Conversion of operation settings to optimized control sequence
Patent Information
- Application Number
- JP2022135602
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2021-08-30
- Filing Date
- 2022-08-29
- Publication Date
- 2025-09-05
AI Technical Summary
In complex work sequences or high-security environments, fully automated control is often not feasible or requires excessive effort, necessitating manual control by users, which can lead to non-optimal operations.
A method that captures control inputs, evaluates operating parameters against predetermined boundary conditions, and provides feedback or adjusts parameters to optimize user control, maintaining flexibility while improving efficiency and safety.
Enhances the flexibility and optimization of manual control by providing real-time feedback and adjustments, reducing the likelihood of non-optimal operations and potential device damage.
Smart Images
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Abstract
Description
[Technical Field]
[0001] The present invention relates to a method for correcting a control input when controlling a device, as well as a computer program and a computing unit for implementing said method. [Background technology]
[0002] Background of the Invention In practically all technical fields, manual and purely mechanical drive controls are currently assisted by electronic controls or are fully automated. In this case, simple work steps can be successfully performed using purely technical means. However, in the case of particularly complex work sequences or in fields with high security requirements, fully automated sequences are often not possible or involve excessive effort, so manual control of the device by a human user is still required there. Summary of the Invention [Means for solving the problem]
[0003] Disclosure of the Invention According to the invention, a method is proposed having the features of the independent claims. Preferred embodiments are the subject of the dependent claims and the following description.
[0004] In particular, a method for controlling a user-operable device is proposed, comprising the steps of capturing control inputs for controlling the device via at least one operating element, determining parameter values for one or more operating parameters from the control inputs for controlling the device, checking whether the determined parameter values for the one or more operating parameters satisfy predetermined boundary conditions, and implementing corrective steps for controlling the device if the checking shows that the boundary conditions for the one or more operating parameters are not satisfied. Using this method, user control is not replaced by automated sequences, but is interpreted in an appropriate manner and, if necessary, converted into an optimized control strategy. In this way, the flexibility of manual control is maintained, but optimization of difficult control sequences or control sequences initiated by inexperienced users is possible.
[0005] In an exemplary embodiment, the control inputs are captured over a predetermined period of time, and associated operating parameters can be determined over time from the control inputs. The time course of at least one operating parameter can then be checked to see if it satisfies predetermined boundary conditions for the course of the operating parameter, and if the check reveals that the boundary conditions for the course of one or more operating parameters are not satisfied, a corrective step can be performed for the step of controlling the device.
[0006] Such a correction step may, for example, comprise a step of outputting a feedback signal to the user, the feedback signal indicating deviations of the control input from the desired operation and / or indications of the corrective measures for the control input. This provides the user with a means to identify and possibly correct suboptimal operations. In particular, such feedback is suitable for training inexperienced users in operation sequences or for optimizing certain criteria, such as efficiency or working speed during operation. In particular, the feedback signal to the user may comprise a visual display, an audible signal, a tactile signal, and / or any other signal, or a combination of these signals. This may provide direct indications on how the operation can be optimized, for example, by a control arrow or by an alarm sound in the event of deviations outside of acceptable ranges. Force feedback elements may be used to transmit tactile signals to the user.
[0007] Additionally or alternatively, the correcting step may include adjusting at least one determined operating parameter depending on the identified deviation from the checked boundary condition. The adjusted operating parameter can then be used for the step of controlling the device, thereby enabling direct correction of the control system to prevent damage to the device, etc.
[0008] Boundary conditions for an operating parameter or the time course of an operating parameter may include, for example, lower and / or upper limit values, tolerance ranges or deviations from preset reference values.
[0009] If an operating parameter is adjusted, this can be done, for example, by multiplying the parameter value of the operating parameter by a factor, by adding a correction value to the parameter value of the operating parameter, by fixing the operating parameter at a predetermined value, or by changing the time course of the operating parameter. In all cases, the correction used, i.e., for example, the correction factor or the added correction value, can be fixed or, alternatively, can be determined depending on the desired boundary conditions or the deviation of the operating parameter from a reference value.
[0010] Furthermore, the method may include forming new boundary conditions or modifying existing boundary conditions based on the captured operating parameters of the control inputs. In this way, the evaluation of the captured control inputs can be continuously improved. In particular, special operating modes may be provided in which operating parameters are captured in an intentional manner in order to form new boundary conditions therefrom, for example in the case of operation by an experienced user.
