State-dependent assistance of walking movements induced by muscle force

Abstract

The drive (8) is controlled by means of a control device (9). The drive (9) assists the movement of an object (1) in a nominal horizontal plane (3), the movement being caused by a muscle force (F) applied to the object (1) by an operator (5). The control device (9) knows characteristic variables (m, α) at ​​least for the mass (m) of the object (1) and the deviation (α) of the moving movement of the object (1) from the horizontal plane. The control device (9) controls the drive (8) so that the change in the position (p) of the object (1) in the nominal horizontal plane (3) caused by the muscle force (F) is independent of the deviation (α) of the moving movement of the object (1) from the horizontal plane and the mass (m) of the object (1).

Description

Technical Field

[0001] The invention is based on an operating method for a control device, by means of which a drive is actuated which assists in the movement of an object in a nominally horizontal plane, the movement being caused by a muscle force exerted on the object by an operator.

[0002] The present invention is also based on a control program, wherein the control program includes a machine code which can be directly processed by the control device, wherein the processing of the machine code is caused by the control device such that the control device carries out such an operating method.

[0003] The invention is also based on a control device for a drive which assists in the movement of an object in a nominally horizontal plane, the movement being caused by a muscle force exerted on the object by an operator, wherein the control device is programmed by such a control program so that the control device carries out such an operating method.

[0004] The invention is also based on a device, wherein the device comprises: an object that can be moved in a nominal horizontal plane by muscle force applied to the object by an operator; a drive, which assists in the movement of the object; and a control device, which interacts with the object and the drive according to this operating method. Background Art

[0005] This method is known.

[0006] In the prior art (and also in the present invention), the object is guided in a guide device, for example in a guide rail, during the travel. The guide device bends when the object deflects from the center position, so that although the travel of the object symbolically takes place in a horizontal plane, the "plane" is not actually exactly horizontal. The actual deviation of the travel movement of the object from the horizontal plane (hereinafter also referred to as the tilting attitude) changes depending on the size of the object's deflection from the center position. Therefore, the "plane" is not uniformly tilted, but arched. The downhill slave power, that is, the force that acts locally in the plane and has a component oriented vertically downward, also changes accordingly.

[0007] Furthermore, the mass of the object can also be changed. If the object is, for example, an examination bed, the examination bed can be moved without a patient being on the examination bed. In this case, the examination bed has a relatively small weight. Alternatively, the same examination bed can be moved while a relatively light patient of, for example, about 50 kg is lying on the examination bed. Yet alternatively, the same examination bed can be moved while a heavy patient of more than 100 kg is lying on the examination bed (some patients are even significantly heavier). Such different loads (with the same positioning of the examination bed) cause correspondingly different bending of the guide device along which the examination bed moves. As a result, the deviation from the nominal horizontal plane (i.e. the tilting attitude of the travel movement) is not only related to the size of the travel movement, but also additionally to the weight of the object.

[0008] It is known in the prior art that force assistance is performed by a drive. The force assistance of the prior art always acts in the direction of the object's travel. That is, it is so-called assumed in the prior art that the nominal horizontal plane is actually exactly horizontal and only the horizontal travel movement itself must be assisted. However, in practice, due to the curvature of the guide device, the downhill follower force acts additionally, which is related to the mass of the object and the curvature of the guide device. As a result, the muscle force that must be used by the operator to make the object travel changes in a significant range, more precisely according to the position of the object, the direction of movement of the object and the mass of the object. This often makes the operator feel unpleasant and difficult to operate. Summary of the invention

[0009] The object of the present invention is to achieve the feasibility of a method approach which can improve the prior art.

[0010] This object is achieved by the operating method according to the invention. Advantageous embodiments of the operating method according to the invention are described below.

