Controllable apparatus and control handle for producing such controllable apparatus

Abstract

The invention relates to a controllable apparatus, such apparatus comprising: - a control handle (4) comprising multiple detection zones Zi. Each detection zone Zi comprises first and second sensors each capable of switching to an operative state when they detect the presence of the pilot's hand on the detection zone Zi. These first and second sensors being sensitive, respectively, to first and second physical characteristics of the pilot's hand, the second physical characteristic being independent of the first physical characteristic; and - a processing unit (6) configured to: - calculate the number of detection zones Zi which comprise at least one sensor in the operative state thereof, and - when this calculated number is greater than a predetermined threshold, trigger the reporting of correct gripping of the handle.

Description

Controllable device and control handle for the production of this controllable device [1] The invention relates to a controllable device and a control handle for producing this controllable device. [2] Application US6948398 describes a vehicle that can be driven using a steering handle. This handle has two detection zones arranged at locations on the handle that make it possible to detect a correct grip of the handle by a driver's hand. Only a correct grip of the handle makes it possible to switch this handle from a deactivated state to an activated state. In the deactivated state, the handle cannot be used to drive the vehicle. Conversely, in the activated state, the handle makes it possible to drive the vehicle. [3] The grip is correct only if the pilot's hand presses simultaneously on each of the two detection zones. Conversely, if the pilot's hand presses only one of the two detection zones or neither of the two detection zones, the grip of the handle is incorrect and the handle remains in its deactivated state. [4] To detect the presence of the hand on each of the detection zones, each of these detection zones is equipped with a capacitive sensor capable of reversibly switching between: - an active state in which it detects the presence of the pilot's hand in this detection zone, and alternately - in a state of rest in which it does not detect the presence of the pilot's hand in the detection zone. [5] This vehicle equipped with this handle is advantageous in that it makes it possible to avoid piloting errors. In particular, in the deactivated state, an accidental movement of the handle, for example a knee blow on the handle, cannot cause an accidental and unintentional movement of the vehicle. [6] Application US6948398 also states that the use of capacitive sensors is advantageous because it allows the detection of a correct grip of the handle even if the driver is wearing gloves. However, in practice, this is not always true because there are gloves made of dielectric materials which, when worn by the driver, make it impossible to detect the hand resting on the two detection zones. In such a case, the handle therefore remains in its deactivated state. This prevents the vehicle from being driven while the grip of the handle is correct. Subsequently, such a situation is called a "false negative" because an incorrect grip is detected when, in reality, the grip is correct. [7] Prior art is also known from US6948398B2, FR3117997A1 and US2008 / 250889A1. [8] The invention aims to remedy this drawback by proposing a device which can be controlled using a handle in which the occurrence of false negatives is limited. [9] It therefore relates to a controllable device conforming to claim 1.

[0010] The invention also relates to a control handle for producing this controllable device.

[0011] The invention will be better understood on reading the description which follows, given solely as a non-limiting example and made with reference to the drawings in which: - figure 1 is a schematic illustration of the architecture of a device that can be controlled using a control handle, - figure 2 is a schematic illustration, in front view, of the pilot handle of the device of figure 1, - figure 3 is a schematic illustration, in rear view, of the pilot handle of the device of figure 1, and - Figure 4 is a schematic illustration of a detection zone of the pilot handle of the device of Figure 1.

[0012] In these figures, the same references are used to designate the same elements. In the remainder of this description, the characteristics and functions well known to those skilled in the art are not described in detail.

[0013] In this description a detailed example of an embodiment is first described in a chapter I with reference to the figures. Then, in a chapter II, variants of this embodiment are presented. Finally, the advantages of the different embodiments are explained in chapter III.

[0014] Chapter I: Example of implementation:

[0015] Figure 1 shows an apparatus 2 that can be controlled using a control handle 4. Here, for illustration purposes, the apparatus 2 is an aircraft such as an airplane or a helicopter. The apparatus 2 comprises: - a unit 6 for processing the various information obtained in response to the actuation of the handle 4 by the hand of a pilot, and - one or more electric actuators which receive pilot commands sent by the processing unit 6 in response to the actions of the pilot's hand on the handle 4.

[0016] To simplify Figure 1, only two actuators 8 and 10 have been shown. For example, actuator 8 is an electric actuator of the propulsion and guidance means of the device 2. By way of illustration, actuator 8 makes it possible to adjust the speed of the device 2 or the direction in which the device 2 moves.

