• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a remote control equipment comprising an electronic circuit comprising means for detecting the position, the orientation and the movement of the hand and / or the forearm, such as an accelerometer, radiofrequency transmission means, and a control signal calculated as a function of the position, the orientation and the displacement measured, and a means of connection with the forearm of an operator, characterized in that it further comprises a contactor (7 ) capable of being actuated by the interaction of two fingers, said contactor (7) controlling the activation of said electronic circuit as well as the maintenance of the control signal until the action is stopped on said contactor, as well as a bearing surface associated with a contactor controlling an emergency stop of the controlled equipment.
    公开号:FR3038115A1
    申请号:FR1555737
    申请日:2015-06-23
    公开日:2016-12-30
    发明作者:Frederic Hamain；Nicolas Iriart；Nicolas Klis
    申请人:Frederic Hamain；Nicolas Iriart；Nicolas Klis；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to the field of remote control, in particular of industrial equipment, and more particularly of machines such as lifting and handling equipment, in particular gantries, traveling cranes, cranes, wagons. elevators, pallet trucks, stackers, order picking trucks, truck winches, cranes, gantry cranes, automatic logistic warehouses and mobile machinery: Dumpsters, boat trailers, tunnel boring machines, on-board pumps / mixers, drills , crushers, demolition arms, construction machinery, cleaning vehicles, rail vehicles, forestry and agricultural machines Remote control is a common control mode in industrial environments. Recently, the development of affordable motion capture technologies has paved the way for remote control solutions to directly control the device with its body. The goal is to develop an intuitive control between the man and the machine. STATE OF THE ART In the state of the art, control solutions are known at the operator's hand to enable him to act on the apparatus to be controlled.
    [0002] For example, the international application WO 2013012976 describes an ergonomic remote control glove for controlling an electronic device in military applications. In one embodiment, the ergonomic remote control glove includes at least one motion sensor and a processor coupled to communicate with the motion sensor (s). In addition, the ergonomic remote control glove includes a communications link for connecting it to the electronic device. The communications link is coupled to communicate with the processor. In addition, the ergonomic remote control glove includes an ergonomic glove incorporating the motion sensor (s), the processor and the communications link. The processor is configured to send one or more control signals to the electronic device via the communications link following the detection of finger movements and / or hand gestures by the one or more motion sensors. International Application WO 2014164168 discloses a control system for a material handling vehicle, comprising a portable wireless remote control device which is carried by an operator who interacts with the material handling vehicle and includes an area of home, a communication device with removable attachment and a displacement control. The motion control is communicatively connected to the wireless transmitter, the operation of the motion control causing the wireless transmitter to transmit a motion request as a first type signal requesting the material handling vehicle to move on the surface of a soil in a first direction. The patent application EP 2836892 describes an electronic device based on manual gestures detected by the detection of the topography of a body part of a user. For example, pressure data indicative of the position of the bones and tissues of a user corresponding to a certain movement, position and / or pose of a user's hand can be detected. An accelerometer can also be used to determine the actions performed by the user. Disadvantages of the Prior Art These solutions are not totally satisfactory for use in an industrial environment. In such environments, security is a major constraint. It is essential to avoid any untimely commands resulting for example from an involuntary movement of the hand equipped with a remote control glove. Furthermore, the remote control equipment is subjected to multiple aggressions (shocks, perspiration, dust, humidity, ....) The gloves proposed in the state of the art do not fully address these problems because they require the availability of a large number of sizes to allow each operator to have a remote control glove adapted to its morphology. In addition, the gloves are subject to strong constraints that are not very compatible with the integration of an electronic component.
