Control device for a vehicle

Abstract

The invention relates to a control device (10) for a vehicle, wherein the control device (10) comprises a handle (5) which is fastened to a handle carrier (4) and which can be pivoted about three mutually perpendicular axes (x, y, z) in order to generate a control input for the vehicle and can be translationally moved along two of these axes (y, z) during the pivoting movement, wherein the control device comprises a housing (1) to which a main carrier (2) is rotatably attached about a first horizontal axis (x), wherein a cross carrier (3) is mounted on the main carrier (2) so as to be rotatable about a second vertical axis (y), and the handle carrier (4) is mounted on the cross carrier so as to be pivotable about a third horizontal axis (z) which is perpendicular to the first axis (x) and to the second axis (y).

Description

[0001] Control device for a vehicle

[0002] The invention relates to a control device for a vehicle, in particular a passenger transport vehicle and / or goods transport vehicle.

[0003] For the interactive, i.e., on-board, control of various types of vehicles, such as ground vehicles, watercraft, aircraft, and / or spacecraft, it is known from the prior art to use input devices such as joysticks. In this case, a handle is held in an upright, i.e., vertical, position by the operator's hand. The handle is mounted below the hand in various ways. Most often, this mounting allows for a spherical movement of the handle in two directions, i.e., forwards and backwards, as well as sideways. Such joysticks require movement of the hand in the wrist and forearm, and sometimes also in the upper arm, when the handle is moved.

[0004] Positioning the handle below the hand leads to strong feedback when the operator is seated in the vehicle. For example, a braking action is amplified if the operator braces themselves against the force acting on them during the braking maneuver by pressing down on the joystick.

[0005] Furthermore, relatively large forces are required to operate the joystick, as the joystick's axes of rotation do not run through the natural hand axes, thus requiring an unnatural hand position during operation.

[0006] Known control devices are described in the following publications: DE10 2016 101291 B3, DE10 2008 034602 B3, DE10, 2007 001745 Al.

[0007] The object of the invention is to provide a control device for a vehicle that minimizes feedback during operation. Furthermore, the forces required to operate the control device should be minimized, and a more natural hand position for the operator should be enabled.

[0008] The problem is solved according to the invention by the features of claim 1.

[0009] The control device according to the invention for a vehicle has a handle mounted on a handle carrier. The handle can be pivoted about three mutually perpendicular axes to generate a control input for the vehicle. These axes preferably do not have a common point of intersection or origin. When pivoted about two of these axes, the handle is also translationally movable. This is because the handle itself is not directly pivotable about these two axes, but rather a connecting element runs between each of these two axes and the handle, which is directly pivotable about the respective axis. The handle is therefore indeed pivoted about the respective axis. However, this also results in a translational movement of the handle about a further axis perpendicular to the pivot axis. This will be described in more detail below.

[0010] The control device has a housing to which a main support is rotatably attached about a first horizontal axis.

[0011] A crossbeam, rotatable about a second vertical axis, is mounted on the main beam. The handle support is mounted on this crossbeam and can pivot about a third horizontal axis, perpendicular to the first and second axes.

[0012] The control device according to the invention thus allows the handgrip to pivot about virtual axes that essentially coincide with the natural axes of the wrist. Preferably, the second axis enables flexion and extension of the operator's wrist, and the third axis enables radial and ulnar abduction of the operator's wrist. The first axis preferably runs essentially at the level of the operator's forearm, thus enabling natural rotation of the operator's hand.

[0013] By aligning the three axes of the control device with the virtual axes of the operator's wrist, the required operating forces can be minimized. Unnatural hand positions can also be avoided. Furthermore, feedback forces can be minimized, for example, when the operator is seated in the vehicle being controlled (e.g., during a braking maneuver). This is primarily because the third axis lies in the operator's wrist, resulting in a very small lever arm through which any feedback force could arise (compared to a larger lever arm where the third axis is located further away from the operator's wrist, as in the prior art).

[0014] It is preferred that a pivoting of the crossbeam about the second axis leads to a translational movement of the handle along the third axis. The reason for this has already been described.

[0015] Furthermore, it is preferred that a pivoting of the handle carrier about the third horizontal axis leads to a translational movement of the handle along the second axis.

[0016] The second axis is preferably a vertical vertical axis. The control device according to the invention further preferably has an armrest for resting the forearm of an operator. This is located essentially at the level of the first horizontal axis and is preferably height-adjustable along the second axis. This allows the control device to be adapted to different operators.

[0017] The handle can also be moved and locked along the first horizontal axis relative to the crossbeam on the handle support. This allows the horizontal distance between the handle and the crossbeam to be varied, so that the control device can be adapted to different operators.

[0018] It is still preferred that the third axis runs horizontally.

[0019] It is further preferred that the cross support is ring-shaped and has a through-opening in its center through which the operator can insert their hand to grasp the handle. For example, the cross support can be circular or elliptical. However, it can also be a quadrilateral or other polygonal shape. The essential feature is that it is designed as a closed ring and has the aforementioned through-opening in its center.

[0020] In an alternative design, the cross support can be formed as an incompletely closed ring with a gap along its circumference. This requires the use of a more robust material for the cross support, one that exhibits high torsional stiffness.