[0011] According to the invention, an operating method of the type mentioned at the outset is designed as follows:

[0012] - making known to the control device at least the variables characteristic of the mass of the object and the deviation of the object's travel movement from the horizontal plane, and

[0013] The control device controls the drive in such a way that, given the same muscle force, the resulting change in the position of the object in the nominal horizontal plane is independent of the deviation of the object's travel movement from the horizontal plane and of the object's mass.

[0014] In particular, downhill output forces are thereby compensated, so that the object is manipulated uniformly by the operator and independently of its position.

[0015] In a simple embodiment of the invention, the control of the drive precisely compensates for the downhill load of the object caused by the deviation of the travel movement of the object from the horizontal plane and only compensates for the downhill load. In this case, no information about the desired direction of travel is required. However, compensation of friction forces should often be implemented in addition. In order to make this simple to implement, the control device preferably also takes into account the desired direction of travel of the object when determining the control of the drive.

[0016] Preferably, the control device receives from the first sensor device at least one direction of a muscle force applied by the operator to the object and determines the desired direction of travel as a function of the direction of the muscle force. The method approach enables a particularly simple and reliable determination of the desired direction of travel. In addition, the method approach relieves the operator of the burden of explicitly presetting the direction of travel.

[0017] Preferably, the control device receives from the first sensor device not only the direction but also the magnitude of the muscle force applied by the operator to the object. In this case, the control device can take the magnitude of the muscle force into account when determining the control of the actuator. For example, the actuator can assist travel in the desired direction more strongly in the case of high muscle force than in the case of low muscle force.

[0018] Preferably, the control device receives a presetting from the operator and takes it into account when determining the control of the drive. Thus, the operator can individually set the force assistance of the drive, whether due to personal preferences and / or requirements or due to the needs of a specific positioning process.

[0019] Preferably, the control device

[0020] - receiving information from a second sensor device about the operator's gripping and releasing of the object,

[0021] - deactivating the object's immobilization, which is caused by a drive or in some other way, when the object is grasped, and

[0022] - Activation of a stop caused by a drive or in some other way when the object is released.

[0023] Thus, on the one hand, when releasing the object, the object is automatically immobilized in its current position, which is often meaningful or even necessary, especially for safety reasons. On the other hand, when grasping the object, the object is also automatically moved by muscle force. Preferably, when the immobilization is deactivated, the drive is also controlled at the same time, so that if and as long as no muscle force is applied to the object, the drive holds the object in its current position.

[0024] In order to be able to determine the required actuation of the drive in a simple manner, it is preferably provided that

[0025] - saving of characteristic curves in the control unit,

[0026] - storing corresponding characteristic values ​​in a characteristic curve set at least for a plurality of deviations of the travel movement of the object from the horizontal plane and for the mass of the object, and

[0027] The control device determines the actuation of the drive using at least one characteristic value which is read by the control device from a characteristic diagram as a function of the deviation of the travel movement of the object from the horizontal and the mass of the object.

[0028] Typically, a plurality of such characteristic values ​​are read, namely the characteristic value to which the associated deviation of the travel movement of the object from the horizontal and the mass of the object are closest. Between these characteristic values, a resulting characteristic value can be determined by linear or nonlinear interpolation, which characteristic value is taken into account in determining the actuation of the drive.

[0029] Optionally, in addition to the deviation of the travel movement of the object from the horizontal and the mass of the object, other dependencies of the actuation of the drive, such as the direction of movement of the object or the direction of rotation of the drive, can also be taken into account in the characteristic diagram.

[0030] Preferably, the characteristic values ​​of the characteristic diagram stored in the control device are continuously tracked. To this end, two different method approaches are possible.

[0031] On the one hand, it is possible for the control device to determine correction values ​​for the characteristic values ​​stored in the characteristic diagram as a function of operating parameters of the object and the drive and optionally further variables. On the other hand, it is possible for the control device to transmit operating parameters of the object and the drive and optionally further variables to the evaluation device via a computer-computer connection and for the evaluation device to receive the correction values. In both cases, the control device tracks the characteristic values ​​as a function of the determined correction values.

