Method of manually actuating pedals of a vehicle

Abstract

The present invention pertains to the field of alternative and / or accessible means of controlling vehicles, enabling people with lower limb motor limitations to drive them, and relates to a method of controlling vehicle movement with a "joystick" configured to send command signals to a brake and accelerator pedal actuation module and a clutch actuation module, comprising the following steps: detecting joystick movements in a longitudinal and / or transverse direction; generating a command signal proportional to the direction and intensity of movement imparted to the joystick; detecting the actuation of joystick buttons; generating command signals relating to each pressed joystick button; and sending the obtained command signals to the brake and accelerator pedal actuation module and / or to the clutch actuation module.

Description

METHOD FOR MANUALLY OPERATING PEDALS OF A VEHICLE FIELD OF THE INVENTION

[0001] The present invention pertains to the field of alternative and / or accessible vehicle control means, more specifically, it relates to a vehicle movement control method specifically designed for manual actuation of the accelerator, brake, and clutch pedals, enabling vehicle operation by individuals with lower limb motor limitations. This method comprises a sequence of steps that interconnect the operation of a manual vehicle pedal actuation system to enable its operation and movement, enabling vehicle operation by individuals with lower limb motor limitations. BACKGROUND OF THE INVENTION

[0002] This section is intended to introduce the reader to various aspects of the art that may relate to various aspects of the present disclosure, which are described below. It is believed that this discussion will be useful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Consequently, it should be understood that these statements should be read in this light, and not as admissions of prior art.

[0003] Work vehicles, such as those used in cities or in agriculture, are conventionally controlled using pedals, particularly with the acceleration, brake, and clutch controls being executed by the operator's feet. This arrangement, while quite common and effective for vehicle operation by most people, presents a significant barrier for people with limited mobility in their lower limbs. REPLACEMENT SHEET (RULE 26) preventing them from driving the vehicle. From this scenario, the need for a method that allows people to control the vehicle without using their feet to operate the pedals becomes evident.

[0004] Patent document US2011238269 addresses a system and method for controlling the combined movement of a tractor and an implement, generating automatic speed and acceleration control based on signals transmitted between the equipment. However, this solution has a limitation due to the need to combine a tractor and an agricultural implement to create speed control. Furthermore, vehicle movement is controlled in the usual manner, via pedals, making manual control of the equipment impossible.

[0005] Patent document EP4056007 addresses a tractor control method with a control unit that controls its electromechanical units and controls start, speed, stop, and steering functions. The control unit must be connected to a network and a navigation system. A limitation of this technology is the need to connect the control unit to a network. As a remote tractor control method, it requires the installation of several sensors and components on the tractor, making the system expensive. The need for a network connection limits its versatility, as it may not work in certain terrains or may lose signal, potentially causing accidents.

[0006] Thus, it is clear that there is no prior art solution that provides a method of controlling a vehicle, such as a tractor, in a way that does not require using the feet to operate the accelerator, brake and clutch pedals, meaning that the prior art lacks solutions aimed at providing accessibility for people with reduced mobility in their lower limbs to drive work vehicles. REPLACEMENT SHEET (RULE 26) DESCRIPTION OF THE INVENTION

[0007] This summary is provided to present a selection of concepts that are described below in the detailed description. This summary is not intended to identify the main or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter.

[0008] In general terms, the present invention deals with a method of controlling vehicle movement, enabling its control without the need to use the feet to operate the pedals, effectively resolving the limitations of the prior art previously mentioned.