[0017] The actuator 10 is an actuator independent of the propulsion and guidance means of the device 2. For example, the actuator 10 makes it possible to trigger an action such as firing a projectile. The projectile is, for example, a missile or a bullet.

[0018] Here, the handle 4 is a handle that can be moved relative to the chassis of the aircraft 2 by the pilot's hand. For example, the handle 4 can be moved in rotation about a longitudinal axis and about a transverse axis. Typically, the longitudinal axis is parallel to the direction of movement of the aircraft 2 when the latter is moving in a straight line. The transverse axis is perpendicular to the longitudinal axis and contained in a horizontal plane when the aircraft is moving horizontally.

[0019] To measure the angles of rotation of the handle 4 around the longitudinal and transverse axes, the device 2 is equipped with at least one unit 12 for measuring the movements of the handle 4 relative to the chassis of the device 2. The unit 12 transmits the measured angles to the processing unit 6.

[0020] In this example, the handle 4 is also equipped with several buttons that can be operated by the pilot's fingers. Each button can be moved reversibly between a released position and a pressed position. It is the pilot's finger that allows any of these buttons to be moved from its released position to its pressed position. pressed against a restoring force. In the absence of external stress, each button is in its released position. Moving a button from its released position to its pressed position triggers the sending of a control command to an electric actuator of the device 2. For example, here, pressing at least one of these buttons is likely to trigger the sending of a control command to the actuator 10 which triggers a projectile firing. This button bears the numerical reference 14 in FIG. 1 and is in the form of a trigger.

[0021] To simplify the figures, the other buttons of the handle 4 are each designated by the reference numeral 16, even if the structures of these other buttons may be different and the actions triggered by pressing each of these buttons 16 are different.

[0022] Each of these buttons 14, 16 is connected to the processing unit 6, so that the unit 6 can acquire the position in which each of these buttons is located.

[0023] Subsequently, the term “handle actuation” refers to both moving the handle 4 and pressing one of the buttons on this handle 4.

[0024] Between the buttons 14 and 16, the handle 4 has gripping surfaces on which the pilot's hand rests when the pilot correctly grips the handle 4. The location of these surfaces coincides with the typical contact areas between the pilot's hand and the handle. Here, the handle 4 has, during a normal and correct grip of the handle 4 by the pilot: - a front gripping surface 20 facing the pilot, - a rear gripping surface 22 located on the side opposite the surface 20; - lateral surfaces 24 and 26 (figure 2) for gripping.

[0025] The side surfaces 24 and 26 are located between the surfaces 20 and 22. Here, these surfaces 24 and 26 are located, respectively, on the left side and the right side of the handle 4.

[0026] Typically, these gripping surfaces are shaped and / or made of a material which provides comfort adapted to the pilot when he holds the handle 4 using his hand.

[0027] Within these gripping surfaces, the handle 4 comprises detection zones Zi, where the index i is an identifier of the detection zone Zi among the different detection zones of the handle 4. These detection zones Zi are arranged on the gripping surfaces at locations which make it possible to detect a correct grip of the handle 4 by the pilot's hand. Typically, these are locations where the palm and / or fingers of the pilot's hand are positioned when the handle 4 is in a correct grip. These locations vary depending on the shape of the handle. Thus, the locations where these detection zones Zi must be positioned must be determined on a case-by-case basis depending on the shape of the handle.

[0028] Generally, to detect a correct grip of the handle 4, the detection zones Z are arranged at least inside two gripping surfaces located on opposite sides of the handle 4. For this purpose, here, detection zones Zj are arranged in each of the surfaces 20, 22, 24 and 26.

[0029] Preferably, the number N zof detection zones is odd and equal to 2M+1, where M is an integer greater than or equal to one and, preferably, greater than or equal to two or three. In this embodiment, the number M is equal to two and the handle 4 comprises five detection zones Zi to Z5.

[0030] Examples of where these five zones Zj are arranged are shown in Figures 1 to 3. In Figure 1, the handle 4 is shown in side view. In Figures 2 and 3, the handle 4 is shown in front view and rear view respectively. Here, when the grip of the handle 4 is correct: - the Zi zone is located under the thumb of the hand, - zone Z2 is located under the little finger of the hand, - zone Z3 is located under the top of the palm of the hand, - zone Z4 is located under the index finger of the hand, and - the Z5 zone is located under the bottom of the palm of the hand.

