• 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:
    An elevator platform control station mountable to a platform of said platform, having at least one control device (114) for controlling at least one action of said elevator platform, said control device (114) comprising a haptic interface comprising at least one interaction element with the user, and a controller (117) configured to send commands to the haptic interface to generate haptic stimulations at the interaction element with the user on the basis of less information relating to a state of said aerial platform and / or its environment.
    公开号:FR3056202A1
    申请号:FR1658880
    申请日:2016-09-21
    公开日:2018-03-23
    发明作者:Laurent ECK；Sabrina PANEELS；Margarita Anastassova；Florent Souvestre；Ludovic LEMARCHAND；Andrew DELAHUNT
    申请人:Commissariat a lEnergie Atomique CEA；Haulotte Group SA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    Holder (s): COMMISSIONER OF ATOMIC ENERGY AND ALTERNATIVE ENERGIES Public establishment, HAULOTTE GROUP Limited company.
    Extension request (s)
    Agent (s): BREVALEX Limited liability company.
    FR 3 056 202 - A1
    CONTROL STATION FOR LIFT PLATFORMS AND LIFT PLATFORM COMPRISING SUCH A CONTROL STATION.
    ©) Lifting platform control station that can be mounted on a lifting platform of said platform, comprising at least one control device (114) intended to control at least one action of said lifting platform, said control device (114) comprising an interface haptic comprising at least one user interaction element, and a controller (117) configured to send commands to the haptic interface to generate haptic stimuli at the user interaction element on the at least base of information relating to a state of said lifting platform and / or of its environment.
    j | Ψ - 119
    117
    OPERATING STATION FOR LIFT PLATFORMS AND LIFT PLATFORM
    INCLUDING SUCH ORDERING STATION
    DESCRIPTION
    TECHNICAL AREA AND PRIOR ART
    The present invention relates to a control station for lifting platforms and to a lifting platform comprising at least one such control station.
    Mobile lifting platforms for personnel (also known by the acronym PEMP), commonly known as lifting platforms, have an extendable structure mounted on a self-propelled or non-self-supporting chassis, to ensure the height positioning of a work platform serving as a workstation. work with one or more people to perform a task at height, for example performing paint or repair work on a facade of a building. The extendable structure is for example formed by one or more articulated and / or telescopic arms.
    A lifting platform includes a console or control station, positioned on the platform, making it possible to control the entire lifting platform, both the movement of the chassis relative to the ground, the deployment of the extensible structure and its rotation movement relative to the chassis around a vertical axis. Existing control panels use one or more joysticks and / or switches.
    A lifting platform may have more than one control station. It is generally equipped with an auxiliary control station accessible from the ground which includes controls for bringing the platform back to the ground if necessary, for example if the user located in the platform is unable to use the station of platform control. The auxiliary control station generally comprises means for locking the lifting platform, such as a key switch and a control station selector which exclusively determines which of the control stations is active and controls the movements of the machine. In the remainder of the request, the command post designates the command post on the platform. It will be specified when it comes to the auxiliary control station.
    Lifting cradles are generally used in construction sites.
    The control station of a lifting platform is not positioned inside a cabin but is positioned on the open platform and is directly exposed to the working environment of the users.
    In known manner, the user determines the condition of the lifting platform based on auditory information and visual information.
    Regarding the auditory information, it can be expected that the control station will emit sound signals, such as beeps to signal a particular condition of the lifting platform, but they can be difficult to distinguish from other noise from the construction site and other machinery. which are in use.
    Regarding visual information, the user can carry out direct visual control of the lifting platform or through a screen. The user may not necessarily have a complete view of the lift. It can be planned to light up indicator lights, but these can be made difficult to read by the light environment, especially in direct sunlight and by the damage caused by soiling.
    In addition, the aerial work platforms are used by people for work, they are not operators of aerial work platforms. In addition, the aerial work platforms can be used by people who are used to using them, but also by beginners or people who use them very occasionally. It is therefore desirable that the messages sent to the user be easily interpreted.
    STATEMENT OF THE INVENTION
    It is therefore an object of the present invention to provide a control station for lifting cradles which is simple and intuitive to use and capable of communicating with the user effectively and safely.
    The aim stated above is achieved by a control station of a lifting platform comprising at least one haptic interface with at least one degree of freedom provided with an effector, intended to control at least one action of the lifting platform and a controller sending orders to the haptic interface according to the state of the lifting platform, its position in space, and contextual data, in order to transmit detectable and understandable messages to the user, based on haptic feedback adequate and contextualized.
    The controller can also take into account interface actuation parameters, such as the position of the effector and / or the speed of movement of the effector.
    The control station therefore requests at least in part the user at least in part haptically and not only visually and / or hearing. The messages transmitted by the interface are identifiable because they are distinguished from ambient sounds, in particular those existing on a construction site, and they do not have the drawbacks of the light signals exposed above. The stimulation of the haptic senses makes it possible not to overload the visual and auditory attention of the user.
    Very advantageously, the interface can generate at least one kinesthetic stimulation and at least one vibrotactile stimulation, depending on the type of message to be transmitted.
    For example, the interface is of the joystick type with two degrees of freedom. Kinesthetic stimulations are advantageously generated by magnetorheological means.
    The controller controls the haptic effects in the context of handling a lifting platform.