    [0003] SUMMARY OF THE INVENTION In order to overcome these drawbacks, the invention relates, in its most general sense, to remote control equipment comprising an electronic circuit comprising at least one means for detecting the position, the orientation and the movement of the hand and / or of the forearm, in particular an accelerometer, means of radiofrequency transmission of a control signal calculated as a function of the position, the orientation and the measured displacement, and a means of connection with the forearm of an operator, characterized in that it further comprises a contactor adapted to be actuated by the interaction of two fingers, said contactor controlling the activation of said electronic circuit and the maintenance of the signal control until the action 35 is stopped on said contactor, as well as a bearing surface associated with a contactor controlling an emergency stop of the controlled equipment. This solution solves the problem of operational safety, particularly with regard to disturbances resulting from involuntary movements of the operator. Advantageously, said electronic circuit comprises a threshold detector for generating a control signal when the signal measured by the accelerometer exceeds a threshold value, as well as the maintenance of this control signal until the interruption of the action on said contactor. Preferably, the equipment according to the invention is constituted by complementary modules comprising a bracelet, a housing containing the electronic circuit and the accelerometer, and a contactor adapted to surround a finger. Preferably, said accelerometer detects accelerations along three perpendicular axes. According to one variant, a gyroscope detects the angular position along three axes of rotation.
    [0004] According to another variant, it further comprises a magnetometer detecting the magnetic orientation. According to another variant, it further comprises an inertial unit composed of a three-axis perpendicular accelerometer, a three-axis rotation gyroscope and a three-axis magnetometer. Advantageously, said inertial unit detects the inclination, the orientation and the accelerations along three perpendicular axes. Preferably, the equipment further comprises an emergency stop button. According to an advantageous embodiment, it further comprises a single connector of the box for connecting the fingerstall and recharging. According to one variant, it further comprises a second contactor placed on the electronic circuit and intended to be controlled by the second hand. In another variant, the equipment further comprises a plurality of contactors for selecting the controlled equipment or selecting the functionality of the controlled equipment. Advantageously, the contactor (7) is digital, progressive or two-state.
    [0005] According to a particular embodiment, the equipment further comprises means for controlling a strumming mode according to the memorization of the last direction detected by the accelerometer and repeated actions on the contactor. According to another particular embodiment, it further comprises means for controlling the two-speed movement. The invention also relates to a method of controlling a material according to a protocol described hereinafter. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT The present invention will be better understood on reading the following description of a nonlimiting exemplary embodiment, with reference to the accompanying drawings in which: FIG. 1 represents a schematic view of FIG. 2 represents a view of a device according to the invention carried by an operator; FIG. 3 represents the temporal graph of the signals. The non-limiting exemplary embodiment of the invention relates to remote control equipment of an overhead traveling crane thanks to the movements of the hand. The equipment comprises a housing (1) which is, in the example described, adaptable by a mechanical link reversible to a bracelet (2). This housing (1) encloses the electronic circuit comprising a microcontroller, an accelerometer, a battery and a control circuit of the charging of the battery. It has at its upper part a surface (4) associated with a contactor allowing the user to control an emergency stop function of the controlled equipment. The housing (1) also has on one of its side faces a plug (5) fulfilling a dual function: - outside periods of use, it allows the connection of a connector for charging the integrated battery in the housing (1) - during use, it allows the connection of a cable (6) connecting the circuits of the housing (1) to a digital contactor (7). This bracelet bears in the example described without limitation a second housing (3) comprising an electronic remote transmission circuit according to a protocol such as Bluetooth or Xbee and a general switch. Alternatively to this general standby switch, the electronic circuit may comprise means for automatically managing the standby or activation by a timer changing the motion detection period 30 making said switch optional. During use, the acquisition frequency of the signals delivered by the accelerometer is high, for example 50 times per second. In the absence of signals detected during a predetermined period, for example several minutes, this acquisition frequency is reduced to an acquisition for a period of a few seconds every ten minutes for example. Detecting a motion during these acquisition periods causes the circuit to go out of sleep mode to switch to active mode.
    [0006] 5 This bracelet equipped with electronic circuits is connected to a micro contactor having the shape of a ring or a fingerstall placed on the middle phalanx of the middle finger or the index and allows to allow the capture of movement according to its state.