[0032] The object is also achieved by a control program according to the invention. According to the invention, processing of the control program causes the control device to carry out the operating method according to the invention.

[0033] The object is also achieved by a control device according to the invention. According to the invention, the control device is programmed by a control program according to the invention, so that the control device implements the operating method according to the invention.

[0034] The object is also achieved by a device according to the invention. According to the invention, the control device is designed as a control device according to the invention, which interacts with the object and the drive according to the operating method according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above-mentioned characteristics, features and advantages of the present invention and the manner and method of achieving the same become clearer and easier to understand in conjunction with the following description of an embodiment, which is explained in detail in conjunction with the accompanying drawings. In this case, it is shown in a schematic diagram:

[0036] Figure 1 Shows the structural configuration of the device,

[0037] Figure 2 Shows the object from above,

[0038] Figure 3 Showing guide devices and objects,

[0039] Figure 4 Showing the flow chart,

[0040] Figure 5 shows the functional process of the drive control,

[0041] Figure 6 Shows the details of the object,

[0042] Figure 7 Showing the flow chart,

[0043] Figure 8 Show Figure 7 The modification of

[0044] Fig. 9 Show Figure 4 The modification of

[0045] Fig.10 Show Figure 4 Another modification of

[0046] Fig.11 The structure of the control device is shown.

[0047] Fig.12 Show Fig.11 Modifications, and

[0048] Fig.13 Show Fig.11 Another modification of . DETAILED DESCRIPTION

[0049] according to Figure 1 , the device has an object 1. Object 1 can correspond to Figure 1 The illustration in is, for example, an examination couch on which a patient 2 can be supported. The examination couch can be a component of an imaging medical technology modality in particular. Examples of such modalities are magnetic resonance devices, computed tomography scanners, C-arm X-ray devices, ultrasound devices including ultrasound tomography scanners, etc.

[0050] The object 1 can move in a nominally horizontal plane 3. For this purpose there is a guide device 4 along which the object 1 can move. (See Figure 2 ) It is possible that the object 1 can only move in the first direction x (longitudinal direction) or only in the second direction y (transverse direction). However, it is also possible that the object 1 can move not only in the longitudinal direction x but also in the transverse direction y.

[0051] Plane 3 is considered neither a plane nor a horizontal plane. The reason for this is flexibility, rigidity and elasticity. If object 1 corresponds to Figure 1 In the illustration in the middle position (p=0), the weight of the object 1 acts essentially centrally and centrally on the guide device 4. In the area around the middle position, the object 1 actually travels horizontally. However, the object 1 corresponds to Figure 3 The further the diagram in moves away from the middle position (i.e. p>0 or p<0), the more strongly the guide device 4 is bent by the weight of the object 1, so that the object 1 can be said to be moving downhill when moving further away from the middle position, while the object can be said to be moving uphill when moving towards the middle position again. In addition, this is not only related to the specific position p of the object 1, but also to the weight of the object 1 and thus to its mass m. However, the term "nominal horizontal plane" is chosen because the movement of the object 1 in a horizontal plane is the ideal state that is actually desired, that is, bending is inevitable, but also undesirable. The size of the bending is Figure 3 The figures are shown in an obviously exaggerated manner for the sake of better illustration.

[0052] Object 1's movement is based on Figure 1 From the outset, a muscle force F is brought about, which is applied by an operator 5 to the object 1. For example, the object 1 can have (at least) one handle 6 for this purpose, which the operator 5 can grasp with his hand 7 and thus can transmit the muscle force F to the object 1. In order to assist the movement of the object 1, the device has a drive 8. The drive 8 is controlled by a control device 9 of the device. That is, the control device 9 acts together with the object 1 and the drive 8.

[0053] The control device 9 is programmed by a control program 10. The control program 10 comprises a machine code 11 which can be directly processed by the control device 9. The processing of the machine code 11 (or the programming of the control device 9 by means of the control program 10) causes the control device 9 to execute the following Figure 4 Detailed description of the operating method.

