.
- the man-machine interface 1, in particular the gripping element 10, may comprise at least one second predefined zone 12a, in particular two second predefined zones 12a and 12b.
- the second predefined zone 12a respectively the second predefined zone 12b, allows the execution of commands associated with traditional buttons, switches or contactors.
- buttons, switches or contactors can thus be accomplished virtually by determining a contact and/or a press on the second predefined zone 12a, respectively the second predefined zone 12b.
- the second predefined zone 12a is distinct from the first predefined zone 11 participating in the operator's hand detection function.
- the calculation means of the human-machine interface 1 can also be configured to determine whether the second predefined zone 12a, respectively the second predefined zone 12b, of the human interface -machine 1 is included, at least partially, in the interaction surface with the operator.
- the calculation means compare the position of the surface in contact with the operator with a position of the second predefined zone 12a, respectively the second predefined zone 12b.
- the calculation means then issue or transmit the command associated with the second predefined zone 12a, respectively with the second predefined zone 12b, the position of which is comprised at least partially in the surface of interaction with the operator.
- the emission and/or the transmission of the command associated with the second predefined zone 12a, respectively with the second predefined zone 12b is carried out in a manner similar to that of pressing a button, a switch or a traditional contactor d a classic command interface.
- the man-machine interface 1 can also comprise at least one directional switch determining a direction and/or an amplitude of a supported movement of the operator according to an origin position, an end position of the movement pressed and the position of the predefined zone.
- the directional switch may be a two-position type such as a switch, four-position, or multi-directional.
- the directional switch is associated with the second predefined zone 12a, respectively the second predefined zone 12b, and/or the second predefined zones 12a and 12b.
- FIGS. 1 and 2 illustrate embodiments comprising two second predefined zones 12a and 12b, which can be associated respectively with different contactors and/or with separate commands.
- the man-machine interface 1 comprises at least one informative layer making it possible to inform the operator of the position and/or of the command associated with at least one predefined zone, such as the first predefined zone 11, the second predefined zone 12a, respectively the second predefined zone 12b, and/or the second predefined zones 12a and 12b.
- Such an informative layer can comprise an indication, in particular graphical, of the delimitation of the predefined zone and/or of the command associated with the predefined zone.
- the man-machine interface 1 can also comprise means for illuminating at least one predefined zone allowing a setting highlighting and/or visual feedback related to the order, availability and/or order activation.
- the lighting means can be light-emitting diodes. They can then advantageously be combined with a liquid crystal layer. According to this particular configuration, it is then possible to combine the lighting function and the information function of the informative layer.
- self-emissive devices for example of the OLED type, an acronym for “Organic Light-Emitting Diode” in English, can be used to combine the lighting function and the information function in a single layer.
- the man-machine interface 1 can comprise information feedback means, in particular haptic information feedback means.
- the information feedback means allow the operator to be warned about the command associated with the predefined zone.
- the information feedback means make it possible in particular to inform the operator of an activation, an unavailability or an error linked to the command associated with the predefined zone.
- a feedback in particular a haptic feedback, can be limited to the second predefined zone 12a, respectively the second predefined zone 12b, or associated with all or part of the man-machine interface 1, in particular of the gripping element 10.
- the first predefined zone 11 and the second predefined zone 12a, respectively the second predefined zone 12b, are defined decorrelated from a physical structure of the gripping element 10 of the man-machine interface 1. Consequently, the position of the first predefined zone 11 and of the second predefined zone 12a, respectively the second predefined zone 12b, can be modified according to the device or the vehicle to which the man-machine interface 1 is connected, or be modified during operation depending on external parameters.