[0011] Furthermore, it is also possible to capture at least one control result resulting from the captured control input. This captured control result can be evaluated again based on preset evaluation criteria, for example, via boundary conditions or limit values. If the evaluation yields a positive result, i.e., if the achieved control result is within the desired range, the associated operating parameters that produced the control result can be stored. These operating parameters can then be used again, for example, to form new boundary conditions from which to check the operating parameters, or generally, to capture and recognize the correspondence between the desired control result and the associated operating parameters.
[0012] The operating parameters and / or control results may be captured by suitable sensors in the device, for example magnetic, electrical or optical sensors.
[0013] The computing unit according to the invention, for example a control device of a mobile work machine, is adapted in particular by means of programming techniques to carry out the method according to the invention.
[0014] It is also advantageous to implement the method according to the invention in the form of a computer program or computer program product with program code for performing all the method steps, since this entails particularly low costs, especially if the executing control device is also used for further tasks and is therefore already available. Suitable data carriers for providing the computer program are, in particular, magnetic, optical, or electrical memory, such as hard disks, flash memories, EEPROMs, DVDs, etc. Downloading the program via a computer network (Internet, intranet, etc.) is also possible.
[0015] Further advantages and embodiments of the present invention will become apparent from the present specification and accompanying drawings.
[0016] It is obvious that the features mentioned above and those to be further described below can be used not only in the combinations presented, but also in other combinations or alone, without departing from the scope of the invention.
[0017] The invention is illustrated diagrammatically by way of example in the drawings and will be explained in more detail below with reference to these drawings. [Brief explanation of the drawings]
[0018] [Figure 1] 1 illustrates a method sequence for an exemplary embodiment of the present invention described below. DETAILED DESCRIPTION OF THE INVENTION
[0019] All kinds of devices, such as vehicles, working machines, hydraulic circuits, etc., are provided with control means for at least partly manual control by a user. These devices have one or more operating elements to which the user can give control commands for electromechanically controlling one or more actuators. In this context, actuator should be understood generically to mean any element or device that, in response to a control command, brings about an action or a change in a physical variable. This could be an actuator such as a steering shaft, a valve, a metering pump, a servomotor, a drive, a heating element, or any other drivable, mechanical, hydraulic, or other device.
[0020] Depending on the device, operating elements may be, for example, buttons, levers, joysticks, pedals, steering wheels, control wheels, rotary knobs, sliders, etc. Similarly, virtual operating elements may be displayed, for example, on a touchscreen, providing similar functions to physical operating elements, i.e., display surfaces in which the displayed operating elements can be shifted or rotated by a user's touch to execute corresponding control inputs. Also, several operating elements may be combined to control individual actuators. These control inputs may be converted purely electronically into corresponding electromechanical controls of the actuators. However, operating elements may alternatively be combined with mechanical means, triggering electronic control inputs or directly mechanically acting on, for example, axles, levers, valves, hydraulic elements, etc., as in the case of a steering wheel with electronic steering assistance. In particular, in the case of a combination of electrical and mechanical control, one or more appropriate sensors may be present to capture the control inputs in step 10 of FIG. 1 and determine the relevant operating parameters therefrom in step 20, i.e., for example, the steering angle of the steering wheel, the direction of the control lever, or the position of the pedal. Here, optical, magnetic or electrical sensors can be used, such as potentiometers or Hall sensors, for example.
[0021] According to an exemplary embodiment, when the device is operated by a user, one or more captured control inputs are now examined in step 30 according to predetermined criteria, and then a correction step 50 can be triggered, if necessary. As a correction step 50, for example, the captured control inputs or their operating parameters can be adjusted, and the device can be driven and controlled using these adjusted parameters. Additionally or alternatively, the control inputs can be examined and then the user can be signaled with feedback of the evaluation of the correction means or the control inputs by suitable means, for example by a visual display or a force feedback element.