[0009] In one embodiment, the method for manually actuating pedals of a vehicle of the present invention is designed for a vehicle comprising an operator interface module provided with an electronic joystick configured to send command signals to: a brake and accelerator pedal actuation module; and a clutch actuation module, the method comprising the steps of: a) detecting movements of the electronic joystick in a longitudinal direction and / or in a transverse direction; b) generating a command signal proportional to the direction and intensity of movement imposed on the electronic joystick; c) detecting the actuation of buttons arranged on the electronic joystick; d) generating command signals relating to each button pressed on the electronic joystick; and e) sending the command signals obtained in steps b) and d) to the brake and accelerator pedal actuation module; and / or to the clutch actuation module. BRIEF DESCRIPTION OF THE FIGURES REPLACEMENT SHEET (RULE 26)

[0010] These and other functions, features and advantages of the present description will be better understood when the following detailed description is read with reference to the accompanying drawings, in which similar features represent similar parts throughout the drawings, in which: Figure 1 is a side view of one embodiment of a work vehicle that may employ a manual pedal actuation method in accordance with the present disclosure; and Figure 2 is a flowchart exemplifying the steps performed by the vehicle movement control method, according to an embodiment of the present disclosure. DESCRIPTION OF EMBODIMENTS OF THE INVENTION

[0011] One or more specific embodiments of the present disclosure will now be described. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be noted that in the development of any such actual implementation, as in any engineering or design project, numerous specific implementation decisions must be made to achieve the developers' specific goals, such as compliance with business-related and system-related constraints, which may vary from one implementation to another. Furthermore, it should be noted that such a development effort may be complex and time-consuming, but would nevertheless be a routine design, fabrication, and production task for those of ordinary skill who have the benefit of this disclosure.

[0012] As used herein, the term "coupled" or "coupled to" may indicate the establishment of a direct or indirect connection and is not limited to either, unless REPLACEMENT SHEET (RULE 26) expressly referred to as such. The term "set" may refer to one or more items. Whenever possible, same or identical reference numerals are used in the figures to identify common or identical elements. The figures are not necessarily to scale, and certain features and views of the figures may be shown at an exaggerated scale for clarity.

[0013] Furthermore, when introducing elements of various embodiments of the present disclosure, the articles "a," "an," "the," and "a" are intended to mean that there is one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements beyond the elements listed. Additionally, it should be understood that references to "a (numeral) embodiment" or "an (indefinite article) embodiment" of the present disclosure are not intended to be construed as excluding the existence of additional embodiments that also incorporate the recited features. Furthermore, the phrase A "based on" B is intended to mean that A is at least partially based on B. Furthermore, unless expressly stated otherwise, the term "or" is intended to be inclusive (e.g., logical OR) and not exclusive (e.g., logical XOR). In other words, the phrase A "or" B is intended to mean either A, B, or both A and B.

[0014] With the foregoing in mind, Figure 1 is a side view of one embodiment of a work vehicle 10 that may employ a manual pedal actuation method in accordance with the present invention. The work vehicle 10 may be any suitable type of loader, tractor, motor grader, backhoe, forklift, agricultural vehicle, or any other suitable work vehicle that utilizes pedals for actuating throttle, brake, or clutch controls. The work vehicle 10 has a REPLACEMENT SHEET (RULE 26) body 12 that can house an engine, transmission, and powertrain. Additionally, work vehicle 10 has a cab 14 where an operator can sit to operate work vehicle 10. Work vehicle 10 has front wheels 16 and rear wheels 18 that rotate along the ground. The engine of work vehicle 10 can drive the front wheels 16 and / or the rear wheels 18, whose movement is controlled by the accelerator and brake pedals. It may also include a clutch pedal to control the transfer of engine torque to the vehicle's drive wheels. For example, a complete gearbox transmission system can transfer power from the engine to the front wheels 16 and / or the rear wheels 18.Although the work vehicle 10 includes two front wheels 16 and two rear wheels 18 in the illustrated embodiment, in other embodiments, the work vehicle may include any suitable number of front wheels (e.g., 2, 4, etc.) and any suitable number of rear wheels (e.g., 2, 4, etc.). Furthermore, in certain embodiments, the work vehicle may include one or more sets of transmission-driven tracks. For example, the work vehicle may include rear tracks in place of the rear wheel.