[0031] To enable detection, each of these zones Zi has two sensors denoted respectively Ci,i and Ci,2. (Figure 4). Each of these sensors is capable of reversibly switching between: - an active state in which it detects the presence of the pilot's hand in the Z detection zone and, alternately - a resting state in which the presence of the pilot's hand in the detection zone Zj is not detected.

[0032] Each of the sensors Ci,i and C ii2 of zone Zj is insensitive to the presence and absence of the pilot's hand in a detection zone other than detection zone Z. These sensors are separate from buttons 14, 16 and operate independently of the buttons 14, 16. In particular, switching a sensor between its rest state and its active state does not, in itself, cause the generation of a pilot command. The sensors are here only used to detect a correct grip of the handle 4.

[0033] Each of the sensors C>,1 and C>,2 of each zone Zi is connected to the processing unit 6. Thus, this unit 6 can also acquire the state in which each of the sensors C>,1 and C>,2 is currently at a given time.

[0034] An exemplary embodiment of a zone Zi is described in more detail with reference to Figure 4.

[0035] In this embodiment, the processing unit 6 comprises an electronic computer 30 integrated inside the handle 4 and a central electronic computer 32 located outside the handle 4. To improve the readability of FIG. 1, the computer 30 has been shown next to the handle 4.

[0036] The computer 30 and the central computer 32 are connected to each other by an information transmission link 33 such as a wired link.

[0037] Calculator 30 is configured: - to acquire the state of each of the sensors Ci,i and C i 2 of each Zi zone, then - depending on the state of these sensors Ci,i and Ci,2, to detect and signal a correct grip of the handle 4 by the pilot's hand.

[0038] As explained in the introduction to this application, a “correct” grip of the handle 4 is a grip of the handle 4 which makes it possible to switch the handle 4 from a deactivated state to an activated state. This state is managed by the central computer 32 to take into account or not the movement information of the handle. In this embodiment, in the deactivated state, regardless of the actuation of the handle 4, no control command of an actuator of the device 2 is transmitted by the processing unit 6 to the actuator or actuators concerned. In other words, in the deactivated state, the handle 4 is unusable for controlling the device 2. Conversely, in the activated state, in response to each actuation of the handle 4, a corresponding control command is transmitted to the actuator or actuators concerned. Thus, it is only in its activated state that the handle 4 can be used to control the device 2.Therefore, the device 4 can only be piloted using the handle 4 if it is correctly held by the pilot.

[0039] Correct grip is also a grip of the handle which cannot be confused with an accidental shock to the handle 4. Thus, a correct grip corresponds to simultaneous presses on several of the detection zones Zi and, preferably, on at least three detection zones Z or more of the handle 4. For this purpose, here, the computer 30 is configured to execute the following operations at a frequency greater than 1 Hz, and in particular greater than 10 Hz: - Operation 1): Calculate the number N A of zones Zi which include at least one sensor Ci,i or Ci,2 in its active state, then - Operation 2): Check whether the following condition (1) is satisfied: N A If, where If is a predetermined threshold, then - Operation 3): If condition (1) is satisfied, trigger the reporting of a correct grip and if condition (1) is not satisfied, do not trigger the reporting of a correct grip.

[0040] Subsequently, in this text, when a zone Zi comprises at least one sensor in the active state, this zone Zi is said to be “on”. Conversely, if this zone Zi comprises only sensors in their resting state, this zone Zi is said to be “off”.

[0041] Preferably, the threshold Si is chosen greater than or equal to the number M. In addition, here, the threshold Si is chosen less than the total number N z of Zi zones. Thus, it is not necessary for the pilot's hand to be resting on each of the Zi zones for the grip to be correct. This allows for tolerance of variations in the correct grip of the handle 4 inherent to intra and inter individual variations in the user population.

[0042] Here, the threshold Si is chosen equal to M+1, that is to say equal to three in this example.

[0043] To implement operations 1) to 3) above, the computer 30 comprises a computing core, such as a microprocessor 34, and a memory 36. The memory 36 comprises the instructions executable by the microprocessor 34, necessary to carry out operations 1) to 3) above.

[0044] The central computer 32 acquires the signal of a correct grip transmitted by the computer 30. In response, if the handle 4 is in its deactivated state, then it immediately switches the state of the handle 4 from the deactivated state to the activated state. The state of the handle 4 is typically recorded in a variable stored in the central computer 32. Thus, the expression “the handle 4 is in its activated state” only means that the value of this variable is equal to a first predefined value. The expression "handle 4 is in its deactivated state" means that the value of this same variable is equal to a second different predetermined value.