- the commands of the man-machine interface 1 can change according to the flight phase of an aircraft, so as to give priority to access to the commands relevant to the flight phase considered.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- User Interface Of Digital Computer (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/268,963 US20240045462A1 (en) | 2020-12-22 | 2021-12-16 | Human-machine interface, in particular for a vehicle or for a device |
CA3202189A CA3202189A1 (fr) | 2020-12-22 | 2021-12-16 | Interface homme-machine, notamment pour un vehicule ou pour un dispositif |
EP21851683.9A EP4268044A1 (fr) | 2020-12-22 | 2021-12-16 | Interface homme-machine, notamment pour un vehicule ou pour un dispositif |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2013953A FR3117997A1 (fr) | 2020-12-22 | 2020-12-22 | Interface homme-machine, notamment pour un véhicule ou pour un dispositif. |
FRFR2013953 | 2020-12-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022136771A1 true WO2022136771A1 (fr) | 2022-06-30 |
Family
ID=74759065
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2021/052355 WO2022136771A1 (fr) | 2020-12-22 | 2021-12-16 | Interface homme-machine, notamment pour un vehicule ou pour un dispositif |
Country Status (5)
Country | Link |
---|---|
US (1) | US20240045462A1 (fr) |
EP (1) | EP4268044A1 (fr) |
CA (1) | CA3202189A1 (fr) |
FR (1) | FR3117997A1 (fr) |
WO (1) | WO2022136771A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3143002A1 (fr) * | 2022-12-07 | 2024-06-14 | Crouzet | Appareil pilotable et poignée de pilotage pour la réalisation de cet appareil pilotable |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2017688A2 (fr) * | 2007-06-16 | 2009-01-21 | RAFI GmbH & Co. KG | Dispositif destiné à la production de signaux de commande électriques utilisables |
FR3008503A1 (fr) * | 2013-07-10 | 2015-01-16 | Peugeot Citroen Automobiles Sa | Interface homme/machine a moyens de commande couples a des moyens de detection de presence d'un usager |
EP3264231A2 (fr) * | 2016-07-01 | 2018-01-03 | Deere & Company | Procédé et système à capteurs pour détecter les positions de la main ou des doigts pour une commande réglable |
FR3086079A1 (fr) | 2018-09-17 | 2020-03-20 | Zodiac Aero Electric | Dispositif tactile multitouche a detection capacitive |
FR3086076A1 (fr) | 2018-09-13 | 2020-03-20 | Safran Electronics & Defense | Dispositif d'application d'effort pour un mini-manche actif |
-
2020
- 2020-12-22 FR FR2013953A patent/FR3117997A1/fr active Pending
-
2021
- 2021-12-16 US US18/268,963 patent/US20240045462A1/en active Pending
- 2021-12-16 EP EP21851683.9A patent/EP4268044A1/fr active Pending
- 2021-12-16 WO PCT/FR2021/052355 patent/WO2022136771A1/fr active Application Filing
- 2021-12-16 CA CA3202189A patent/CA3202189A1/fr active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2017688A2 (fr) * | 2007-06-16 | 2009-01-21 | RAFI GmbH & Co. KG | Dispositif destiné à la production de signaux de commande électriques utilisables |
FR3008503A1 (fr) * | 2013-07-10 | 2015-01-16 | Peugeot Citroen Automobiles Sa | Interface homme/machine a moyens de commande couples a des moyens de detection de presence d'un usager |
EP3264231A2 (fr) * | 2016-07-01 | 2018-01-03 | Deere & Company | Procédé et système à capteurs pour détecter les positions de la main ou des doigts pour une commande réglable |
FR3086076A1 (fr) | 2018-09-13 | 2020-03-20 | Safran Electronics & Defense | Dispositif d'application d'effort pour un mini-manche actif |
FR3086079A1 (fr) | 2018-09-17 | 2020-03-20 | Zodiac Aero Electric | Dispositif tactile multitouche a detection capacitive |
Also Published As
Publication number | Publication date |
---|---|
CA3202189A1 (fr) | 2022-06-30 |
US20240045462A1 (en) | 2024-02-08 |
EP4268044A1 (fr) | 2023-11-01 |
FR3117997A1 (fr) | 2022-06-24 |
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