[0015] In one embodiment, the method for manually operating pedals of a work vehicle 10 of the present invention is designed for a vehicle comprising an operator interface module provided with an electronic joystick that is configured to send command signals to: a brake and accelerator pedal actuation module; and a clutch actuation module, wherein the method for manually operating pedals of a work vehicle (10) essentially comprises the steps of: a) detecting movements of the electronic joystick in a longitudinal direction and / or in a transverse direction; REPLACEMENT SHEET (RULE 26) b) generate a command signal proportional to the direction and intensity of movement imposed on the electronic handle; c) detect the pressing of buttons placed on the electronic handle; d) generate command signals relating to each button pressed on the electronic handle; ee) send the command signals obtained in steps b) and d) to the brake and accelerator pedal actuation module; and / or to the clutch actuation module.

[0016] In detail, the step of detecting electronic handle movements can be achieved by any means of detecting movement of an electronic handle that is manually operated by a vehicle operator, such as a joystick. In this implementation, the electronic handle generates electronic signals indicating the performance of some movement, both in the longitudinal direction (Y-axis) and in the transverse axis (X-axis), and can even perform readings of movements performed by combining the handle movement in the longitudinal and transverse directions.

[0017] The electronic signal generated by the movement of the electronic joystick represents a command signal, which contains proportional signals for both the combination of longitudinal and transverse movement, as well as the speed and amplitude of displacement imposed on the joystick by the operator. This type of combined data enables the precise transfer of commands printed on the electronic joystick to the vehicle's pedals, ensuring improved user experience, control, and safety.

[0018] The step of detecting the activation of buttons on the electronic handle consists of generating additional command signals to be transferred along with the handle movement signals. Since REPLACEMENT SHEET (RULE 26) If the existence of a command signal is detected relating to the movement of the handle and / or the pressing of a button on the handle, the detected command signals are sent to the brake and accelerator pedal actuation module and / or to the clutch actuation module, resulting in the operation of the vehicle without the need to actuate the pedals using the feet.

[0019] In one embodiment, moving the electronic lever in a forward longitudinal direction results in a signal to activate the vehicle's brakes; and moving the electronic lever in a rearward longitudinal direction results in a signal to activate the vehicle's accelerator. Moving the electronic lever in a transverse direction to the right results in a signal to activate the vehicle's clutch.

[0020] Thus, in one embodiment, the method comprises the steps of receiving the command signals in the brake and accelerator pedal actuation module and converting the command signals into actuation signals of: a first servomechanism coupled to an accelerator pedal; a second servomechanism coupled to a brake pedal of the right rear wheel; and / or a third servomechanism coupled to a brake pedal of the left rear wheel.

[0021] The method additionally comprises the steps of: receiving the command signals in the clutch actuation module; and converting the command signals into actuation signals for a linear actuator coupled to the clutch pedal.

[0022] In this way, the command signals generated by the movement of the electronic handle result in the movement of the vehicle's pedals, enabling a method of manually operating the pedals of a REPLACEMENT SHEET (RULE 26) vehicle, without having to use your feet and without the need to disable the aforementioned pedals, thus allowing the vehicle to also be driven conventionally, if necessary.

[0023] In one embodiment, the vehicle comprises a potentiometric controller connected to the clutch pedal, which reads the pedal position. The potentiometric controller is also connected to a control module, which receives the command signal from the clutch actuation module; receives a clutch pedal position signal obtained through the potentiometric controller; sends a drive signal to the linear actuator coupled to the clutch pedal; and sends a clutch pedal position signal to the control module throughout the clutch pedal movement. By executing these steps, the control module ensures that the clutch pedal position is constantly monitored and controlled, preventing sudden clutch pedal releases and thus ensuring smooth, comfortable, and safe vehicle operation.

[0024] In one embodiment, the accelerator pedal actuation signal is conditioned by the combination of: a signal for movement of the electronic lever in a longitudinal rearward direction; and an actuation signal generated by pressing a first button located on the electronic lever. This adds a safety factor to vehicle operation, as the accelerator pedal will only be actuated if the operator moves the electronic lever simultaneously with pressing the first button located on the lever, preventing any impact to the electronic lever from causing the vehicle to accelerate unduly.