    Thanks to the invention, an alternative method of personal information is used which is not used today in the field of aerial work platforms. The purpose of haptic language is on the one hand to resolve situations of misunderstanding by providing information, for example by warning the user that the dead man's pedal has not been actuated, thus explaining why he does not there is no movement, and on the other hand to reduce the risk situations, for example when the limits of the safety envelope of the lifting platform have been reached.
    In addition, since the interface is programmable, the haptic patterns can be easily changed and adjusted. It is then possible to propose several operating modes according to the profiles of the users, for example the controller can include a program for controlling the haptic interface adapted to a beginner or an occasional user, and a program adapted to an experienced user.
    The subject of the present invention is therefore a lifting platform control station comprising at least one control device intended to control at least one action of said lifting platform, said control device comprising a haptic interface comprising at least one element for interaction with the user, and a controller configured to send orders to the haptic interface to generate haptic stimulations at the level of the element of interaction with the user based on at least information relating to a state of said nacelle lifting and / or its environment.
    The haptic interface advantageously includes means for generating kinesthetic stimulation and in which the controller is configured to take into account at least the position of the element of interaction with the user and / or means for generating vibrotactile stimulation.
    For example, the means for generating kinesthetic stimulation comprise at least one magnetorheological brake and the means for generating vibrotactile stimulation comprise at least one vibrating actuator. The vibrating actuator is preferably positioned on the user interaction element.
    The control station may include other control devices with or without a haptic interface.
    The present invention also relates to a lifting platform comprising a chassis, a turret articulated on the chassis, said turret comprising an extendable structure and a platform carried by the extendable structure and at least one control station according to the invention disposed on the platform. .
    The lifting platform advantageously includes means for detecting the state of said lifting platform and / or its arrangement with respect to the external environment and means for transmitting the signals emitted by the detection means to the controller so that it take these signals into account to control the haptic interface.
    The detection means may include means for measuring the tilt of the chassis, and / or one or more sensors for detecting the configuration of the extensible structure, and / or one or more position sensors of the extensible structure relative to the chassis, and / or one or more load sensors and / or one or more obstacle sensors.
    The controller may include charts on a safety envelope of said lifting platform and / or on at least one boundary between at least two position zones of the expandable structure.
    The present invention also relates to a method of operating a lifting platform according to the invention, comprising the steps:
    - taking into account by the controller of at least one item of information relating to a state of said lifting platform and / or of its environment,
    - sending of orders to haptic stimulation means,
    - generation of haptic stimulation at the level of the element of interaction with the user.
    For example, during step a) the controller takes into account the position of the element of interaction with the user.
    In an operating mode in which the interaction element comprises a rest position and is able to be moved at least along a given direction from the rest position in a first direction and in a second direction opposite to the first sense, the controller can send orders to the haptic stimulation means to generate a first haptic stimulation when moving the element of interaction with the user in the first direction and a second haptic stimulation when moving the element d 'interaction with the user in the second direction, the first and second haptic stimulations being different.
    According to an additional characteristic, during a correct functioning of the lifting platform, the controller can send orders to the kinesthetic stimulation means to apply a force resistant to the element of interaction with the user as long as it is not moved enough to cause an action of the lifting platform, and to simulate notches when the movement of the element of interaction with the user causes an action of the lifting platform
    According to another additional characteristic, the controller can determine a safety envelope for the lifting platform and / or the presence of obstacles,
    - beyond a given configuration of said platform with respect to the security envelope of the platform and / or the presence of obstacles, said controller sends orders to the haptic stimulation means to generate at least one haptic stimulation for alert the user. Preferably, the haptic stimulation comprises kinesthetic stimulation forcing the user to apply an additional force to the interaction element and vibrotactile stimulation.
    According to another additional characteristic, the controller can send an order to simulate a stop for the interaction element, when the safety envelope is reached and / or when at least one of the actuating cylinders of the lifting structure is at the end of the race.
    According to an additional characteristic, the controller can take into account at least one piece of information relating to the state of the lifting platform and / or its environment, and determines at least one limit between at least two movement zones, and sends orders the means for generating haptic stimulation to send a haptic message to the user to inform him of the fact that said at least one limit is near or crossed.
    According to an additional characteristic the controller, on the basis of the relative position of the control station and the chassis, can link the direction and the direction of movement of the element of interaction with the user and the direction and direction of movement of the chassis and controls the means for generating kinesthetic stimulation so that the effector is movable only in a direction parallel to the direction of movement of the chassis.
    BRIEF DESCRIPTION OF THE DRAWINGS
    The present invention will be better understood on the basis of the description which follows and of the appended drawings in which:
    FIG. 1 is a schematic representation of a lifting platform to which the invention applies,
    - Figure 2 is a perspective view of an example of a control station according to the invention
    FIGS. 3A and 3B are perspective representations of an exemplary embodiment of a haptic interface which can be implemented in the control station of FIG. 2,
    FIGS. 4A and 4B are detailed views of FIG. 3A, the pommel being shown transparently in FIG. 3B,
    FIG. 5 is a graphic representation of a haptic pattern suitable for transmitting a message of correct operation of the lifting platform,
    FIG. 6 is a graphic representation of a haptic pattern suitable for transmitting an approach message to the safety envelope of the lifting platform,
    FIG. 7 is a graphic representation of a haptic pattern adapted to transmit a message of a dangerous situation,
    - Figure 8 is a graphic representation of a haptic pattern adapted to transmit an incorrect procedure message.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    In Figure 1, we can see an example of a lifting platform having a chassis 102 mounted on four wheels 104. The chassis may or may not be self-propelled. In the case where it is self-propelled, it comprises for example wheel drive means provided with a combustion engine or an electric motor, so as to allow the displacement of the lifting platform.