[0045] As long as the handle 4 is in the activated state, at a frequency greater than 1 Hz or 10 Hz, the central computer 32 performs the following operations: - Operation (a): The calculator 32 acquires the measurements of the unit 12 and the position of the buttons 14 and 16 of the handle, then - Operation (b): The computer 32 generates actuator control commands based on the measurements and positions acquired during operation (a), then - Operation (c): The computer 32 sends to the actuators concerned the pilot commands generated during operation (b).

[0046] Thus, as long as the handle 4 is in the activated state, the central computer 32 transforms each actuation of the handle 4 into piloting commands for one or more of the actuators of the device 2 depending on the action performed by the pilot's hand on the handle 4.

[0047] For example, the 32 calculator is capable of: - to send a control command for the actuator 8 constructed from the angles measured by the unit 12, and - to send a pilot command to the actuator 10 when the button 14 reaches its pressed position.

[0048] As long as the handle 4 is in its activated state, the central computer 32 also checks at regular intervals whether a condition (2) is satisfied. When the condition (2) is satisfied, the central computer 32 immediately switches the state of the handle 4 from the activated state to the deactivated state. For example, here, the condition (2) is that for a predetermined period, the central computer 32 does not receive any signal of a correct grip.

[0049] As long as the handle 4 is in the deactivated state, the central computer 32 inhibits the sending, to the actuators of the device 2, of any piloting command generated as a function of a movement of the handle 4 or in response to the pressing of a button 14, 16 of the handle 4. Thus, in this exemplary embodiment, to pilot the device 2 using the handle 4, the grip of the handle 4 must be correct.

[0050] Typically, the computer 32 comprises a microprocessor 38 capable of executing instructions and a memory 40. The memory 40 comprises the instructions and data necessary to execute the various operations described above.

[0051] Figure 4 represents a detection zone Zi and its two sensors C>,1 and Ci,2. The sensors C>,1 and C>,2 are sensitive, respectively, to a first and a second physical characteristics of the pilot's hand to detect its presence and, alternately, its absence in the detection zone Zi.

[0052] The use of different sensor technologies makes it possible to address different problems: a first problem of common mode failure and a second problem of operational detection conditions.

[0053] A common mode failure is a simultaneous failure of all sensors due to a single cause. Using sensors of different technologies for the same detection zone, i.e. sensitive to different physical characteristics, is a useful way to address this problem.

[0054] For the operational condition aspects of detection, the use of sensors with different physical characteristics makes it possible to deal with the case where sensor Ci,i is inoperative, sensor C ii2remaining operational when the handle 4 is used in a particular context. In this text, when a sensor is "inoperative", this means that it is unable to switch to its active state even if the pilot's hand is present on the zone Zi. Otherwise, that is to say when the sensor is able to switch to its active state if the pilot's hand is present on the zone Zi, it is said to be "operational". In this text, sensor C ij2is said to be "complementary" to the CM sensor, because it is operational in a particular context of use where the CM sensor is inoperative. Thus, the Ci,2 sensor overcomes a functional limitation of the C>,1 sensor in a particular context of use of the handle 4. Such a functional limitation of the Ci,i sensor is not a failure of the Ci,i sensor because as soon as the particular context of use disappears, the Ci,i sensor is immediately operational again. A particular context of use is a context of use likely to be encountered, generally rarely, during normal use of the handle 4.

[0055] For example, here, the sensor C>,1 is a sensor sensitive to the electrical conductivity of human skin. In this case, the particular context where the sensor Ci,i is inoperative is when the pilot wears gloves made of dielectric material. In this particular context, the sensor C>,1 is unable to switch to its active state even if the gloved hand is present on the zone Zi.

[0056] In this case, since the C>,2 sensor uses another physical characteristic of the hand than its electrical conductivity, this C>,2 sensor remains operational when the gloved hand is present on the Zi zone. Therefore, the fact that the pilot wears gloves made of dielectric material does not prevent the Zi zone from lighting up correctly when the pilot's hand is present on this detection zone. Therefore, a correct grip can also be detected, even in this particular context.