[0022] Here, a control input 10 can be understood to mean a short, individual drive control request, for example, turning the steering wheel to a specific position. However, alternatively, a series of individual control inputs or continuous drive control over a relatively long period of time can also be considered, which together form a control sequence and can be described in a time course by one or more determined operating parameters 20. Here, the control inputs of different operating elements can also be received 10 simultaneously or successively and evaluated, and together form a control sequence. For example, frequently repeated work sequences, such as moving an actuator from one side to another, are frequently performed with a work machine. This can also include more complex work sequences, such as lifting or unloading material with a gripper, or a combination of a steering movement and drive control of a vehicle engine with an accelerator pedal.
[0023] In some cases, the system must be able to evaluate control inputs or captured operating parameters during operation of the device so that correction steps can be initiated. For this purpose, fixed boundary conditions 22 may be stored in the form of reference or limit values selected to achieve a suitable or optimal control result. For example, optimal control results may be considered to be not exceeding the maximum acceleration for the actuator's operation, not exceeding the maximum load for the component, or not causing jerky movements in the operation sequence, i.e., not causing excessively large fluctuations in the acceleration of the actuator's operation. In general, control results considered for evaluating the quality of operation can be classified based on suitable criteria, such as productivity, working speed, comfort, or efficiency. Relevant operating parameters that can achieve these results, such as uniform operation of a control lever as an operating element for a driven actuator, can then be retrieved or fixed. The desired operation of the operating element thus preset may be determined as a fixed limit value for the operating parameter, as an optimal curve of the operating parameter, or as a value range, e.g., with upper and / or lower limit values for the operating parameter. Similarly, such limit values, value ranges or transition conditions may be established simultaneously in combination for several operating parameters in order to modify a control sequence that is dependent on several operating parameters. All these boundary conditions may be stored for one or several parameters and can be called up for later evaluation of the captured operating parameters.
[0024] In step 20, multi-stage operating parameters can also be determined from the control input. For example, in the case of a control input 10 resulting from steering of an axle, the steering angle can first be captured as an operating parameter by a suitable sensor. This steering angle can then optionally be incorporated into a further actual desired target steering angle, for which an electronic control signal is transmitted to a corresponding electromechanical element, such as a servomotor, in step 40. Optionally, further elements, such as control loops, can also be incorporated into the drive control. Depending on the device or application, intermediate steps are not explicitly determined but are merely incorporated into the control function of the system. Thus, for example, a specific steering angle of an operating element as a manipulated variable can be directly converted into an appropriate drive control signal for a servomotor by direct use of an electronic circuit or controller. Both the operating parameters captured by the sensors and further operating parameters determined from the captured sensor values can then be considered operating parameters within the meaning of the present invention. Accordingly, at any stage between the captured control input and the control signal transmitted to the actuator, an evaluation by comparison with boundary conditions or an optimal sequence 30 and an adjustment of the operating parameter 50 can be performed.
[0025] That is, after the capture of the control inputs 10 and the capture of its operating parameters 20, these parameter values can be evaluated by the system in step 30. For this purpose, the determined parameter values for one or more operating parameters can be compared with associated reference values or boundary conditions for these operating parameters, which are stored and can be recalled for these operating parameters, as explained above. If all boundary conditions are met, the captured operating parameters can be used for controlling the device in step 40, i.e., can be converted, for example, into drive control signals for actuators. However, here, if it is determined in step 30 that one or more operating parameters do not satisfy the boundary conditions, i.e., are outside the limit values or deviate too much from the optimal value for this parameter, a correction step 50 can be initiated.
[0026] In particular, in an exemplary embodiment, an adjusted drive control of the device may be provided as a correction step 50. For this purpose, if a non-fulfillment of a condition is identified, for example, the operating parameters may be adjusted before they are converted again into drive control signals for the actuators based on the adjusted operating parameters in step 40. Alternatively, the drive control signals may be directly modified accordingly.
[0027] Preferably, in this case, the user's control input should not be ignored, but only the drive control characteristics should be optimized in a suitable manner. For example, the adjustment of the operating parameters for the axle drive control may be determined so that a single axle remains at a stop according to the user's control input according to the user's request, while optimizing or limiting energy consumption in this case. That is, when controlling the drive of the device, the user's control input can be substantially followed, but at individual critical points, the drive control can be weakened, strengthened, or changed so that the overall control result is optimized. In this way, the user's control input is interpreted in a specific framework based on determined boundary conditions. This significantly increases the flexibility of the control, as opposed to fixed, pre-set, automated drive control sequences that the user can no longer influence.