    The lifting platform has an extendable structure 106 secured at one end 106.1 to the frame 102 and provided at another end 106.2 with a platform 108. The platform 108 is intended to accommodate human beings, it comprises a tray 110 and a bodyguard 111.
    The extensible structure 106 can be of different types, it can comprise several articulated and / or telescopic arms or be of the scissor type. It can also be vertical masts or any other articulated system.
    In the example shown, the extensible structure 106 comprises 4 articulated arms 107.1, 107.2, 107.3, 107.4. The nacelle is secured to the arm 107.4 so that its plate remains in a horizontal position whatever the relative position of the articulated arms. In this example, the arm 107.3 is also telescopic.
    The displacement of the arms relative to each other is for example obtained by means of hydraulic or electric jacks.
    In the example shown, the extensible structure 106 is mounted on a turret 103 movable in rotation relative to the frame 102 around a vertical axis Z.
    The lifting platform also includes a control station or control desk 112 positioned on the platform and from which the user will control the position of the platform in space.
    In Figure 2, we can see a schematic representation of a platform control station. In the example shown without limitation, the control station includes three joystick type control devices 114, 115, 116 and switch type control devices 118.
    The control station and its control devices make it possible to control, among other things, the movement of the chassis on the ground, the deployment of the extensible structure 106 and the rotation of the turret 103 about the Z axis.
    The control station 112 according to the invention comprises at least one haptic interface. In the example shown, the control device 114 is a haptic interface. The other control devices are of known type. However, it will be understood that the control station according to the invention may comprise several haptic control devices with one or two degrees of freedom, or even only haptic control devices with one or two degrees of freedom.
    In the present application, the term “haptic interface” designates any device comprising an element of interaction with a user or effector intended to be manipulated by the user to transmit commands to a system, means capable of sending to the user haptic stimulation through the effector as a function, for example of the position of the effector and external information, and a controller controlling the haptic stimulation means as a function of the position of the effector and of the information for example provided by sensors or charts recorded on the operating conditions of the lifting platform.
    The controller is designated by the reference 117.
    The sensors providing information on the state of the platform and contextual information are generally designated by the reference 119. It can be, by way of nonlimiting example, one or more superelevation angle sensors, d '' one or more obstacle sensors, cylinder end of stroke sensors, sensors of the angular position of the turret relative to the chassis,
    Tactile stimulations notably include kinesthetic stimuli which are related to movements and vibrotactile stimuli which are generated by vibrations.
    Kinesthetic stimulation is for example generated by a resistant effort (passive haptic interface) or a motor effort (active haptic interface). Preferably, a passive haptic interface is implemented for kinesthetic stimulation because this type of interface is safe for the user. It can indeed oppose a very significant effort by the user but it can in no case generate by itself a displacement of the effector not controlled by the user.
    In FIGS. 3A and 3B, an example of a haptic interface with two degrees of freedom can be seen which can be implemented in the control station according to the invention. It will be understood that this example is in no way limiting as will be described in the following description.
    The haptic interface comprises a frame 2, an interaction element 4 with a user articulated on the frame 2 and two magnetorheological brakes 6, 8, designated brakes in the following description. Magnetorheological brakes are able to generate kinesthetic stimulation.
    The interaction element 4 has the form of a lever and will be designated as a lever or an effector in the following description.
    The lever 4 extends in the rest position along a longitudinal axis Z perpendicular substantially to the plane of the frame 2 and has a first longitudinal end 4.1 intended to be gripped by the hand of the operator and equipped for example with a knob 5 and a second longitudinal end 4.2 mechanically connected to the brakes. The pommel is mounted on a rod 7 comprising the second longitudinal end 4.2.
    In the example shown, the brake 6 is oriented along an X axis and the brake 8 is oriented along a Y axis perpendicular to the X axis and both perpendicular to the Z axis. The X axes and Y define a plane parallel to the plane of the frame. The brake 6 comprises a shaft 10 (FIG. 3B) extending along the X axis and the brake 8 comprises a shaft (not visible) extending along the Y axis.
    In the example shown, the two brakes 6 and 8 have similar structures, only the brake 6 will be described in detail. It will be understood that a haptic interface comprising brakes of different structures does not depart from the scope of the present invention.
    An example of a brake is for example in the document W02016050717 (this is the request BD15296). The brake 6 comprises a shaft 10 movable in rotation about the axis X and mounted in a housing. The shaft 10 has one end mechanically connected to the second end 4.2 of the handle 4 and a second end (not visible) interacting with a magnetorheological fluid. The second end of the shaft is for example integral in rotation with a skirt arranged in a chamber filled with magnetorheological fluid. The brake also includes means for generating a magnetic field in the chamber so as to cause a change in the viscosity of the magnetorheological fluid. When the viscosity increases, a resistant torque is applied to the skirt and to the shaft 10, and in fact to the handle via the mechanical connection between the shaft 10 and the handle 4.