[0054] according to Figure 4, the mass m of the object 1 is known to the control device 9 in step S1 before the travel movement of the object 1 begins. For example, the operator 5 of the control device 9 can make a corresponding preset. The preset can optionally be relatively precise (for example in kilograms) or relatively rough (for example in the stages of no load - light load - medium load - heavy load - extremely heavy load). Optionally, it is also possible that the operator 5 only presets the mass of the "payload" (i.e., for example, the patient 2) and the control device 9 determines the resulting mass m of the object 1 from it in combination with the no-load mass of the object 1 itself, which is known to it. It is also possible that there is a measuring device 12, which automatically detects the mass m (or "payload") of the object 1 and forwards it to the control device 9. The measuring device 12 can be a pressure sensor or include a pressure sensor, for example.

[0055] In step S2, the control device 9 knows the deviation of the traveling movement of the object 1 from the horizontal plane. For example, the control device 9 can know the tilt angle α as a value representing the deviation. In the following, based on the design scheme. That is, the term "tilt angle α" is used as a synonym for expressing "the deviation of the traveling movement of the object 1 from the horizontal plane".

[0056] It is possible to detect the inclination angle α directly. For example, an inclination sensor 13 can be provided at the object 1, which detects the inclination angle α and forwards it to the control device 9. Alternatively, it is possible that the control device 9 knows the current position p of the object 1 and the control device 9 determines the inclination angle α based on the current position p and the mass m in combination with the structural data of the guide device 4. The current position p of the object 1 can be known to the control device 9 (for example, based on the actual position value of the drive 8), which transmits the actual position value to the control device 9. The structural data of the guide device 4 can include in particular its rigidity and flexibility.

[0057] In step S3 , the control device 9 determines an actuation A of the drive 8 . In step S4 , the control device 9 actuates the drive 8 in accordance with the actuation A determined.

[0058] In step S5, the control device 9 checks whether the travel movement of the object 1 has ended. If this is not the case, the control device 9 returns to step S2. Otherwise, the control device 9 returns to step S1 and waits there for a new travel movement.

[0059] Figure 5Purely by way of example, for small (m1), medium (m2) and large (m3) masses m of the object 1, corresponding downhill slave forces FH are shown, which act on the object 1 in different positions p of the object 1 due to the curvature of the guide device 4. If no other forces act on the object 1 at all and friction is negligible, the downhill slave forces FH will act on the object 1 in such a way that the object 1 moves towards a numerically larger position value p. If the object 1 is to move back to the center position (p=0), then a downhill follower force FH must be applied (in addition to overcoming the frictional forces and in addition to the forces required for the acceleration of the object 1). This can result in a significant force having to be applied in order for the object 1 to be able to move completely back to the center position. In contrast, if the object 1 is to move further away from the center position, then only the frictional forces have to be overcome and the forces required for the acceleration of the object 1 have to be applied in addition, wherein the downhill follower force FH has to be subtracted from the sum of these two forces. In extreme cases, this can even result in the force to be applied being oriented opposite to the direction of movement, i.e. the object 1 has to be braked.

[0060] In order to achieve a relationship that is independent of the position p, the control A of the drive 8 in the simplest case precisely compensates for the downhill driven force FH. The core object of the invention is achieved in that, with the same muscle force F, the resulting change in the position p of the object 1 in the nominal horizontal plane 3 (i.e., for example, its acceleration) is independent of the inclination angle α and the mass m of the object 1.