[0057] For example, here, the second physical characteristic of the pilot's hand is its ability to reflect radiation. The sensor C ii2is a proximity sensor that emits radiation, for example infrared radiation, and detects the radiation reflected by the hand when it rests on the sensor C ii2 or is very close to sensor C ii2 . For example, "very close" means within 1 mm. Typically, the radiation emitted by the sensor C ij2 is modulated by information which allows it to be distinguished from other sources of infrared radiation located near this sensor Ci,2.

[0058] Each of the sensors Ci,i and C i 2 has a sensitive face. The sensitive face of a sensor of the handle 4 is the portion of the gripping surface: - inside which this sensor is capable of detecting the presence of the hand, and - outside of which this same sensor is no longer capable of detecting the presence of the hand.

[0059] In this first embodiment, the intersection of the sensitive faces of the sensors C>,1 and C>,2 has a surface area greater than 0 cm 2 and preferably greater than 0.5 cm 2 or 1 cm 2 . Preferably, the area of ​​the intersection is greater than 0.8Smax or 0.9Smax, where S m ax is the surface area of ​​the largest of the sensitive faces of the sensors Ci,i and Ci,2. For this purpose, the sensitive faces of the sensors C u and Ci,2 are almost merged or are merged, or the sensitive face of one of the sensors Ci,i and C ii2 is entirely included inside the sensitive face of the other of the sensors C>,1 and Ci,2.

[0060] The detection zone Zi is the smallest area that entirely contains the sensitive faces of the sensors Ci, i and C i 2 .

[0061] Chapter: Variants:

[0062] Handle variations:

[0063] Alternatively, the handle includes an additional sensor C ii3 (Fig. 4) supplementary. Sensor C ii3 uses a physical characteristic of the pilot's hand to detect its presence in the area Zi which is different from the first and second physical characteristics used, respectively, by the sensors C>,1 and Ci,2. For example, the sensor C ii3 is a sensor directly sensitive to the pressure force of the pilot's hand on the Zi zone. The C sensor ij3 is, for illustration, a piezoelectric or similar sensor which switches to its active state if the pressure exerted by the pilot's hand on the zone Zi is greater than a predetermined threshold S3. At least one of the zones Zi comprises this sensor C ij3 additional. The C sensor ij3 can be integrated into the Zi zone in addition to the Ci,i and Ci,2 sensors. In this case, the Zi zone has three sensors Ci,i, C ii2 etc ij3. This detection zone Z is then lit as soon as at least one of the sensors Ci,i, C ii2 etc i 3 is in the active state. In this variant, preferably, each zone Zi comprises a sensor Ci,3.

[0064] The C sensor i 3 can also be integrated into the Zi zone as a replacement for one of the two sensors C>,1 and C il2 . In this case, the number of sensors in zone Zi remains equal to two. For example, if sensor Ci,3 replaces sensor C ii2 , the zone Zi is lit as soon as at least one of the sensors Ci,i and C i 3 switches to its active state. In this variant, only some of the Zi zones contain the C sensor ij3 .

[0065] It is also possible to integrate into the handle, in addition to the sensors Ci,i, C ii2and Ci,3, other additional sensors which each use another physical characteristic of the pilot's hand to detect its presence in a zone Zi. In this case, a detection zone Zi can then comprise more than three different sensors.

[0066] A detection zone can also include several identical sensors or sensors sensitive to the same physical characteristic of the pilot's hand. This increases operational safety. However, even in this case, the detection zone includes at least one complementary sensor. For example, zone Zi includes two examples of sensors C>,1 and a single example of sensor C i>2 or includes two copies of the sensor Ci,i and two copies of the sensor Ci,2.

[0067] Other Ci,i sensor technologies sensitive to the electrical conductivity of the skin are possible. For example, alternatively, the Ci,i sensor is a resistive sensor and not a capacitive sensor.

[0068] Similarly, other sensor technologies can be used to realize the complementary sensor C il2 . For example, the complementary sensor can be a pressure sensor, such as a piezoresistive sensor, a temperature sensor, or an optical sensor.

[0069] The teaching that the occurrence of false negatives is limited when sensor C>,2is complementary to sensor CM, i.e., sensor C>,2is operational in a particular context where sensor C>,1 is inoperative, also applies to the case where sensor C>,1 is not sensitive to the electrical conductivity of the skin, but to another physical characteristic. For example, sensor C>,1 is, alternatively, a temperature sensor. Such a temperature sensor may be inoperative in a particular context where the external temperature is very low. In this case, sensor Ci,2is chosen as a sensor sensitive to a physical characteristic of the hand that is not affected by very low external temperatures. For example, in this case, sensor C ii2 is a sensor sensitive to the electrical conductivity of the skin, such as a capacitive sensor. Still in this same case, the sensor C i 2can also be a sensor directly sensitive to the pressure exerted by the hand on the detection zone Zj such as a piezoelectric sensor.