    The interface includes at least one lever position sensor.
    In the example shown, angular position sensors 14 and 16 measure the angular position of the brake shafts 6, 8. They may, for example, be incremental optical encoders.
    The mechanical connection 18 between the lever 4 and the shafts is a universal joint system well known to those skilled in the art, a non-limiting example of which is shown in FIG. 1.
    In the example shown, the second end 4.2 of the handle 4 is mounted in a part 20 by means of a sliding pivot 22. The shaft 10 is connected to the part 20 by an L-shaped part 24, a branch 24.1 of the L being integral in rotation on the shaft 10 and the other branch 24.2 of the L being articulated on the part 20 by a sliding pivot 26.
    The brake shaft 8 is connected to the part 20 via two L-shaped parts 28, 30. The two L-shaped parts 28, 30 are hinged together by a sliding pivot link 32, the L-shaped part 28 is integral in rotation on the brake shaft 8 and the L-shaped part 30 is integral in rotation with the part 20.
    The interface includes stops to limit the displacement in the X and Y plane of the lever, in the example shown the stops are formed by a frame 33 arranged around the lever above the cardan joint.
    Advantageously, the interface includes return means in the rest position, i.e. the lever is coaxial with the axis Z. These means are for example of the magnetic type disposed between the frame 2 and the universal joint. These are, for example, two permanent magnets facing each other and aligned with the Z axis and exerting a magnetic restoring force.
    The lever can then be moved around the two axes X and Y and the brakes 6, 8 are capable of applying resistant torques around its axes depending on the position of the lever.
    On the one hand, any other articulation between the lever and the brakes making it possible to produce an interface with at least two degrees of freedom is within the scope of the present invention, such as that described for example in the document Bin Liu. Development of 2d hoptic devices working with mognetorheologicol fluids. Moster's thesis, University of Wollongong, Austrolio, 2006 or in the document A. Milecki, P. Bochmon, and M. Chciuk. Control of a smoll robot by hoptic joystick with magnetorheologicalfluid. Mechatron. Syst. Mater.-MSM, 7, 2011.
    On the other hand, the brake structure could be different. Instead of a skirt, for example a disc could interact with the magnetorheological fluid. Furthermore, the brake could be of electrorheological or electromagnetic type.
    In addition, the brake axes may not be perpendicular. In addition, the interface could have more than two brakes.
    As a variant and as already mentioned, one could envisage an active brake comprising an electric motor acting on the effector.
    A haptic interface in which the effector would have a shape other than a handle is not beyond the scope of the present invention.
    Furthermore, in the example shown, the haptic interface comprises one or more vibrating actuators capable of generating vibrations and of causing a vibrotactile stimulation of the user.
    In FIGS. 4A and 4B we can see a detailed view of the knob of the haptic interface shown in FIG. IA. In this example, the interface comprises three vibrating actuators A1, A2, A3 which are mounted on the lever, for example in the knob. In an advantageous embodiment, each actuator is such that it is capable of generating vibrations in a frequency range and / or a range of amplitude at least partially different from those of the other two actuators. Thus the actuators together cover a wide spectrum of frequency and / or amplitude which offers great possibilities in terms of vibrotactile sensation.
    These actuators are distinct from the brakes, in particular in the case of an active brake.
    The relative arrangement of the vibrating actuators is given only by way of example and is in no way limiting.
    Very advantageously, the actuators are fixed on the effector so as to mechanically isolate them from each other, which makes it possible to isolate the stimulation which they generate and, for example, excite zones of the hand separately .
    According to an exemplary embodiment, the means for generating kinesthetic stimulation are capable of generating vibrotactile stimulation, for example by using one or more electric motors. However, this example has the disadvantage of a higher electrical consumption because the whole of the mechanical articulation of the interface must be put in vibration. In addition, the vibrations are not generated as close to the user's hand.
    The actuators can be arranged in any way relative to the surface of the handle. Preferably, they can be arranged so that the vibrations generated are in a normal plane or in a plane tangential to the surface of the skin.
    The control station according to the invention, and in particular the haptic control device 114, allow on the one hand, by displacement of the effector, to control one or more functions of the lifting platform, for example in a non-limiting manner its displacement relative to the ground, and / or deployment of the extensible structure 106 and / or rotation of the extensible structure 106 relative to the chassis 102. On the other hand it makes it possible to send information or messages to the user by through kinesthetic stimulation and / or vibrotactile stimulation controlled by the controller 117 in order, for example, to alert the user of a potentially dangerous situation, to indicate that a maneuver has been stopped, to give information on the state of the lifting platform and / or the environment.
    By using kinesthetic stimuli or vibrotactile stimuli or, advantageously, the two types of stimuli successively or simultaneously, the messages sent are identified by the user unlike sound and visual stimuli which are not very effective. Besides, they are understandable at least to the greatest number.
    Examples of messages that can be sent by the haptic interface to the user in different situations will now be described. It will be understood that these are not limiting and that, for the same situations, other haptic stimulations or combinations of haptic stimulations can be generated, for example according to the users intended to use the lifting platform, for example according to regions of the world. In addition, the haptic interface being programmable and capable of reproducing any type of haptic pattern, any other message in the form of one or more haptic stimulations relating to another situation can be produced.