[0061] In the context of the simplest embodiment just described, the control device 9 does not have to know any further variables besides the mass m and the inclination angle α. However, in many cases this makes sense. In particular, it can make sense to also compensate for friction forces by means of the drive 8. Since friction forces are always oriented against the actual direction of travel at the moment and are therefore direction-dependent, the control device 9 must in this case also know the desired direction of travel R. For example, it is possible for the operator 5 to explicitly predetermine the desired direction of travel R for the control device 9. However, it is significantly more sophisticated to specify the desired direction of travel R in accordance with the embodiment of the present invention. Figure 6 In the illustration in FIG. 1 , there is a first sensor device 14, by means of which at least the direction (preferably also the magnitude) of the muscle force F applied by the operator 5 to the object 1 is detected. For example, the first sensor device 14 can correspond to Figure 6 The diagram in FIG. 4 detects the muscle force F exerted by the operator 5 on the handle 6. The muscle force F (or more precisely: the corresponding measured value) can be determined according to Figure 1 The method is then combined with Figure 7 Elaborate in detail.

[0062] according to Figure 7, the control device 9 knows the mass m of the object 1 in step S11 before the travel movement of the object 1 begins. Figure 7 Step S11 and Figure 4 Corresponding to step S1.

[0063] In step S12 , the control device 9 knows the deviation of the travel movement of the object 1 from the horizontal plane. Figure 7 Step S12 and Figure 4 Corresponding to step S2.

[0064] In step S13, the control device 9 determines the first sub-control A1 of the drive 8. Step S13 starts with Figure 4 Corresponding to step S3.

[0065] The control device 9 also receives at least one information about the desired direction of travel R. For example, the control device 9 can know the muscle force F (i.e., the value and the sign) or at least the sign of the muscle force F in step S14. In this case, the control device 9 determines the desired direction of travel R based on the sign (F) of the muscle force F in step S15.

[0066] In step S16 , the control device 9 determines a second submaneuver A2 of the drive 8 . The second submaneuver A2 compensates for the friction forces. Optionally, during step S16 , the current travel speed, at which the moving object 1 is currently traveling, can also be additionally taken into account.

[0067] In step S17 , the control device 9 determines the (generated) maneuver A of the drive 8 as a function of the first sub-maneuver A1 and the second sub-maneuver A2 .

[0068] In step S18, the control device 9 controls the drive 8 according to the determined control A. Step S18 and Figure 4 Corresponding to step S4.

[0069] In step S19, the control device 9 checks whether the travel movement of the object 1 has ended. If this is not the case, the control device 9 returns to step S12. Otherwise, the control device 9 returns to step S11 and waits there for a new travel movement. Step S19 is essentially the same as Figure 4 This corresponds to step S5.

[0070] As already mentioned, the control device 9 can know the muscle force F in step S14 (i.e., not only the sign but also the value). Figure 8On the one hand, there is additionally a step S21. In step S21, the control device 9 determines a third sub-manipulation A3 of the drive 8. The third sub-manipulation A3 is related to the numerical value |F| of the muscle force F. The third sub-manipulation A3 corresponds to a pre-control value, with which the desired high acceleration of the object 1 (identifiable at the variable of the muscle force F) is optionally assisted. The assistance can optionally be additionally related to the mass m of the object 1. Furthermore, in this case, step S17 can be replaced by step S22. In step S22, the third sub-manipulation A3 is also taken into account in addition. Therefore, by taking into account the third sub-manipulation A3, the magnitude of the muscle force F is taken into account when determining the manipulation A of the drive 8 in step S22.

[0071] In another embodiment, the control device 9 can be controlled by the operator 5 according to Figure 1 and Fig. 9 In step S31, a preset V is received. In this case, the control device 9 can Fig. 9 The diagram in FIG. 1 takes into account the presetting V when determining the actuation A of the drive 8 in step S32 . The presetting V can be, for example, a constant offset δA. Figure 5 , for a small mass (m=m1). With the offset δA, the control device 9 can change the maneuver A by a constant offset δA as required to compensate for the downhill follower force FH. The (constant in itself) offset δA can optionally be related to the desired direction of travel R with respect to its sign.

