CONTROL METHOD FOR A MANUALLY ACTUATED LEVER PROVIDED FOR ACTUATING AN OPERATING AND/OR WORK FUNCTION

Abstract

In a control method for actuating a manually actuated lever provided for actuating an operation and/or work function, the manually actuated lever includes a device for hand detection, which releases an actuation of the operation and/or work function when a sensor-based evaluation of the positioning of a palm resting on a handle piece of the manually actuated lever surmises an activating intent on the part of an operator. In the event that the manually actuated lever is deflected from a neutral or rest position, an operating command corresponding to the current deflection state is generated, wherein a control command intended to execute the operation and/or work function is matched, according to a predefined transition function and via a control unit, to the operating command resulting from the deflection state, as soon as the actuation of the operation and/or work function is released by the device for hand detection.

Claims

1.-6. (canceled)

7. A control method for a manually actuated lever provided for actuating an operating and/or work function, the manually actuated lever comprising: a device for hand detection which enables actuation of the operating and/or work function when a sensor-based evaluation of the positioning of a palm resting on a handle part of the manually actuated lever indicates the existence of an activating intention on the part of a user, wherein in the case of the manually actuated lever being deflected from a neutral or rest position, an actuation command corresponding to the current deflection state is generated, wherein a control command, provided to perform the operating and/or work function, is aligned by a control unit, according to a predefined transfer function, with the actuation command resulting from the deflection state as soon as the actuation of the operating and/or work function is enabled by the device for hand detection.

8. The control method of claim 7, wherein the control command is performed by the control unit when the enabling by the device for hand detection takes place within a predefined connection time after leaving the neutral or rest position.

9. The control method of claim 7, wherein the performance of the control command starts with a delay in accordance with a predefined latency.

10. The control method of claim 7, wherein when a singular full deflection of the manually actuated lever, detected after enabling the actuation of the operating and/or work function, is detected, the running of the transfer function is modified by the control unit by the control command being set directly to a value corresponding to the full deflection.

11. The control method of claim 7, wherein when a singular full deflection of the manually actuated lever, detected before enabling the actuation of the operating and/or work function, is detected, the control command is, by modifying the transfer function, set directly to a value corresponding to the full deflection.

12. The control method of claim 7, wherein when a full deflection of the manually actuated lever, present when the actuation of the operating and/or work function is enabled, is detected, the control command is, by modifying the transfer function, set directly to a value corresponding to the full deflection.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The control method according to the disclosure for a manually actuated lever provided to actuate an operating and/or work function is illustrated below with the aid of the attached drawings, in which:

[0024] FIG. 1 shows an arrangement operated by the control method according to the disclosure, with a manually actuated lever, designed as a joystick, for an agricultural tractor;

[0025] FIG. 2 shows a first graph illustrating the functioning of the control method according to the disclosure;

[0026] FIG. 3 shows a second graph in which a first special function of the control method according to the disclosure is reproduced;

[0027] FIG. 4 shows a third graph in which a second special function of the control method according to the disclosure is reproduced; and

[0028] FIG. 5 shows a fourth graph in which a third special function of the control method according to the disclosure is reproduced.

DETAILED DESCRIPTION

[0029] FIG. 1 shows an arrangement operated by the control method according to the disclosure for an agricultural tractor (not illustrated).

[0030] The arrangement 10 comprises a manually actuated lever 14 designed as a joystick 12. The manually actuated lever 14 has a handle part 16 and a fastening base 18 within which the handle part 16 can be deflected from a neutral or rest position 20 along different activation slots 22, 24 such that an associated operating and/or work function can be actuated manually. An activation sensor 26 serves to detect the respective deflection state of the handle part 16 and to generate deflection signals corresponding thereto.

[0031] In addition to a plurality of actuating elements 28, 30, the handle part 16 comprises a sensor array 34, embedded in a handle surface 32, which is part of a device for hand detection 36. When the device for hand detection 36 indicates, by evaluation of the positioning, recorded by the sensor array 34, of a palm resting on the handle part 16, the existence of an activating intention of a user, it generates a hand presence signal enabling the actuation of the operating and/or work function.

[0032] The hand presence signal is supplied, together with the deflection signals, to a microprocessor-controlled control unit 38 (e.g., a controller including a processor and memory) for further processing.

[0033] Different operating and/or work functions can be assigned to the manually actuated lever 14 depending on the intended use. They can relate to the agricultural tractor itself or alternatively to a front loader situated on the agricultural tractor, to a three-point hitch, to an accessory attached to the three-point hitch, and the like. In the present case, the manually actuated lever 14 serves to control a driving function of the agricultural tractor, to be more precise a driving speed or driving direction. The driving speed or driving direction is here adapted at the instigation of the control unit 38 by corresponding engagements in a drive train 40 and therefore in an engine and/or gearbox control system 42a, 42b of the agricultural tractor. The adaptation here takes place according to the deflection signals supplied by the activation sensor 26.

[0034] The manually actuated lever 14 can be moved along a primary activation slot 22 in both deflection directions, overcoming a tactile detent, into an upper fully deflected position 44 or lower fully deflected position 46. The primary activation slot 22 serves to specify the driving speed, for which purpose the movement of the agricultural tractor can be accelerated by deflecting the manually actuated lever 14 upward from the neutral or rest position 20 and slowed down by deflecting it downward. A specific functional state of the drive train 40, saved for example by the user, is here associated with the fully deflected position 44, 46 of the manually actuated lever 14. According to the example, specifying the driving speed takes the form of a maximum speed which can be specified by the user, or an “active” standstill of the agricultural tractor in which it is held in its current position with the brake unactivated.