[0028] For example, if a limit value is exceeded, the operating parameter to be checked can be limited to the limit value. Alternatively, the operating parameter can be reduced by only a factor without necessarily being limited to the limit value. Similarly, the parameter value can be reduced without continuing to be limited to the limit value. Generally, a fixed, predefined correction value, such as a fixed, predefined reduction factor, can be used for adjusting or correcting the operating parameter, or the adjustment of the operating parameter can be designed depending on the degree of deviation. For example, if only a small deviation is identified, optionally only a small correction can be performed. For this purpose, a suitable algorithm can be stored, which determines a correction value depending on the detected deviation of the operating parameter from the boundary condition.
[0029] To determine boundary conditions for the operating parameters, an experienced user can take over the operation of the device, and an evaluation mode can be provided in which relevant operating parameters are captured. This mode can be initiated, for example, by a corresponding user input. The user can then control the device through short operation sequences or over a longer period with different operation sequences, while the system captures the operating parameters in step 20 and the relevant control results in step 60. In this case, both the operating parameters and the control results can be monitored continuously, at fixed intervals, or depending on specific situations or conditions. The control results can be automatically evaluated in step 70, for example, based on preset boundary conditions or evaluation criteria that are determined for the control results here.
[0030] However, it is also conceivable that the user would have the means to evaluate the preceding controlled operation sequence after its completion. This would allow an operation sequence controlled by an experienced user in categorization mode to be discarded if it was not a sufficiently successful one. The user could, for example, repeat a control sequence multiple times and then evaluate which of these repetitions corresponds to the optimal outcome. As a backup, in an exemplary embodiment, the user could also be shown one or more result parameters after the execution of a control sequence, i.e., for example, a torque profile combined with a consumption display or a load curve for a specific component. Using this data, the user could then determine the appropriate control outcome as the optimal outcome. In another example, an automated method could be used to determine the optimal outcome from multiple repeated control sequences by comparison with stored boundary conditions or limit values for the control outcome.
[0031] In this manner, data can be obtained that establishes relationships between optimal or desired control outcomes and the captured operating parameters that lead to those outcomes. These data can then be processed, either manually or by automated methods, in step 80 so that boundary conditions 22 or limits for the operating parameters can be established, or existing boundary conditions 22 or limits can also be modified.
[0032] It is not necessary for each device to be controlled to also have an evaluation mode. Instead, this evaluation process can also be performed in specially configured devices equipped with an expanded sensor and control results set to capture all necessary operating parameters, and evaluation criteria or boundary conditions corresponding to the operating parameters can be determined based on this. The data obtained in this way can then be used to control other devices that do not have this control mode or all sensors, but that only have the sensors necessary to capture the operating parameters of the control inputs, for example. In this case, this data can also be stored directly in the control system by, for example, the manufacturer. Similarly, evaluation criteria for such operating parameters can be introduced into the control system later, for example, via a software update. Alternatively, the evaluation criteria, program modules for evaluating the control sequences, and / or associated reactions in the event of suboptimal control sequences can also be stored in a central memory element, which can be accessed by the device via a suitable communication interface. In this case, the memory can store evaluation criteria and operating parameters for a number of different devices, and can be equipped with, for example, device identifiers. As a result, for example, all devices of the same type or all devices of the same type equipped with the same version of control software have access to the same evaluation data for the operating parameters. Thus, such data can be repeatedly refined or updated even during operation.
[0033] In addition to the specific evaluation modes, control results can also be captured and optionally stored along with operational parameters in normal operating modes, and these results can then likewise be evaluated, either automatically or manually, as needed to improve existing data or modify evaluation criteria.
[0034] Here, the operating parameters of the captured control inputs can be continuously checked and compared with a stored control sequence. In this case, some or all of the available operating parameters can be compared to determine whether the current control command corresponds to a known stored control sequence. For example, a series of control commands can be determined to together form a specific control sequence, e.g., a specific movement path of an actuator between two positions, regardless of their duration or speed of execution. In another example, speed can also be factored in, so that a match between the captured current control sequence and the stored sequence is identified only if the time sequence of the control commands also operates within predetermined limits.