[0072] It is possible that the operator 5 explicitly specifies the presetting V. Alternatively, it is possible that the specific value for the presetting V is stored in a memory in the control device 9 and is automatically called up from the memory and used if and only if the operator 5 authenticates himself. Authentication can be performed as required, whether in the usual way by means of a user name and password or by means of biometric data, such as a fingerprint.

[0073] Combination of the above Figure 4 and Figure 5 The method described can also be used in a completely similar way Figure 7 and Figure 8 applied in the method.

[0074] In another preferred design, the device is based on Figure 6 The illustration in FIG. 1 additionally has a second sensor device 15. With the aid of the second sensor device 15, the gripping and releasing of the object 1 by the operator 5 can be detected and forwarded to the control device 9. The second sensor device 15 can be, for example, a suitable switch which is automatically actuated when the handle 6 is gripped. The information I provided by the second sensor device 15 can be used according to Figure 1 is received by the control device 9. In this case, Figure 4 The methodological approach can correspond to Fig.10 's diagram to modify.

[0075] according to Fig.10 , the control device 9 receives information I from the second sensor device 15 in step S41.

[0076] In step S42, the control device 9 checks whether the information I corresponds to a grip (characterized by the letter "G") of the object 1 (more precisely: the handle 6). If this is not the case, the control device 9 goes to step S43. In step S43, the control device 9 activates the immobilization of the object 1. The immobilization can be caused by a corresponding actuation of the drive 8 or in another way as required. The control device 9 then returns to step S41.

[0077] As soon as the control device 9 detects the gripping of the object 1 in step S42 , the control device 9 proceeds to step S44 . In step S44 , the control device 9 deactivates the immobilization of the object 1 .

[0078] In the simplest case, the control device 9 then directly goes to step S45. In step S45, the control device 9 carries out the control of the drive 8 according to the invention, as described above, for example in conjunction with Figure 4 , Figure 7 , Figure 8 and Fig. 9 As explained above. However, preferably, the control device 9 implements step S46 before step S45. In step S46, the control device 9 checks whether the muscle force F is applied to the object 1 in this case. Only if this is the case, the control device 9 goes to step S45. Otherwise, the control device 9 controls the drive 8 in step S47 so that the drive 8 keeps the object 1 at its current position p.

[0079] In order to correctly determine the control A of the drive 8, corresponding to Fig.11 The diagram in the diagram preferably stores a characteristic curve family 16 in the control device 9. This is independent of which of the above methods is implemented. In the characteristic curve family 16, corresponding characteristic values ​​ki are stored at least for a plurality of inclination angles α and masses m. In this case, the characteristic curve family 16 is two-dimensional. Optionally, the characteristic value ki can also be related to other input variables of the characteristic curve family 16, for example, to the desired direction of travel R, the value |F| of the muscle force F, the preset V and optionally also to other variables such as friction, the system rigidity of the object 1 and / or the system rigidity of the guide device 4. In this case, the characteristic curve family 16 can have more than two dimensions.

[0080] according to Fig.11, the inclination angle α, the mass m and optionally further input variables of the characteristic diagram 16 are used by the control device 9 as follows: the control device 9 reads at least one of the stored characteristic values ​​ki from the characteristic diagram 16 as a function of the variables. In a determination block 17, the control device 9 then determines the generated characteristic value k as a function of the read characteristic value ki. For example, the control device 9 can read the characteristic value ki based on the predefined input variables m, α, which is stored for the nearest grid point of the characteristic diagram 16, and perform a linear interpolation in the determination block 17. In a further determination block 18, the control device 9 finally determines the actuation A of the drive 8 using the generated characteristic value k.

[0081] The structure of the control device 9 is as follows: Fig.11 As explained, it can correspond to Fig.12 Modify the diagram in .