    The examples of messages which will be described are for the most part combinations of kinesthetic and vibrotactile stimulations which allow a high level of understanding by the user. Masi it will be understood that messages comprising only one or more kinesthetic stimulations and / or one or more vibrotactile stimulations do not depart from the scope of the present invention. Furthermore, in the examples described below, the interface shown in FIG. 2A is considered, the kinesthetic stimulation is obtained by magnetorheological brakes generating a resistant force on the effector. It will be understood that kinesthetic stimulation can be generated by electrorheological brakes, electric motors ...
    In the case of correct operation of the lifting platform, you can choose not to send any vibrotactile message, i.e. the vibrating actuator (s) are not actuated. A kinesthetic message can be sent, for example according to the haptic pattern Ml represented in FIG. 5 representing the amplitude A of the resistant force as a function of the position P of the effector.
    We consider the case where the effector is moved along the X axis or along the Y axis.
    The haptic pattern M1 is such that it generates a resistant force of a first amplitude A0 as long as the effector remains in a central zone and does not exceed the position PO. This effort simulates a plateau and represents the neutral zone of the effector, i.e. as long as the effector does not leave this zone, no command is sent to the lifting platform.
    When the effector is moved beyond the central zone and exceeds the PO position, provision is made to simulate a notching. Notches are simulated when it reaches the positions PI, P2 ... by generating a resistant force of amplitude A1, A2 ... respectively.
    Advantageously, it can be provided that when the user returns the effector to the central position, the haptic notching pattern is eliminated and the user only feels the stiffness of return of the effector.
    For example, in the case where the movement of the effector is used to regulate the speed of movement of the lifting platform relative to the ground, the different reasons between the movement away from the central area and the movement closer to the central area allow the user to know by haptic feeling, whether his gesture produces an acceleration movement or a deceleration movement.
    In the case where the displacement of the effector causes the rotation of the turret 103 relative to the frame 102, the displacement of the effector from the central zone in a given first direction along the direction X or Y, causes the rotation of the turret 103 in a given direction of rotation and the further the effector is from the central area the faster the rotation. To cause the turret 103 to rotate in the opposite direction of rotation, the effector brings the effector back to the central zone and then moves the effector in the same direction in a second direction opposite to the first direction away from the central zone . This type of procedure can be applied to moving the chassis forwards or backwards relative to the ground and to the various movements of the extensible structure 106, such as lifting, lowering, extending or retracting the telescopic arm 107.3, etc.
    Different haptic patterns can be generated depending on whether the turret 103 moves in one direction of rotation or the other and / or whether the chassis moves forwards or backwards and according to the type of movement of the structure expandable 106.
    In the example of the haptic pattern M1, the simulation of notches is obtained by applying an amplitude variation of rectangular shape, but other shapes can be applied such as a trapezoidal, sinusoidal shape, etc. In the example, the amplitudes A1, A2, etc. are of the same value, but it could for example be provided that their value increases as the effector moves away from the position PO, or conversely that it decreases. In addition, the spatial frequency of the notch zones can be different, the occurrence of the notches being able to spatially approach or move away or on, a certain zone to approach and, on a certain zone to move away.
    In addition, any other haptic texture which is significant for the user can be envisaged.
    Finally, in the particular case of an interface with two degrees of freedom, it can be envisaged that the patterns on the X and Y axes are identical or different.
    Thanks to the invention, a large number of different messages can be generated to be understandable by the user and close to the current situation.
    Lifting cradles are characterized in particular by the existence of a safety envelope which corresponds to a spatial limit around the lifting cradles, beyond which the risk of overturning increases. For example, the full deployment of the extendable structure with a particular orientation relative to the chassis and / or a superelevation value, etc. may cause overturning. We therefore wish to inform the user when the lifting platform approaches this safety envelope.
    Thanks to the present invention, an alert message can be transmitted to the operator via the effector and effectively alert the user.
    The controller 117 for example includes in memory one or more charts making it possible to determine the safety envelope of the lifting platform according to various parameters, such as the cant of the chassis of the lifting platform, the state of the extensible structure (level deployment, load loaded on the platform, etc.) The values of these parameters can be given by sensors with which the lifting platform is fitted, for example one or more angle sensors of the chassis.
    The computer therefore calculates the safety envelope of the lifting platform in the context in which the lifting platform is located.
    A programmable threshold upstream of the security envelope is recorded and one or more haptic messages is or are transmitted to the user when the programmable threshold has been exceeded.
    Depending on the commands given by the user by manipulating the effector of the haptic interface, the controller will control the magnetorheological brake (s) and / or the vibrating actuators to alert the user that he has exceeded the programmable threshold and closer to the security envelope. The user is then informed of the possible risks of overturning. In addition, this alert message avoids or at least reduces the risk of misunderstanding on the part of the user when the actuation of the lifting platform is blocked, for example when the jacks are securely blocked or when the security envelope is reached.
    In FIG. 6, one can see an example of haptic pattern M2 making it possible to generate kinesthetic stimulation such that, while the user can still move the effector, he must exert an unusual additional effort to move it. This is reflected in the haptic pattern of FIG. 6 by notches such as those of FIG. 5, since it is a conforming operation but a continuous component of force of amplitude A3 is superimposed on the amplitude required to cross the notches. The user must make an unusually high effort to move the effector, he is then warned that he is approaching the safety envelope and that the movement in progress may lead to a risky situation. This stimulation therefore sends a message easily interpreted by the user.