[0035] If a predetermined control sequence is recognized, then specific evaluation criteria, such as newly defined boundary conditions or limits or tolerances, may be established for this control sequence.
[0036] The limits within which the operating parameters for optimal drive control lie can be different from the limits used in the previous step for identifying a control sequence. For example, the limits for identifying a control sequence can be determined to be significantly broader so that a sequence of control commands that simply does not lie within the optimal range of the operating parameters can be identified as a control sequence. Starting from the second limits for optimal drive control, if the operating parameters deviate too far from the desired range, the sequence can be evaluated and appropriate corrective steps can be initiated again.
[0037] Alternatively, the correction step 50 may provide for the user to receive feedback on his / her operating behavior. A special training mode may be established in which feedback is enhanced compared to the normal operating mode, or in which feedback is always provided, or optionally in addition to providing feedback on the correction of the operating result. In other embodiments, feedback is provided to the user only in the training mode or in each operating mode, or this feedback can be turned on or off as required. This feedback may include instructions to the user on how to improve future operating results.
[0038] For the feedback, the same evaluation criteria can be applied as for the correction or adjustment of the operating parameters. However, it is also possible for separate evaluation criteria to be present for the feedback to the user. In this way, feedback can be provided, for example, at an earlier stage in order to appropriately correct the operation, whereas a direct adjustment of the control signal due to a change in the operating parameters is only carried out in the event of a larger deviation. For this purpose, for example, several limit values can be provided in stages, or different tolerance ranges can be stored for the determined operating parameters.
[0039] All signaling means to the user for feedback on the operating behavior are relevant here. For example, acoustic signals can be used, which will trigger an audible warning if the operation falls outside a defined optimal range. Similarly, a sound whose pitch and / or volume varies depending on the degree to which the operation matches the optimal operating target, for example a continuous tone whose volume increases the further the operating behavior deviates from the optimal course. It is also conceivable to output stored audio notifications containing direct warnings or instructions to the user for changing the operating behavior.
[0040] In a further embodiment, a visual signal can be output for evaluation feedback to the user, such as an arrow indicating the direction to correct the operating behavior. An arrow pointing in the opposite direction can also indicate corrective measures if the user has displaced an operating element, such as a handle or lever, too far in one direction, resulting in an undesired control result. Additionally or alternatively, color signals can be used, for example, using elements or surfaces colored green when the operation is within the desired / optimal range, and elements or surfaces colored red when boundary conditions are exceeded or the optimal course is deviated from.
[0041] Where useful, the user may also be provided with additional information in text form, image or video instructions, or as a graphic display, for example, providing assistance in achieving better operation or indicating in more detail possible undesirable operation results for explanation purposes. Such information, for example, together with specific boundary conditions for operation parameters or with optimal operation sequences, may be stored in an appropriate manner and recalled therefrom for display.
[0042] Alternatively, haptic feedback signals can be provided to the user, for example, by using force feedback elements. These force feedback elements can provide force feedback to the user via drive control, for example, as a resistance that can be felt when the steering wheel or lever exceeds a certain turning angle, or as a continuously increasing resistance. In particular, for training phases and also during normal operation, more clear haptic signals can be provided, such as a short vibration of the operating element, in response to deviations from an optimal or desired range for the operating parameters. Similarly, the operating element can be equipped with an actuator that at least partially moves the operating element in a way that corresponds to optimal operation, i.e., the operating lever automatically moves in the appropriate direction, and the user simply has to follow this movement.
[0043] It will be understood that the feedback described typically requires evaluation of operational parameters captured directly from the control inputs, and that the feedback also relates to these operational parameters or directly to the control inputs.
[0044] Of course, all these types of feedback to the user can be combined with each other or with other correction steps described herein. Further means of signaling to the user not described herein can also be used.
[0045] The described acoustic and optical signals can be transmitted directly to the corresponding interface of the device to be controlled, such as a display element or speaker of the mobile work machine, but the control unit responsible for evaluating and correcting the operation can also be equipped with a suitable communication interface so that these signals can be transferred to other devices that can then output them to the user. For example, headphones can be connected to the control unit via a cable or wirelessly, for example using Bluetooth, or visual information can be transmitted to the user's tablet via a local interface such as a WLAN connection and then displayed on the tablet.