[0082] according to Fig.12 , a model 19 of the device is implemented in the control device 9. The operating parameters BP of the object 1, the operating parameters BP' of the drive 8 and the system parameters SP of the guide device 4 are conveyed to the model 19. The operating parameters BP of the object 1 can include static parameters such as mechanical-structural design schemes or values ​​based thereon. The operating parameters BP of the object 1 can also include dynamic operating parameters of the object 1. Examples of such dynamic operating parameters are mass m, tilt angle α, muscle force F (with direction and magnitude) applied by the operator 5 to act on the object 1, current position p, current speed, current acceleration, etc. In a similar manner, the operating parameters BP' of the drive 8 can include static parameters such as the inertial mass of the drive 8. Similarly, the operating parameters BP' of the drive 8 can include dynamic parameters. Examples of such dynamic parameters are the current control A of the drive 8, the torque currently applied by the drive 8, etc. The system parameters SP of the guide device 4 can especially include its rigidity and friction coefficient.

[0083] The model 19 simulates the behavior of the object 1 and the control device 4 as well as the drive 8. With the aid of the model 19, the control device 9 can determine the expected behavior of the object 1 based on the operating parameters BP, BP' and the system parameters SP supplied to it. In addition, the operating parameters BP, BP' supplied to the control device 9 also include the actual behavior of the object 1. Depending on the deviation of the actual behavior from the expected behavior, the control device 9 can therefore update at least one model parameter MP of the model 19 and thus update the model 19 as a whole. The updating is carried out with the goal that the expected behavior is as close as possible to the actual behavior.

[0084] Based on the updated model 19 , a correction value δki can then be determined for the characteristic value ki stored in the characteristic diagram 16 and the characteristic value ki can be tracked as a function of the determined correction value δki by means of the correction block 20 .

[0085] In accordance with Fig.12 In the scope of the embodiment of the invention, the model 19 is implemented in the control device 9. As an alternative to the embodiment, according to Fig.13 It is possible that the control device 9 forwards the operating parameters BP, BP' and the system parameter SP via the computer-computer connection 21 to the evaluation device 22. In this case, the model 19 is implemented in the evaluation device 22. The correction value δki is determined in this case by the evaluation device 22. The evaluation device 22 forwards the correction value δki to the control device 9, which receives the correction value δki and tracks the characteristic value ki as a function of the correction value δki.

[0086] In summary, the present invention therefore relates to the following factual circumstances.

[0087] The drive 8 is controlled by means of a control device 9. The drive 8 assists the movement of the object 1 in the nominal horizontal plane 3, which is caused by the muscle force F exerted by the operator 5 on the object 1. The control device 9 knows characteristic variables m, α at least for the mass m of the object 1 and the deviation α of the movement of the object 1 from the horizontal plane. The control device 9 controls the drive 8 so that the change in the position p of the object 1 in the nominal horizontal plane 3 caused by this is independent of the deviation α of the movement of the object 1 from the horizontal plane and the mass m of the object 1 when the muscle force F remains the same.

[0088] The present invention has a number of advantages. Through the control A of the drive 8, the movement of the object 1 is consistent from the perspective of the operator 5, that is, it is independent of the position p and mass m of the object 1. This is independent of whether the forces caused by friction are compensated together or not. This results in a "good" operating feel (improving customer satisfaction) and higher positioning accuracy. It is even possible to manufacture a device with lower rigidity than in the prior art, because the drive 8 compensates for the forces that are variable due to the inclination angle α and the mass m of the object 1. The manufacture of the device is thus more advantageous. In addition, the desired direction of travel R can be automatically identified. It is also possible to adapt the control A of the drive 8 to the preferences of the operator 5 and / or to the specific operating situation. By dynamically adapting the characteristic curve family 16, the characteristics are also maintained over the entire service life of the device.

[0089] Although the details of the present invention have been described in detail through preferred embodiments, the present invention is not limited to the disclosed examples and other variations can be derived therefrom by those skilled in the art without departing from the scope of protection of the present invention.