[0035] Choosing a driving direction as well as fine adjustment of the driving speed in the manner of a “speed zoom” are possible in a secondary activation slot 24 of the manually actuated lever 14.

[0036] The functioning of the control method will now be explained with the aid of the first graph illustrated in FIG. 2.

[0037] With respect to the curves illustrated in FIG. 2, there is a functional distinction between an actuation command 48, on the one hand, which reproduces the desire of the user represented by the respective deflection state of the manually actuated lever 14, and a control command 50, on the other hand, on which is based the actual activation of the units provided for performing the operating and/or work function, here the engine and/or gearbox control system 42a, 42b of the agricultural tractor, according to the deflection signals communicated to the control unit 38.

[0038] According to the example, the user deflects the manually actuated lever 14 at the point in time t0, starting from the neutral or rest position 20, upward along the primary activation slot 22. A value, corresponding to the deflection state, for the actuation command 48 is generated here by the control unit 38 depending on the deflection signals supplied by the activation sensor 26. Because the enabling by the device for hand detection 36 has not yet been executed, the actuation command 48 is, however, initially not converted by the control unit 38 into corresponding engagements in the engine and/or gearbox control system 42a, 42b. To be more precise, although the value of the control command 50 in FIG. 2 follows that of the actuation command 48, it remains inactive until the device for hand detection 36 responds.

[0039] If the device for hand detection 36 detects the existence of an activating intention on the part of the user, which in the present case is the case at the point in time t1, the control command 50 is reset by the control unit 38 initially to a starting value 52 corresponding to the neutral or rest position 20 of the manually actuated lever 14. The performance of the control command 50 here starts with a delay in accordance with a predefined latency Δt_delay. For this purpose, the latency Δt_delay is typically of an order of magnitude of one individual cycle of the control unit 38.

[0040] The control command 50 is additionally performed by the control unit 38 when, or only when, the enabling of the device for hand detection 36 takes place within a predefined connection time Δt_enable after leaving the neutral or rest position 20. This largely ensures that there is a causal link between the activation of the manually actuated lever 14 (by deflection from the neutral or rest position 20) and the actual intention to change the driving speed or driving direction. For this purpose, the connection time Δt_enable is specified within the range from 0.5 to 1.0 seconds.

[0041] If this condition is met, the control command 50 is aligned with the actuation command 48 by the control unit 38 according to a predefined transfer function 54.

[0042] By virtue of a corresponding choice of the transfer function 54, which by way of example in FIG. 2 has the progression of a ramp which, starting from the starting value 52 corresponding to the neutral or rest position 20 of the manually actuated lever 14, approaches the current value 56 of the actuation command 48 and is thus aligned with it, it is possible, with responses of the device for hand detection 36, to shift the driving function successively into the state desired by the user without there being any need for further measures or actions on their part. There is a significant gain in user comfort as a result.

[0043] FIGS. 3 to 5 illustrate special functions of the control method according to the disclosure with the aid of further graphs. They are optional depending on the operating and/or work function to be actuated. The following explanations therefore relate purely by way of example to the above-described driving function of the agricultural tractor.

[0044] First Special Function

[0045] According to a first special function illustrated in FIG. 3, when a singular full deflection of the manually actuated lever 14, detected after enabling the actuation of the driving function at a point in time t2>t1, is detected, the running of the transfer function 54 is modified by the control unit 38 such that the control command 50 is set directly to a value 58 corresponding to the full deflection, provided that the specified latency Δt_delay has already elapsed. The occurrence of the full deflection at the manually actuated lever 14 signals to the control unit 38 that the functional state saved by the user is to be called up.

[0046] In the present case, the manually actuated lever 14 is moved into the upper fully deflected position 44 along the primary activation slot 22, overcoming the tactile detent, such that the driving speed is set to the maximum speed specified by the user. If, in contrast, the manually actuated lever 14 is moved into the lower fully deflected position 46 along the primary activation slot 22, overcoming the tactile detent, the “active” standstill is set.

[0047] Second Special Function

[0048] Alternatively, if, as part of a second special function shown in FIG. 4, a singular full deflection of the manually actuated lever 14, detected before enabling the actuation of the driving function, is detected, the control command 50 is set directly to the value 58 corresponding to the full deflection by modifying the transfer function 54 after the specified latency Δt_delay has elapsed. This situation differs from that described above in that the user can indicate their clear intention, already before the point in time t1 at which the device for hand detection 36 responds, to call up the functional state, associated with the full deflection of the manually actuated lever 14 and saved by the user.

[0049] In contrast, should a plurality of singular full deflections occur at the manually actuated lever 14, one after the other, this is assumed to be an error on the part of the user and modification of the transfer function 54 is stopped.

[0050] Third Special Function

[0051] According to a third special function reproduced in FIG. 5, if a full deflection of the manually actuated lever 14, present at the point in time t1 when the actuation of the driving function is enabled, is detected, the control command 50 is set directly to a value 58 corresponding to the full deflection by modifying the transfer function 54 after the specified latency Δt_delay has elapsed. This represents a variation of the preceding case in that the user activates the manually actuated lever 14 already at the point in time t1 that the device for hand detection 36 responds with the clear intention of calling up the functional state associated with the full deflection of the manually actuated lever 14 and saved by the user.