[0046] Even in training mode, the user's inputs can be recorded and evaluated or stored for further use. For example, each input sequence can be assigned to a user profile. This allows improvements in the input sequence to be recognized over a relatively long period of time and over many repetitions, and this information can be communicated to the user. It is also possible to recognize specific recurring input errors and give them special consideration when outputting correction signals to the user.
[0047] It will be understood that all described method steps can be performed directly in a suitable control unit within the apparatus, or alternatively, in a separate controller connected to the apparatus in a suitable manner. If there are multiple control units for controlling the apparatus, it is also possible for parts of the method to be performed in different units. For example, operating parameters can be automatically captured in a first control unit. These operating parameters can then be transferred to another control unit for further processing (e.g., for comparison with boundary conditions or for performing correction steps). It is also possible for a control unit to control and test multiple apparatuses or parts of apparatuses, each of which individually performs the above-described method. However, it is equally possible to combine and monitor parameters obtained from multiple different control units or apparatuses and then test them in order to perform appropriate correction steps.
[0048] Furthermore, the described partial methods or embodiments can be combined with one another in any way. Therefore, various operating modes can be used individually or in combination within a device. Furthermore, the different means for checking operating parameters in boundary conditions or the correction steps that follow as necessary therefrom are not limited to the respective examples but can be replaced or extended with other boundary conditions or correction steps. Likewise, a person skilled in the art will be able to transfer the principles described based on examples, for example, on specific actuators or specific operating parameters, to other devices or parameters, such as, for example, any control parameters for vehicles, to drive controls for automated production or work machines, or to other devices that can capture and evaluate their own operating parameters.
Claims
1. 1. A method for controlling a user-operable device, comprising: a step (10) of capturing a control input for driving and controlling the device via at least one operating element; determining (20) parameter values for one or more operating parameters from said control inputs for controlling the drive of said device; a step (30) of checking whether the determined parameter values for said one or more operational parameters satisfy predetermined boundary conditions (22); - if said checking reveals that said boundary conditions are not satisfied for said one or more operating parameters, performing a correction step (50) for said step (40) of controlling said device; A method comprising:
2. The control inputs are captured over a predetermined period of time (step 10), and associated operating parameters are determined over time from the control inputs (step 20); The method comprises: - checking (30) whether the time course of said at least one operating parameter satisfies predetermined boundary conditions for the course of said operating parameter; - if said check reveals that said boundary conditions are not fulfilled for the course of said one or more operating parameters, carrying out a correction step (50) for said step (40) of controlling said device; The method of claim 1 further comprising:
3. 2. The method of claim 1, wherein the correcting step (50) includes outputting a feedback signal to a user, the feedback signal indicating deviation of the control input from a desired operation and / or suggesting corrective measures for the control input.
4. The method of claim 3 , wherein the feedback signal to the user comprises at least one of a visual indication, an audible signal, and a tactile signal.
5. The correction step (50) adjusting the at least one determined operating parameter in dependence on the identified deviation from the checked boundary condition; using said at least one adjusted operating parameter for driving (40) said device; The method of claim 1 , comprising:
6. 2. The method according to claim 1, wherein the boundary conditions (22) comprise at least one of the following for an operating parameter or a time course of an operating parameter: a lower and / or upper limit value, a tolerance range, a deviation from a preset reference value.
7. The step of adjusting the operating parameters includes: multiplying the parameter value of the operational parameter by a coefficient; adding a correction value to the parameter value of the operating parameter; fixing the operating parameters to predetermined values; Varying the time course of the operating parameter The method of claim 1 , comprising at least one of:
8. Creating new boundary conditions (80), or The method of claim 1 , further comprising modifying existing boundary conditions based on captured operating parameters of the control inputs.
9. capturing (60) at least one control outcome caused by the captured control input; evaluating (70) the captured control results based on predetermined evaluation criteria; If the evaluation results in a positive outcome, storing the associated operating parameters that produced the at least one control outcome; The method of claim 1 further comprising:
10. The method of claim 1 , wherein the operating parameters and / or the control results are captured by sensors of the device.
11. A computing unit configured to perform the method according to any one of claims 1 to 10.
12. A computer program product, when executed on a computing unit, causing the computing unit to carry out the method according to any one of claims 1 to 10.
13. A machine-readable storage medium having stored thereon the computer program of claim 12.