[0025] Similarly, in an implementation the step of sending the REPLACEMENT SHEET (RULE 26) The brake actuation signal comprises the combination of the signal generated by the forward longitudinal movement of the electronic lever and a signal generated by pressing a second button on the electronic lever, resulting in the actuation of only the right rear wheel brake. Alternatively, the combination of the signal generated by the forward longitudinal movement of the electronic lever and a signal generated by pressing a third button on the electronic lever results in the actuation of only the left rear wheel brake.

[0026] In this scenario, sending a signal generated only by the movement of the electronic lever in a longitudinal forward direction; or the combination of the signal generated by the movement of the electronic lever in a longitudinal forward direction and the signals generated by simultaneously pressing the second button and the third button on the electronic lever results in the activation of the brakes on the right and left rear wheels together.

[0027] These different possibilities for activating the brakes have the advantage of improving the maneuverability of the vehicle 10, enabling tighter turns to be made than would be possible by simply turning the steering wheel, when the brake on the wheel located on the inside of the turn to be taken is activated.

[0028] In one embodiment, the method further comprises steps in which detecting the forward movement signal of the longitudinal lever additionally generates an accelerator release signal; and detecting the rearward movement signal of the longitudinal lever additionally generates a brake release signal. In this way, it is ensured that when the accelerator pedal of vehicle 10 is actuated, the brakes are not actuated and, similarly, when the brake pedals are actuated, the brake pedal REPLACEMENT SHEET (RULE 26) accelerator is not activated.

[0029] Finally, in one embodiment, as represented in Figure 2, the method of the present invention comprises the steps of: i) when starting the vehicle, checking for the existence of a command signal generated by the electronic handle in the transverse direction (X axis); ii) when detecting a movement of the electronic handle to the right, send a command signal to the clutch actuation module, to disengage the clutch; iii) checking for the existence of a command signal generated by the electronic handle in the longitudinal direction (Y axis); iv) if a forward movement of the electronic handle is detected, perform the steps of: - send a signal to release the accelerator; and - check the existence of the activation signal of the second or third button of the electronic handle, in which: - when the second button is activated, activate the right wheel brake pedal in proportion to the movement of the control on the Y axis; - when the third button is activated, activate the left wheel brake pedal in proportion to the movement of the control on the Y axis; and - if both buttons are pressed or neither button is pressed, press the brake pedals on the right and left wheels simultaneously, in proportion to the movement of the control on the axle REPLACEMENT SHEET (RULE 26) Y, braking both wheels at the same time, if a movement of the electronic handle backwards is detected, perform the step: - check the existence of the activation signal of the first button of the electronic handle and, if the first button is activated: - release the brake actuation; and - press the accelerator pedal proportionally to the movement of the control on the Y axis.

[0030] Thus, in summary, it is observed that Figure 2 illustrates the operating steps of the method in an embodiment of the present invention, which begins when the vehicle is started, when the control unit checks the signal transmitted by the electronic handle regarding its movement on the X axis. If the handle has been moved to the right, the control unit sends a clutch activation signal, disengaging it. If the control has not been moved to the right, the clutch is not moved.

[0031] After checking the movement of the handle on the X axis, the control unit checks for movement of the handle on the Y axis. If a signal of forward movement of the control is detected, the control unit emits a signal to release the accelerator, checks the activation of the brake buttons (second and third buttons) and, if the second button is activated, the brake pedal of the right wheel is moved proportionally to the movement of the handle on the Y axis. On the other hand, if the third button is activated, the brake pedal of the left wheel is moved proportionally to the movement of the control on the Y axis and, if the second and third buttons are activated, or neither of the buttons REPLACEMENT SHEET (RULE 26) are activated, the two brake pedals are moved simultaneously, proportionally to the movement of the control on the Y axis, braking both wheels at the same time.

[0032] When the signal emitted by the electronic handle indicates a movement on the Y axis backwards, a brake release signal is emitted by the control unit, the acceleration trigger (first button) is checked and, if the signal received by the control unit is that the trigger is activated, the acceleration pedal is moved in proportion to the movement of the control on the Y axis. On the other hand, if the trigger is not activated, the accelerator pedal is not moved.