    When the lifting platform reaches the safety envelope, it can advantageously be provided that the brakes simulate a blocking stop, by applying a force of maximum amplitude AMax which prevents any further movement of the effector in the direction aimed at maintaining the danger . The haptic pattern M3 of such a stop is shown in FIG. 7. The generation of this stop can take place each time the user attempts to move the effector to a position commanding a dangerous action, so that he understands that the interface is no longer operable. As we will see later, it is preferable that the vibrotactile stimulation is not generated each time the user tries.
    The generation of a stop can also be advantageously simulated by the brakes on the order of the controller when at least one of the actuators of the lifting platform, for example a displacement cylinder of one of the arms 107.1, 107.2,
    107.3 and 107.4, reaches its end of race. One or more limit switches 119 are implemented at the level of the displacement cylinders of one of the arms.
    Advantageously, if the user moves the effector so as to move the lifting platform away from the safety envelope, the brakes can simulate notches of normal amplitude without component of additional effort, which will be interpreted by the user as his action brings the lifting platform closer to a safe situation.
    The user is then guided in these gestures and haptically feels what movements he must make to put the lift back into a safe position.
    Very advantageously, provision is also made to transmit a vibrotactile message to the user in order to emphasize the risk to come.
    For example, we use a metaphor called the reversing radar. It consists in generating vibrations, when the programmable threshold is exceeded, these having an increasing amplitude and an increasingly high frequency of appearance when the lifting platform approaches the safety envelope. When the envelope is reached, provision is made for the generation of continuous vibrations similar to the continuous beep emitted by the reversing radar when the vehicle is too close to an obstacle. This vibration alerts the user and encourages him to stop his action. This vibrotactile message is for example played only once so as not to overload the attention of the user.
    The lifting platform can be equipped with one or more sensors allowing it to detect that the chassis and / or the platform and / or the extensible structure is approaching an obstacle. The haptic interface can then inform the user of the impending contact with an obstacle that the user might not have seen. The kinesthetic and vibrotactile messages can be identical or similar to those transmitted in the case of the approximation of the security envelope or different, for example in intensity and frequency.
    For example, these messages can be transmitted when the chassis is moved relative to the ground and when means, such as position or obstacle sensors and / a geolocation system associated with a communication protocol between machines, detect an obstacle or a hole.
    For certain lifting nacelles, for example those which can make it possible to reach very great heights, deployment zones are determined. For example a restricted area for moving a heavy load and an extended area for moving a light load. These areas are defined in abacuses.
    It can be very advantageous to send a message to the user that the lifting platform has moved from one zone to another or that it will move from one zone to another. An alert message similar to that generated in the case of the approach to the security envelope may be generated. A programmable threshold can also be set. It should be noted that the load on board the platform can be measured by one or more sensors. The controller can then determine whether or not it is relevant to inform the user of the approximation or crossing of the limit between the two zones. For example, the controller may not communicate this information if the load measured in the platform is very much lower than the maximum load capacity.
    The delimitation of these zones can be done on the basis of other parameters, for example on the basis of the slope of the ground on which the lifting platform is arranged. For example, it can be defined a restricted zone when the chassis is strongly inclined, i.e. the lifting platform is on sloping ground, and an extended zone when the chassis is substantially horizontal, i.e. the lifting platform on flat ground.
    In addition, the number of zones is not limited to two. For example we can define a strongly restricted area, a restricted area and an enlarged area.
    As explained above, the aerial work platforms can be used by novice or occasional users, who may forget certain procedures for operating the aerial work platforms. For example, it is common for lifting lifts to have a start-up and handling procedure using a dead man's pedal that must be engaged before starting and handling the lifting lift.
    However, forgetting this step generally causes the user to misunderstand, who concludes from the absence of a reaction from the lifting platform that it has broken down while it is in working order.
    Thanks to the control station according to the invention, a message can be sent to the user informing him that the procedure is incorrect and inviting him to check the different steps.
    From a vibrotactile point of view, provision may be made to simulate a message reproducing a siren, for example by alternating vibrations at two amplitude levels and at two frequency levels.
    From a kinesthetic point of view, the haptic pattern M4 reproduced can be that of FIG. 8. In dotted lines is represented the pattern M1 of functioning in conformity for comparison. It includes, as for the conforming operation, the generation of a resistant force of amplitude A4 when the effector is in a central zone and, the absence of resistant force when the effector leaves the central zone, the user can then freely move the effector and does not feel any notch, unlike the stimulation generated in the event of proper operation.
    This unusual feeling then warns the user of the abnormal situation in which he finds himself.
    This stimulation is preferably applied regardless of the position of the effector relative to the X and Y axes so that the abnormal procedure message is understood by the user.
    It will be understood that the movement of the effector under these conditions does not cause any action at the level of the lifting platform.
    An incorrect procedure may include any step that causes the lift to not function, such as:
    - forgetting the dead man's pedal or forgetting to reactivate the dead man's pedal,
    - forgetting to switch on the engine for aerial platforms with combustion engines,
    - forgetting the harness in the case of machines where this forget causes non-functioning,
    - overload detection,
    - The positioning of the station selector located on the auxiliary command control station such that the active control station is not the one that the user manipulates.