[0021] In all embodiments, it is preferred that each axis has a rotation angle sensor by which the pivot angle of the handle about that axis can be detected. Furthermore, it is preferred that each axis has a preload mechanism by which the handle can be automatically adjusted to its initial position, where the angle about that axis is 0 degrees. This means that, due to the preload mechanism, which can be formed, for example, by one or more springs, the handle is always automatically returned to its initial position unless it is pushed out of this position by the operator. Thus, the handle is preferably in its initial position on all three axes without any force from the operator and has a rotation angle of 0 degrees on each axis.

[0022] A preferred embodiment is explained below with reference to the figures. These show:

[0023] Figure 1: a rear view of the control device according to the invention

[0024] Figure 2: a side view of the control device according to the invention

[0025] As can be seen in Figure 2, one embodiment of the control device 10 according to the invention has a housing 1 to which a main support 2 is rotatably attached about a first horizontal axis x. The first horizontal axis x is preferably located at the level of the forearm (not shown) of an operator resting on the armrest 6. The armrest is thus located essentially at the level of the first horizontal axis x or slightly below. To accommodate different operators, the armrest is preferably height-adjustable along the second axis y, so that it can be ensured that the first horizontal axis x runs as close as possible to the rotation axis of the operator's forearm.

[0026] A crossbeam 3, rotatable about the second vertical axis y, is mounted on the main beam 2. In the illustrated embodiment (see Figure 1), this crossbeam is elliptical and has a closed ring shape.

[0027] The handle support 4 is mounted on the crossbeam 3 and is pivotable about the third horizontal axis z. This axis is perpendicular to the first axis x and the second axis y.

[0028] As can be seen particularly in Figure 2, the three axes xyz do not have a common point of intersection or origin. For example, it is preferred that the third axis z, which runs perpendicular to the second axis y, is arranged offset forward of it by a distance b.

[0029] The aim of the present invention is to position the axes of the device as close as possible to the virtual axes of the operator's wrist, which is achieved, among other things, by the adjustability of the control device. In particular, it is preferred that the imaginary center point of the operator's wrist is located at the center point of the cross-support 3. This allows the wrist to perform rotations around the second and third axes y, z in the cross-support 3 as naturally as possible. This movement of the handgrip is preferably only required for adjustment and is then locked in place. This allows the control device to be adapted to the operator's hand size. Preferably, the preload mechanism of at least one axis, or preferably several or all axes, is adjustable so that each user can set their zero position in the wrist.

[0030] As can be seen further in the figures, the second axis y and the third axis z each have two bearings on each side, while the first axis preferably has only one bearing at its distal end, i.e., at the end that points away from the operator.

[0031] Furthermore, preferred feedback elements, such as rotary sensors and motors, can be provided for a force feedback function.

[0032] The control device according to the invention can be used for controlling all vehicles, in particular for controlling passenger transport vehicles. Its use in a passenger transport vehicle in which the operator is seated is particularly preferred.

Claims

Claims 1. Control device (10) for a vehicle, wherein the control device (10) comprises: a handle (5) which is mounted on a handle support (4) and which is pivotable about three mutually perpendicular axes (x, y, z) to generate a control input for the vehicle and is translationally movable along two of these axes (yz) during the pivoting movement, wherein the control device comprises a housing (1) to which a main support (2) is rotatably attached about a first horizontal axis (x), wherein a cross support (3) rotatable about a second vertical axis (y) is mounted on the main support (2), and the handle support (4) is mounted on the cross support, which is pivotable about a third horizontal axis (z) that is perpendicular to the first axis (x) and to the second axis (y).

2. Control device according to claim 1, characterized in that pivoting the crossbeam (3) about the second axis (y) leads to a translational movement of the handle (5) along the third axis (z).

3. Control device according to one of claims 1 or 2, characterized in that pivoting the handle carrier (4) about the third horizontal axis (z) leads to a translational movement of the handle (5) along the second axis (y).

4. Control device according to one of claims 1 to 3, characterized in that the second axis (y) is a vertically extending vertical axis.

5. Control device according to one of claims 1 to 4, characterized by an armrest (6) for resting the forearm of an operator, which is located essentially at the height of the first horizontal axis (x) and is in particular height-adjustable along the second axis (y).

6. Control device according to one of claims 1 to 5, characterized in that the third axis (z) runs horizontally.

7. Control device according to one of claims 1 to 6, characterized in that the three axes (xyz) do not have a common meeting point.

8. Control device according to one of claims 1 to 7, characterized in that the cross support (3) is designed in a ring shape and has a through-opening (11) in its center.

9. Control device according to one of claims 1 to 8, characterized in that the handle (5) is slidable and lockable on the handle carrier (4) along the first horizontal axis (x).

10. Control device according to one of claims 1 to 9, characterized in that each axis (xyz) has a rotation angle sensor and is, in particular, automatically adjustable to an initial position with an angle of 0 degrees by means of a preloading mechanism.

11. Control device according to one of claims 1 to 10, characterized in that the second axis (y) enables flexion and extension of the wrist of an operator and the third axis (z) enables radial and ulnar abduction of the wrist of the operator.

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