[0070] Another example where the teaching given here is applied in the absence of a capacitive sensor is the case where the sensor C>,1 is an optical sensor. Such an optical sensor may be unable to detect the presence of the hand in a particular context where light is absent. In this case, a sensor C ii2 complementary to the sensor Ci,i is an infrared proximity sensor or a sensor sensitive to the temperature or electrical conductivity of the skin or to the pressure of the hand on the area Zj.

[0071] Alternatively, the total number N z of detection zones Z is even. In an extremely simplified variant, the number N z is equal to two.

[0072] In a simplified variant, the surface of the intersection between the sensitive faces of the sensors C>,1 and C>,2 is less than 0.8 S ma x.

[0073] In another variant, the sensitive faces of the sensors Ci,i and C ii2 do not overlap. In this case, the sensors Ci,i and C i 2 are still close to each other. Here, the sensors Ci,i and C i 2 are considered to be close to each other if the distance between the isobarycenter of the sensitive face of the sensor Ci,i and the isobarycenter of the sensitive face of the sensor C>,2 is less than 30 mm and, preferably, less than 25 mm or 20 mm. In addition, generally, the sensor C ii2 East then the sensor closest to sensor C>,1 among all the sensors of handle 4.

[0074] Processing unit variants:

[0075] Alternatively, the value of the threshold Si can be chosen to be less than or equal to M or, on the contrary, greater than M+2 or M+3.

[0076] The various elements of the processing unit 6 are not necessarily distributed between the handle 4 and the external central computer 32. For example, in one variant, all of the elements of the processing unit 6 are located outside the handle 4. For example, the functions performed by the computer 30 are implemented in the central computer 32 and the computer 30 is omitted. In this case, the states of the sensors Ci,i and C i 2 of the handle 4 are transmitted to the central computer 32. The central computer 32 then processes the received states itself to determine whether the handle 4 must be switched to its activated state or its deactivated state. Conversely, it is also possible to house the processing unit 6 entirely inside the handle 4.

[0077] Alternatively, in the deactivated state, only a portion of the piloting commands that may be generated in response to an actuation of the handle 4 is inhibited. The other portion of the commands that may be generated in response to an actuation of the handle 4 is generated even in the deactivated state of the handle 4. For example, the commands that may be generated by an actuation of the handle 4, even in the deactivated state, are commands that do not compromise the safety of piloting the device 2.

[0078] Instead of signaling to the central computer 32 a correct handling, the computer 30 can signal an incorrect handling as long as the condition (1) is not satisfied and only stop this signaling of an incorrect handling as soon as the condition (1) is satisfied. In this case, the computer 32 can deduce the existence of a correct handling from the fact that it no longer receives, for a predetermined duration, the signaling of an incorrect handling.

[0079] Alternatively, condition (2), for switching the state of handle 4 from the activated state to its deactivated state, is different. For example, alternatively, condition (2) is as follows: N AS2, where S2 is a predetermined threshold. In this case, condition (2) is evaluated by the computer 30 and the computer 30 transmits to the central computer 32 a signal of an incorrect grip as soon as condition (2) is satisfied. In response, the central computer 32 immediately switches the state of the handle 4 from the state activated to its deactivated state. Preferably, the threshold S2 is lower than the threshold Si so that the condition (1) for moving from the deactivated state to the activated state is more difficult to satisfy and more restrictive than the condition (2). This allows, once the handle 4 is in its activated state, a greater tolerance on a “loss” of the grip of the handle 4 to control the device 2.

[0080] Advantageously, particularly in the field of aeronautics, the computing core of the computer 30 is a hardware computing unit implemented in a component such as a programmable logic circuit like an FPGA (“Field Programmable Gate Array”).

[0081] Other variants:

[0082] What has been described here in the particular case of an aircraft applies to any type of vehicle, such as motor vehicles, a tank, boats, or others. This also applies to any device that can be controlled using a handle, without this device necessarily being a vehicle. For example, device 2 may be a crane or a turret.