[0033] Obviously, when no movement of the electronic handle is detected on the Y axis, the brake and accelerator pedals are not activated.

[0034] The steps presented above are preferably carried out in this order, however, they can be carried out in different orders in order to adapt the method for its best use, without this affecting the objective of the present invention.

[0035] This method can be used in any vehicle that has a manual actuation mechanism attached, allowing its use in small, medium and large agricultural or urban vehicles.

[0036] Thus, in general terms, the vehicle movement control method consists of steps that interconnect the operation of a manual actuation mechanism, such as a joystick, to the movement of a vehicle, through electrical elements, such as servomotors, or hydraulic elements, such as pistons, actuating the vehicle's pedals and clutch, moving the vehicle. This mechanism is managed by a control unit, which can be any device containing REPLACEMENT SHEET (RULE 26) a processor, thus, the control unit sends the signals received from the mechanism control, according to the movement performed by its operator and transmits the movement to the vehicle elements.

[0037] If the control in the manual actuation mechanism is a joystick (the electronic handle), the actuated pedals will move proportionally to the movement of the control. Therefore, for example, when the joystick is moved 40% of its travel, the pedal will also move 40% of its travel, and the same principle applies to different control movements. This allows the pilot to operate a manual control in a manner very similar to pedal operation.

[0038] The method of manually operating the pedals of a vehicle, which is the object of the present invention, results in the following advantages and achieves the following technical effects over the prior art vehicle movement control methods: - The prior art vehicle movement control method allows the user to move vehicles simply by operating the pedals with their feet, where acceleration, braking, and clutch operation are activated through these pedals, preventing people with limited lower limb mobility from driving these vehicles. The present invention solves this problem through a sequence of steps performed by a control unit that connects a manual control to the vehicle's movement. Thus, the same actions usually performed in a vehicle by operating the pedals with the feet are also performed by a manual control attached to the vehicle; and - The method of the present invention allows the control of the vehicle together with the same and manually, without the need to install several REPLACEMENT SHEET (RULE 26) sensors and connection to a wireless network, allowing the operator, even without using their feet, to drive the vehicle normally.

[0039] As used herein, the terms "inside" and "outside"; "up and down"; "high and low"; "up" and "down"; "above and below"; "inside" and "outside"; and other similar terms, as used herein, refer to positions relative to each other and are not intended to denote a particular direction or spatial orientation. The terms "couple," "coupled," "connect," "connection," "connected," "in connection with," and "connecting" refer to "in direct connection with" or "in connection with one or more intermediate elements or members."

[0040] The foregoing description, for the purposes of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in light of the above teachings. Furthermore, the order in which the elements of the methods described herein are illustrated and described may be rearranged, and / or two or more elements may occur simultaneously.

[0041] The techniques disclosed and claimed herein are referenced and applied to tangible objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible, or purely theoretical. Furthermore, if any claims appended to the end of this specification contain one or more elements designated as “means for performing (the execution of) [a function]...” or “step for performing (the execution of) [a function]...” such elements are intended to be construed in accordance with 35 U.S.C. 1 12(f). However, for any claims containing elements designated in any other manner, such elements do not apply. REPLACEMENT SHEET (RULE 26) are intended to be construed in accordance with 35 USC 112(f). REPLACEMENT SHEET (RULE 26)

Claims

CLAIMS 1. Method of manually operating the pedals of a work vehicle (10), CHARACTERIZED by the fact that the vehicle comprises an operator interface module equipped with an electronic joystick configured to send command signals to: - a brake and accelerator pedal actuation module; and - a clutch actuation module, the method of manually actuating pedals of a work vehicle (10) comprising the steps of: a) detecting movements of the electronic handle in a longitudinal direction and / or in a transverse direction; b) generating a command signal proportional to the direction and intensity of movement imposed on the electronic handle; c) detecting the actuation of buttons arranged on the electronic handle; d) generating command signals relating to each button pressed on the electronic handle; and e) sending the command signals obtained in steps b) and d) to the brake and accelerator pedal actuation module; and / or to the clutch actuation module.