    [0007] This micro-switch is controlled by the pressure of another finger, normally the thumb, against the ring surrounding another finger. The operation of the equipment is as follows. When the bracelet is put in place, the movements of the forearm of the operator trigger the transition to active mode. As long as the contactor fitted to the ring (7) is not activated, the signals generated by the accelerometer are not taken into account and the remote transmission circuit does not transmit control signals to the receiver equipping the equipment, for example the gantry controlled. The electronic circuit can nevertheless produce service frames transmitted to the controlled equipment, for example containing information on the state of the electronic circuit, the identifier of the circuit stored in a memory, the state of charge of the battery or the power of the transmitted signal. When the operator actuates the microswitch provided on the fingerstall (7), the electronic circuit analyzes the signals transmitted by the accelerometer to determine the direction of movement of the equipment. In the case of a three-axis accelerometer, the treatment consists in determining the most probable direction (vertical, lateral, longitudinal) and its direction (up / down, right / left, front / rear). The electronic circuit transmits through the radio-frequency circuit this information to the receiver equipping the controlled equipment during the period during which the operator keeps the microswitch in active mode. As soon as the action on the microcontroller is interrupted, the equipment transmits a stop signal of the current displacement. During this sequence, the direction and direction of movement remains the one detected at the time of activation of the microcontroller. If the operator then moves his arm in other directions, this has no effect on the nature of the movement of the ordered material after a predetermined time. According to a variant of this sequence to allow a combination of movement (for example right and low), the operator will perform a combination of movements during this predetermined time. According to an alternative embodiment, a repeated action on the microcontroller during a limited period of time, for example two pressures spaced by less than one second prolonged by a maintenance of the pressure, causes the switchover of a first mode. moving to a second mode of displacement (for example fast / slow) or incremental movements by saccade, but always in the direction and the initial direction, detected during the first action on the microcontroller.
    [0008] According to another variant, the equipment also comprises a gyroscope providing a signal varying according to the rotation along one or more axes, for controlling rotational displacements or for controlling the stopping of a displacement.
    [0009] According to another variant, the equipment also comprises a sensor of central inertial type, making it possible to determine an acceleration and a displacement of the operator's arm, not in the operator's repository, but in an absolute reference system. This variant makes it possible to control the movement in an intuitive manner regardless of the relative position of the operator with respect to the controlled material. Figure 3 shows a simplified view of the different signals processed by the equipment.
    [0010] The upper graph shows examples of acceleration signals detected by two ways of an accelerometer, for example: an axis detecting movements of the forearm in a vertical up / down direction, and delivering a Av signal (10) illustrated by the continuous line, and - an axis detecting the movements of the forearm in a horizontal direction "left / right", and delivering an Agd signal (11) illustrated by the dotted line. The following graph corresponds to the state of the micro-contactor, with a level 0 corresponds to the absence of action on the micro-contactor, and a level 1 corresponding to the state where the operator presses the micro-contactor. contactor. The curve (12) represents an example of a succession of actions on this micro-contactor.
    [0011] The last two graphs represent the state of the movement control of the remotely controlled equipment, with a level 0 corresponding to the stop and levels "+1" or "1) corresponding to the direction of movement, and possibly for each direction. displacement, a "slow displacement" level and a "rapid displacement" level, for two direction of movement, - lift-deposit corresponding to the curve (13) - lateral displacement of a carriage corresponding to the curve (14).
    [0012] For the signals delivered by the three-axis accelerometer, the exceeding of a threshold value corresponding to the curves (15, 16) is taken into account. These curves are preferably constant. They may also be variable, for example according to historical data to allow adjustment according to the typology of the movements of the operator, during a learning step, or according to data from the controlled material. , to adapt the sensitivity of the forearm movement detection to the nature of the operations to be controlled.
    [0013] As long as the state of the micro-contactor is "0", as in the sequence illustrated by reference (20), the signals (10, 11) of the accelerometer are not taken into account, even when they exceed the threshold value (15). When the state of the microswitch is "1", nothing happens until one of the signals (10, 11) of the accelerometers exceeds the threshold value (15). When, jointly, the state of the micro-contactor is "1", and a threshold exceeding is detected on one of the signals (10), the equipment transmits a signal (13) of displacement corresponding to the accelerometer exceeding the threshold value has been detected. In this example, the referenced sequence (21) illustrates a situation where the signal Ava has transiently exceeded the threshold value, which activates the "lift-remove" movement of the equipment. This displacement is then maintained, even if the signal Av falls below the threshold value, as long as the state of the microcontroller does not go to a state "0" for a duration greater than a predetermined duration Tif ., for example a second.