[0083] The device 2 is not necessarily a monolithic device in which all the elements are fixed to each other via a single chassis. Alternatively, the device 2 comprises a remote control and a device remotely controlled from this remote control. The remote control is equipped with the pilot handle and, for example, the processing unit 6. The actuator(s) are mounted on the remote-controlled device. In this case, the piloting commands are transmitted to the remote-controlled devices, typically via a wireless link. An example of such a device is the assembly formed by a drone and its remote control.

[0084] The actuator(s) controlled as a function of the actuation of the handle are not necessarily actuators of the propulsion and / or guidance means of the device. What has been described here applies to any type of actuator controlled using a pilot handle. For example, the controlled actuator may be an actuator that controls the opening of an electrical circuit or its closing.

[0085] Alternatively, the handle is provided with only one or more buttons and cannot be moved by the pilot's hand. The handle may also be without any buttons and only movable by the pilot's hand.

[0086] When the handle is movable by the pilot's hand, the number of degrees of freedom in movement of the handle is greater than or equal to one and may be greater than or equal to two, three or four. In particular, in one variant, the handle is also movable in translation and not only in rotation about one or more axes.

[0087] Chapter III: Advantages of the embodiments described:

[0088] Grouping several complementary sensors Ci,i and Ci,2 in the same detection zone Zi, combined with the use of condition (1) to trigger the reporting of a correct grip, increases the reliability of the pilotable device by reducing the number of occurrences of false negatives. This is illustrated in the particular case where the sensor C>,1 is a capacitive sensor and the pilot wears a glove made of dielectric material, so that this sensor Ci,i is inoperative in this context of use. In this context of use, the sensors Ci,2 remain capable of detecting the presence of the hand. Thus, each of the zones Zi can be lit, despite the fact that the pilot wears gloves made of dielectric material. Therefore, if the grip is correct, the number of detection zones Zj lit exceeds the threshold Si and condition (1) is satisfied.This avoids the occurrence of false negatives that could occur in state-of-the-art handles.

[0089] The fact that the number of detection zones Zj is odd makes it possible to avoid the indecision situation which occurs, for example, when the number of zones lit is equal to the number of zones switched off and the threshold Si is equal to N z / 2. This therefore improves the operational safety of the controllable device.

[0090] Using at least three detection zones Zj and triggering the signaling of a correct grip as soon as condition (1) is satisfied, makes it possible to detect several different correct grips. Indeed, for this, it is sufficient that the threshold Si is lower than the total number N z of Z detection zones. For illustration, this can be used to detect a correct grip using either a right or left hand.

[0091] The fact that the sensitive faces of the sensors C>,1 and Ci,2 are practically the same makes it possible to improve the operation of the device by limiting the number of hand positions on the handle which allow one of the sensors C>,1 to be tilted. and Ci, 2 in its active state and not the other. This also allows for smaller surface detection areas.

[0092] The fact that the sensors C>,1 are sensitive to the electrical conductivity of the skin while the sensors Ci,2 are sensitive to the proximity of the skin, makes it possible to obtain a handle capable of functioning correctly in practically all possible usage contexts, including particularly severe usage contexts. For example, this particular combination of complementary sensors makes it possible to obtain a handle that can be used both when the outside temperature is very low and when the driver is wearing gloves made of dielectric material.

[0093] The fact that the detection and signaling of a correct grip are carried out by the computer 30 housed in the handle 4 makes it possible to transmit to the central computer 32 only the signaling of the correct grip and not the states of each of the sensors Ci,i and Ci,2. This therefore reduces the quantity of information transmitted on the link 33 which connects the handle 4 to the central computer 32.