    It can be envisaged that the same haptic message is transmitted for all the incorrect procedures or else, that a specific haptic message is dedicated to each incorrect procedure.
    Novice people using the platform control can be clumsy. In the context of training, it may be interesting to alert them to the speed with which they activate the interface, especially in risky situations.
    Thanks to the invention, provision can be made to transmit a haptic message intended to alert the user without preventing his movement. The message is intended to attract the attention of the user. This message is advantageously generated by vibrotactile stimulation by producing once only first vibrations of high amplitude, and then vibrations of lower amplitude over a duration for example of 1.5 s. This message reproduces the vocal metaphor "eh oh" used to draw a person's attention to an abnormal situation, the vibrations of high amplitude reproducing the "eh" and the vibrations of lower amplitude reproducing the "oh".
    In this type of situation, vibrotactile stimulation alone is sufficiently effective. However, provision could be made to generate kinesthetic stimulation in order to further strengthen the warning signal.
    As already mentioned, the haptic interface implemented makes it possible to guide the user's actions.
    The effector of FIG. 2A can be moved in all directions of the XY plane. However, it may be desirable for the user to be able to distinguish haptically when he moves the effector on the X and Y axes or when he moves it in a transverse direction. For example, movement along one of the axes such as the entry and exit of the telescopic arm and movement along the other direction controls the lifting or lowering of an arm. The brakes can then be controlled so that a different resistant force is felt by the user when he moves the effector only along the X direction, or only along the Y direction, and when he moves the effector in a transverse direction. For example, the brakes can generate an additional resistant force when the effector is moved transversely. Thus the user clearly distinguishes when he controls the two movements independently or in combination. The use of the lifting platform is easier and safer since the user haptically feels the actions he commands.
    In addition, it is possible, thanks to the haptic interface, to transmit messages of general information to the user of a purely informative nature, on a situation or a state which does not endanger the user or cause the non-functioning of the lifting platform controls. For example, the user can be informed about the battery level or the fuel level of the lifting platform.
    For example, a message is generated by vibrotactile stimulation so that it is not intrusive. In addition, it is advantageously relatively short so that it can be ignored if necessary. Several vibrating actuators can be activated with different amplitudes and frequencies. In addition, the vibrations generated can stop at different times. This temporal discontinuity between the two actuators which do not stop at the same time makes it possible to accentuate a gradual extinction of the actuators simulating a battery effect which is emptied or a drop of water falling in a liquid. The haptic interface can for example implement a first actuator capable of generating medium frequency vibrations and a second actuator capable of generating low frequency vibrations. For example, the first actuator emits medium frequency vibrations whose amplitude decreases from a high value to a low value and the second actuator emits low frequency vibrations whose amplitude decreases but remains at high values.
    The message has the advantage of having a relatively mild feeling and differs from other messages, for example alert messages.
    The implementation of vibrotactile messages is particularly interesting for transmitting informative messages because their feeling does not require action on the effector unlike kinesthetic messages which require a displacement of the effector to be felt. It should be noted, however, that these informative vibrotactile messages can be transmitted while the user is moving the effector and also feels kinesthetic stimulation transmitting another type of message.
    In addition, the use of a control station provided with at least one haptic interface makes it possible to improve the use of the station.
    Provision may be made for the controller to make movement of the effector more difficult, for example in the case of movement over uneven ground, in order to limit the transmission to the effector of tremors caused by irregularities in the ground and to avoid variations. abrupt movement control. Information on the condition of the terrain can be provided either by sensors, for example by angle sensors on the chassis, or by the user who, for example, presses a button indicating that the terrain is uneven, or by the effector position sensor (s) making it possible to determine that the displacement of the effector is too fast.
    The actuation of the effector is then made safer and more precise.
    Thanks to the invention, provision can also be made to modify the resistant forces applied to the effector in the event of the operator being overwhelmed. For example, it may happen that the user is thrown against the control station by an obstacle external to the platform and comes to press against the interface effector. In order to reduce the risk of injury, the controller, for example on the basis of information provided by the movement of a safety bar as described in patent FR3007401, controls the brakes so that they do not apply any force resistant to the effector. It can then be moved very easily, in particular be folded against the console with little resistance. Thus the risks of perforation of the user's body by the effector can be reduced.
    The chassis of a lifting platform can move back and forth and vice versa along a longitudinal direction W. Generally, the control of the movement of movement in front and back of the chassis is carried out by moving an effector along an axis. unique, forward and backward. On an elevating nacelle equipped with a turret 103, the angular position of the platform 111 and of the control console 112 relative to the chassis 102 is variable from 0 ° to 360 °. As a result, the direction of movement of the effector is parallel to the direction W of movement of the lifting platform and the rearward movement of the effector effectively corresponds to a displacement of the lifting platform towards the rear and the forward movement of the effector effectively corresponds to a displacement of the lifting platform forward, when the angle between the chassis and the turret is equal to 0 °.
    Consequently, the direction of front / rear movement of the effector which controls the movement of the chassis has an orientation and possibly a direction different from the front / rear direction of the chassis when the turret has pivoted relative to the chassis. This is a source of confusion for the operator who may mistakenly order a movement in a direction and a direction different from that which he desired. However, an error in the direction or direction of movement of the lifting platform can cause dangerous situations, the lifting platform can enter a wall while the user wanted to get away from it.