Claims

1. An operating method for a control device (9), by means of which a drive (8) is actuated, said drive (8) assisting in the movement of an object (1) in a nominal horizontal plane (3), said movement being caused by a muscle force F exerted by an operator (5) on the object (1), - wherein the control device (9) knows characteristic variables at least for the mass m of the object (1) and the deviation α of the travel movement of the object (1) from the horizontal plane, and - wherein the control device (9) controls the drive (8) so that, given the same muscle force F, the resulting change in the position p of the object (1) in the nominal horizontal plane (3) is independent of the deviation α of the travel movement of the object (1) from the horizontal plane and the mass m of the object (1), wherein the control A of the drive (8) precisely compensates for the downhill driven force FH.

2. The operating method according to claim 1, It is characterized in that The control device (9) takes into account a desired direction of travel R of the object (1) when determining an actuation A of the drive (8).

3. The operating method according to claim 2, It is characterized in that The control device (9) receives at least one direction of a muscle force F applied by the operator (5) to the object (1) from a first sensor device (14), and the control device (9) determines a desired direction of travel R based on the direction of the muscle force F.

4. The operating method according to claim 3, It is characterized in that The control device (9) also receives from the first sensor device (14) the magnitude of a muscle force F exerted by the operator (5) on the object (1), and the control device (9) takes the magnitude of the muscle force F into account when determining an actuation A of the drive (8).

5. The operating method according to claim 2, 3 or 4, It is characterized in that The control device (9) receives a specification V from the operator (5) and takes the specification V into account when determining an actuation A of the drive (8).

6. The operating method according to any one of claims 1 to 4, It is characterized in that - the control device (9) receives information I from a second sensor device (15) about the operator (5) gripping and releasing the object (1), - the control device (9) deactivates the immobilization of the object (1) when the object (1) is gripped, which is caused by the drive (8) or in some other way, and The control device (9) activates a locking action brought about by the drive (8) or in some other way when the object (1) is released.

7. The operating method according to any one of claims 1 to 4, It is characterized in that - a characteristic curve map (16) is stored in the control device (9), - storing corresponding characteristic values ​​ki in the characteristic curve set (16) at least for a plurality of deviations α of the travel movement of the object (1) from the horizontal plane and for the mass m of the object (1), and - the control device (9) determines the actuation A of the drive (8) using at least one characteristic value ki, which is read by the control device (9) from the characteristic curve group (16) as a function of the deviation α of the travel movement of the object (1) from the horizontal plane and the mass m of the object (1).

8. The operating method according to claim 7, It is characterized in that The control device (9) determines a correction value δki for a characteristic value ki stored in the characteristic diagram (16) as a function of operating parameters BP, BP' of the object (1) and the drive (8) and optionally as a function of a further variable SP, and tracks the characteristic value ki as a function of the determined correction value δki.

9. The operating method according to claim 7, It is characterized in that The control device (9) forwards the operating parameters BP, BP' of the object (1) and the drive (8) and optionally further variables SP to an evaluation device (22) via a computer-computer connection (21); the evaluation device (22) receives a correction value δki for the characteristic value ki stored in the characteristic curve family (16) and tracks the characteristic value ki as a function of the received correction value δki.

10. A control program product, wherein the control program product comprises a machine code (11) which can be directly processed by a control device (9), wherein the processing of the machine code (11) is caused by the control device (9) so that the control device (9) carries out an operating method according to any one of claims 1 to 9.

11. A control device for a drive (8) which assists an object (1) in moving in a nominal horizontal plane (3), the movement being caused by a muscle force F applied to the object (1) by an operator (5), wherein the control device is programmed by a control program product (10) according to claim 10, so that the control device implements an operating method according to any one of claims 1 to 9.

12. A device, wherein the device comprises: an object (1) that can be moved in a nominal horizontal plane (3) by a muscle force F applied to the object (1) by an operator (5); a drive (8), which assists the movement of the object (1); and a control device (9) according to claim 11, which acts together with the object (1) and the drive (8) according to an operating method according to any one of claims 1 to 9.

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