Claims

Claims 1. Controllable device comprising: - a control handle (4) comprising: - several detection zones Zi arranged at locations on the handle which make it possible to detect a correct grip of the handle by a pilot's hand, where the index i is an identifier of the detection zone Z, each of these detection zones Z being equipped for this purpose with at least one sensor (CM, Ci,2) capable of reversibly switching between: - an active state in which it detects the presence of the pilot's hand in the Z detection zone, and alternately - a rest state in which the presence of the pilot's hand in the detection zone Zi is not detected, each sensor in the zone Zi being insensitive to the presence and absence of the pilot's hand in a detection zone other than the detection zone Zi, - an actuator (8, 10) actuated in response to the reception of a pilot command, - a processing unit (6) configured: - to trigger the signaling of a correct grip of the handle depending on the state of the steering handle sensors, - in response to a failure to signal correct gripping of the control handle, to switch the handle to a deactivated state in which the sending of the control command to the actuator, in response to movement of the handle or in response to the actuation of a button on the handle, is systematically inhibited and, alternately, - in response to the signaling of a correct grip of the pilot handle, to switch the handle into an activated state in which, in response to a movement of the handle or in response to the actuation of a button on the handle, the pilot command is sent to the actuator, characterized in that: - each detection zone Z comprises a first and a second of the sensors (CM, Ci, 2) each capable of switching to its active state when it detects the presence of the pilot's hand in the detection zone Zi, these first and second sensors of the detection zone detection Zi being sensitive to, respectively, a first and a second physical characteristics of the pilot's hand to detect the presence and, alternately, the absence of the pilot's hand on the detection zone Z, the second physical characteristic being independent of the first physical characteristic so that the second sensor is able to detect the presence of the hand on the detection zone Z in a particular context of use where the first sensor is incapable of doing so, and - the processing unit (6) is configured: - to calculate the number of detection zones Zi which have at least one sensor in its active state and then to check whether this calculated number is greater than a predetermined threshold, this predetermined threshold being greater than one, and - when this calculated number is greater than this predetermined threshold, to trigger the signaling of a correct grip of the handle.

2. Apparatus according to claim 1, wherein the number of detection zones Zi is equal to 2M+1, where M is an integer greater than zero and the predetermined threshold is greater than or equal to M.

3. Apparatus according to any one of the preceding claims, wherein the apparatus (2) is a vehicle.

4. Control handle (4) for producing a controllable device according to any one of claims 1 to 3, this control handle comprising: - several detection zones Zi arranged at locations on the handle which make it possible to detect a correct grip of the handle by a pilot's hand, where the index i is an identifier of the detection zone Zi, each of these detection zones Z being equipped for this purpose with a sensor (Ci,i, Ci,2) capable of reversibly switching between: - an active state in which it detects the presence of the pilot's hand in the Z detection zone, and alternately - a state of rest in which the presence of the pilot's hand in the detection zone Zi is not detected, each sensor (CM, C>,2) of the zone Zi being insensitive to the presence and absence of the pilot's hand in a detection zone other than the detection zone Z, characterized in that each detection zone Zi comprises a first and a second of the sensors (CM, C>,2) each capable of switching to its active state when it detects the presence on the detection zone Zi of the pilot's hand, these first and second sensors of the detection zone Zi being sensitive to, respectively, a first and a second physical characteristics of the pilot's hand to detect the presence and, alternately, the absence of the pilot's hand on the detection zone Z, the second physical characteristic being independent of the first physical characteristic so that the second sensor is capable of detecting the presence of the hand on the detection zone Z in a particular context of use where the first sensor is incapable of doing so.

5. Handle according to claim 4, in which the handle comprises at least three detection zones Zi arranged at locations on the handle (4) which make it possible to detect a correct grip of the handle by a pilot's hand.

6. Handle according to any one of claims 4 to 5, in which the first and second sensors (CM, C>,2) of each detection zone Z each comprise a sensitive face inside which the presence of the pilot's hand can be detected and outside which the presence of the pilot's hand cannot be detected and the surface of the intersection between the sensitive faces of the first and second sensors is greater than 0.8S ma x, where S ma x is the surface area of ​​the largest of the sensitive faces of the first and second sensors.

7. Handle according to any one of claims 4 to 6, in which the first physical characteristic used by each first sensor (Ci,i) of each detection zone is the electrical conductivity of the skin of the pilot's hand and the second physical property used by each second sensor (Ci,2) of each detection zone is the capacity of the pilot's hand to reflect radiation emitted by this second sensor.

8. Handle according to claim 7, in which the first sensor (C>,i) is a capacitive sensor.

9. Handle according to any one of claims 4 to 8, in which the handle comprises an electronic computer (30) configured: - to calculate the number of detection zones Zi which include at least one sensor (CM, Ci,2) in its active state and then to check whether this calculated number is greater than a predetermined threshold, this predetermined threshold being greater than one, and - when this calculated number is greater than this predetermined threshold, to trigger the signaling of a correct grip of the handle.

10. A handle according to any one of claims 4 to 9, wherein the handle comprises: - at least two gripping surfaces (20, 22, 24, 26) located on opposite sides of the handle, each of these gripping areas corresponding to a typical contact area between the pilot's hand and the handle, and - a detection zone Zi located inside each of these gripping surfaces located on opposite sides of the handle.

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