    [0014] Micro-interrupts lasting less than one second do not interrupt the transmission of a control signal, but may control switching to another mode of operation, for example: two micro-interrupts separated by a duration Less than Tfin causes the shift state to switch from the slow mode to the fast mode in the same direction and sense as the one that was active before these micro-interrupts, -30- 3038115 - a separate micro-interrupt a duration shorter than Tfin causes the transition to jerky displacement mode. The referenced sequence (22) illustrates the situation where the operator briefly interrupted the action on the microswitch, with a repetition, while the control signal was controlling the movement in the "lifting" direction. This movement then continues, but at an accelerated speed. Sequence (23) illustrates a sequence where the operator has interrupted the action on the microswitch for a time longer than Tfin. The movement of the controlled material is interrupted at the end of the delay Tfin following the stop of the action on the micro-contactor. Then, when the operator presses again on the micro-switch, the equipment resumes the detection of the exceeding of the threshold value (15) by one of the signals (10, 11) of the accelerometer, to control a new movement of the controlled material. In the example described and referenced by the sequence (24), the first detected signal exceeding the threshold value is the signal (11), which will activate the lateral displacement of a carriage according to a command represented by the curve (14). ). When the operator briefly releases the action on the microswitch for a period of time less than T, as illustrated by the sequence (25), he initiates the "saccades" mode. In this mode, whenever one of the signals (10, 11) delivered by any one of the axes of the accelerometer exceeds the threshold value (15, 16), the equipment controls the displacement according to the direction and the corresponding direction, during a brief pulse, and this time that the action on the microswitch is maintained. This mode allows the operator to finely adjust the position of the controlled material, by small shaking of the forearm along any of the axes. Optionally, this mode further controls a variation of the threshold values 3038115 (15, 16) to improve the sensitivity of the equipment in this fine-tuning step. Alternatively, when the operator briefly releases the action on the microswitch, performing a hand rotation for a period less than Tfin, it engages the mode "strumming / jerks". In this mode, each micro interrupts for a duration less than Tfin will make it possible to control the movement in the last direction and the last corresponding direction, and this time that the action on the microswitch is maintained. This mode allows the operator to finely adjust the position of the controlled material, by micro interruptions. -12-
    权利要求:
    Claims (15)
    [0001]
    CLAIMS1 - Remote control equipment comprising an electronic circuit comprising means for detecting the position, orientation and movement of the hand and / or the forearm such as an accelerometer, radiofrequency transmission means of a control signal calculated as a function of the position, the orientation and the displacement measured, and a means of connection with the forearm of an operator, characterized in that it further comprises a contactor (7) adapted to be actuated by the interaction of two fingers, said contactor (7) controlling the activation of said electronic circuit and the maintenance of the control signal until the action is stopped on said contactor, and a bearing surface associated with a contactor controlling an emergency stop of the controlled equipment.
    [0002]
    2 - Remote control equipment according to claim 1 characterized in that said electronic circuit comprises a threshold detector for generating a control signal when the signal measured by said detection means exceeds a threshold value, and the maintenance of this control signal until the interruption of the action on said contactor (7).
    [0003]
    3 - Remote control equipment according to claim 1 or 2 characterized in that it consists of complementary modules comprising a bracelet (2), a housing (1) containing the electronic circuit and the detection means, and a contactor (7). ) fit to surround a finger.
    [0004]
    4 - Remote control equipment according to any one of the preceding claims characterized in that it comprises an accelerometer detecting accelerations along three perpendicular axes
    [0005]
    5 - Remote control equipment according to any one of the preceding claims characterized in that it comprises a gyro detecting rotation in three directions.
    [0006]
    6 - Remote control equipment according to any one of the preceding claims characterized in that it further comprises a magnetometer detecting the magnetic orientation.
    [0007]
    7 - remote control equipment according to any one of the preceding claims characterized in that it further comprises an inertial unit composed of a three-axis perpendicular accelerometer, a gyroscope three axes of rotation and a three-axis magnetometer .
    [0008]
    8 - Remote control equipment according to any preceding claim characterized in that said inertial unit detects the inclination, orientation and acceleration along three perpendicular axes.
    [0009]
    9 - remote control equipment according to any one of the preceding claims characterized in that it further comprises an emergency stop button. 20
    [0010]
    10 - Remote control equipment according to any one of the preceding claims characterized in that it further comprises a single connector of the housing for connecting the fingerstall and recharging.