2. Method, according to claim 1, CHARACTERIZED by the fact that: - moving the electronic handle in a longitudinal forward direction sends a signal to activate the vehicle's brake pedal to the brake and accelerator pedal actuation module; - moving the electronic handle in a longitudinal direction backwards sends a signal to the brake and accelerator pedal actuation module to activate the vehicle's accelerator; and - moving the electronic handle in a transverse direction to the right sends a signal to activate the vehicle's clutch to the clutch actuation module.

3. Method according to any one of claims 1 to 2, CHARACTERIZED by the fact that it additionally comprises the steps of: i) receiving the command signals in the brake and accelerator pedal actuation module; ii) converting the command signals into actuation signals of: a. a first servomechanism coupled to an accelerator pedal; b. a second servomechanism coupled to a brake pedal of the right rear wheel; and / or c. a third servomechanism coupled to a brake pedal of the left rear wheel.

4. Method according to any one of claims 1 to 3, CHARACTERIZED by the fact that it additionally comprises the steps of: a. receiving the command signals in the clutch actuation module; and b. converting the command signals into actuation signals of a linear actuator coupled to the clutch pedal.

5. Method, according to claim 4, CHARACTERIZED by the fact that the vehicle (10) comprises a potentiometric controller associated with the clutch pedal, in which the potentiometric controller is connected to a control module, in which the control module: a. receives the command signal from the clutch actuation module; b. receives a clutch pedal position signal, obtained by through the potentiometric controller; c. sends an actuation signal to the linear actuator coupled to the clutch pedal; and d. sends a clutch pedal position signal to the control module throughout the clutch pedal movement.

6. Method according to any one of claims 1 to 5, CHARACTERIZED by the fact that the sending of the accelerator pedal actuation signal is conditioned on the combination of the electronic handle movement signal in a longitudinal direction backwards with an actuation signal generated by pressing a first button arranged on the electronic handle.

7. Method according to any one of claims 1 to 6, CHARACTERIZED by the fact that: - the combination of the signal generated by the movement of the electronic handle in a longitudinal forward direction and a signal generated by pressing a second button located on the electronic handle results in the activation of only the brake on the right rear wheel; - the combination of the signal generated by the movement of the electronic handle in a longitudinal forward direction and a signal generated by pressing a third button located on the electronic handle results in the activation of only the brake on the left rear wheel; and - the signal generated only by the movement of the electronic handle in a longitudinal forward direction; or the combination of the signal generated by the movement of the electronic handle in a longitudinal forward direction and the signals generated by pressing the second button and the third button arranged on the electronic handle results in the activation of the brakes of the right and left rear wheels.

8. Method according to any one of claims 1 to 7, CHARACTERIZED by the fact that: - detection of the forward movement signal of the longitudinal lever also generates an accelerator release signal; and - detection of the signal for movement of the longitudinal lever backwards also generates a brake release signal.

9. Method according to any one of claims 1 to 7, CHARACTERIZED by the fact that it comprises the steps of: i) when starting the vehicle, checking for the existence of a command signal generated by the electronic handle in the transverse direction (X axis); ii) when detecting a movement of the electronic handle to the right, send a command signal to the clutch actuation module to disengage the clutch; iii) checking for the existence of a command signal generated by the electronic handle in the longitudinal direction (Y axis); iv) if a forward movement of the electronic handle is detected, perform the steps of: - send a signal to release the accelerator; and - check the existence of the activation signal of the second or third button of the electronic handle, in which: - when the second button is activated, activate the right wheel brake pedal in proportion to the movement of the control on the Y axis; - if the third button is activated, press the left wheel brake pedal proportional to the movement of the control on the Y axis; and - if both buttons are pressed or neither button is pressed, press the brake pedals of the right and left wheels simultaneously, proportionally to the movement of the control on the Y axis, braking both wheels at the same time. If a backward movement of the electronic handle is detected, perform the following step: - check the existence of the activation signal of the first button of the electronic handle and, if the first button is activated: - release the brake actuation; and - activate the accelerator pedal proportionally to the movement of the control on the Y axis.

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