    [0011]
    11 - Remote control equipment according to any one of the preceding claims characterized in that it further comprises a second switch placed on the electric circuit and intended to be controlled by the second hand.
    [0012]
    12 - Remote control equipment according to any one of the preceding claims characterized in that it further comprises a plurality of contactors for selecting the controlled equipment or one of the functionalities of the controlled equipment. -14- 3038115
    [0013]
    13 - Remote control equipment according to any one of the preceding claims characterized in that it comprises a contactor (7) digital, progressive or two-state. 5
    [0014]
    14 - Remote control equipment according to any one of the preceding claims characterized in that it further comprises means for controlling a strumming mode according to the memorization of the last direction detected by the accelerometer and / or inertial unit, and repeated actions on the contactor (7).
    [0015]
    15 - Remote control equipment according to any preceding claim characterized in that it further comprises means for controlling the movement at two speeds. -15-
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    同族专利:
    公开号 | 公开日
    CN108064365A|2018-05-22|
    AU2016282421B2|2020-08-13|
    RU2018101161A3|2019-08-01|
    AU2016282421A1|2018-01-18|
    FR3038115B1|2017-07-28|
    JP6788005B2|2020-11-18|
    JP2018523436A|2018-08-16|
    ZA201708504B|2018-12-19|
    RU2018101161A|2019-07-23|
    ES2775505T3|2020-07-27|
    EP3314597B1|2019-11-27|
    DK3314597T3|2020-03-02|
    PL3314597T3|2020-08-24|
    CA2990337A1|2016-12-29|
    RU2698281C2|2019-08-23|
    EP3314597A1|2018-05-02|
    WO2016207505A1|2016-12-29|
    US10176707B2|2019-01-08|
    US20180190106A1|2018-07-05|
    MX2017016540A|2018-11-09|
    PT3314597T|2020-03-05|
    BR112017028161A2|2018-08-28|
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    法律状态:
    2016-06-02| PLFP| Fee payment|Year of fee payment: 2 |
    2016-12-30| PLSC| Search report ready|Effective date: 20161230 |
    2017-06-28| PLFP| Fee payment|Year of fee payment: 3 |
    2018-02-23| TP| Transmission of property|Owner name: SIATECH, FR Effective date: 20180119 |
    2018-02-23| TQ| Partial transmission of property|Owner name: SIATECH, FR Effective date: 20180119 |
    2018-06-28| PLFP| Fee payment|Year of fee payment: 4 |
    2020-06-15| PLFP| Fee payment|Year of fee payment: 6 |
    2021-06-29| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1555737A|FR3038115B1|2015-06-23|2015-06-23|REMOTE CONTROL EQUIPMENT|FR1555737A| FR3038115B1|2015-06-23|2015-06-23|REMOTE CONTROL EQUIPMENT|
    CN201680036365.7A| CN108064365A|2015-06-23|2016-06-08|Remote control apparatus|
    BR112017028161-9A| BR112017028161A2|2015-06-23|2016-06-08|Remote Control|
    US15/739,010| US10176707B2|2015-06-23|2016-06-08|Remote control|
    RU2018101161A| RU2698281C2|2015-06-23|2016-06-08|Remote control device|
    DK16734430.8T| DK3314597T3|2015-06-23|2016-06-08|REMOTE|
    PT167344308T| PT3314597T|2015-06-23|2016-06-08|Remote control|
    CA2990337A| CA2990337A1|2015-06-23|2016-06-08|Remote control|
    AU2016282421A| AU2016282421B2|2015-06-23|2016-06-08|Remote control|
    ES16734430T| ES2775505T3|2015-06-23|2016-06-08|Remote control|
    MX2017016540A| MX2017016540A|2015-06-23|2016-06-08|Remote control.|
    PCT/FR2016/051374| WO2016207505A1|2015-06-23|2016-06-08|Remote control|
    JP2018518792A| JP6788005B2|2015-06-23|2016-06-08|Remote control|
    PL16734430T| PL3314597T3|2015-06-23|2016-06-08|Remote control|
    EP16734430.8A| EP3314597B1|2015-06-23|2016-06-08|Remote control|
    ZA2017/08504A| ZA201708504B|2015-06-23|2017-12-14|Remote control|
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