    Thanks to the fully programmable haptic interface implemented in the control station according to the invention, the controller can reprogram the relationship between the direction and the direction of movement of the effector and the direction and direction of movement of the chassis by example based on information provided on the angular position between the platform and the chassis. For this, the controller can control the brakes 6 and 7 to allow the movement of the actuator only in one direction which is parallel to the direction W of the chassis and block the movement of the actuator in all other directions. Thus the user no longer has to take account of the movement of the platform relative to the chassis and does not have to modify his behavior when the effector is actuated to move the chassis on the ground. The safety of use of the lifting platform is then significantly improved.
    Advantageously, the controller can send orders to the haptic stimulation means to generate different haptic stimulations according to the direction of movement of the effector, in order to inform the user about the direction of movement of the nacelle which is controlled. For example, different notches can be simulated in the direction of movement, or notches can be simulated in one direction of movement and no stimulation can be provided in the other direction of movement.
    The haptic interface can be programmed to allow a step of selecting an action and then a command of this action. For example, a resistant force is applied to the effector so that it can be moved only along an axis in one direction or the other, to select an action. The action selected depends on the direction of movement of the effector. A haptic message, for example, a vibrotactile message, is sent to notify the user that the selection has been made. Then the brakes are activated so that the effector can be moved along the other direction only to control the selected action.
    For example, we can consider a scissor lift. The command sequence is:
    1) during a first step, the effector is in "selector" mode, it can only be moved along the X axis to the left or to the right. Moving to the left selects the chassis translation action, and moving to the right selects the lifting action. When the selection is made, short-term vibrations are emitted, confirming the selection,
    2) during a second step, the effector is only movable along the direction Y, by pushing the effector it performs a proportional control. For example, by pushing the effector forward or backward, the user controls the selected movement proportionally.
    The control station according to the invention provides messages that are detectable and recognizable by the user, since they request the sense of touch which is not requested, unlike sight and hearing. In addition, kinesthetic stimuli and vibrotactile stimuli used separately, or in combination, make it possible to create haptic messages easily understood by the user.
    In addition, by advantageously coupling vibrating actuators and brakes, the advantages of the two types of kinesthetic and vibrotactile haptic feedback are combined, which makes it possible to cover all the situations in a complementary manner by different feedbacks. The brakes allow a rich and stable return when the interface is actuated and the vibrating actuators allow a vibrotactile return which can be controlled on demand even if the effector is not moved.
    It is then possible to transmit messages to the user, both when he does not move the effector and when he moves the effector, for example to inform of an end of stroke of a jack or the 'reaching the limit of the safety enclosure of the lifting platform after the effector has reached its maximum position of movement.
    Vibro-tactile stimulation can also be particularly effective when a more disruptive or intense feedback like the case of alerts must be applied, this type of feedback is more difficult to achieve with resistant coupling alone. The vibrotactile stimulation makes it possible, for example, to provide a return to the request, as a function of the elapsed time and / or of events in the application context, for example a motor not lit, and / or as a function of the position and / or speed. of displacement to perform it.
    In addition, the haptic interface being programmable, it offers great freedom in the haptic stimuli that can be generated. In addition, it can be programmed to offer other functions than the transmission of haptic messages, such as taking into account the rotation of the platform relative to the chassis in the control of front-rear movements.
    In the above description, the haptic interface has two degrees of freedom, but a haptic interface with only one degree of freedom is not outside the scope of the present invention. For example the effector could move only along a direction from front to back and vice versa, or from left to right and vice versa. In addition, a control station comprising more than one haptic interface, or even comprising only haptic interfaces, is not outside the scope of the present invention.
    Finally, the invention applies to all control stations, for example both the control station on the platform and the auxiliary control station, of all types of aerial work platforms, whatever the type of extendable structure. , whatever the means of actuation of the extensible structure, and whatever the means for moving the platform. In addition, the interface controller can be connected to various detection means equipping the platform such as accelerometers, angle sensors, position sensor, geolocation system, load detector. It can also communicate with other machines. Thus, the controller can receive information on the environment of the platform and its evolution and send contextual messages.
    权利要求:
    Claims (20)
    [1" id="c-fr-0001]
    1. Lifting platform control station comprising at least one control device (114) intended to control at least one action of said lifting platform, said control device (114) comprising a haptic interface comprising at least one element for interacting with the user (4), and a controller (117) configured to send commands to the haptic interface to generate haptic stimuli at the user interaction element based on at least relative information to a state of said lifting platform and / or its environment.
    [2" id="c-fr-0002]
    2. Control station according to claim 1, in which the haptic interface comprises means for generating kinesthetic stimulation and in which the controller (117) is configured to take into account at least the position of the element of user interaction (4).
    [3" id="c-fr-0003]
    3. Control station according to claim 2, wherein the means for generating a kinesthetic stimulation (6, 8) comprise at least one magnetorheological brake (16,18).
    [4" id="c-fr-0004]
    4. Control station according to claim 1 or 2, wherein the haptic interface comprises means for generating vibrotactile stimulation.
    [5" id="c-fr-0005]
    5. Control station according to claim 4, in which the means for generating a vibrotactile stimulation comprise at least one vibrating actuator (A1, A2, A3).
    [6" id="c-fr-0006]
    6. Control station according to claim 5, wherein the at least one vibrating actuator is positioned on the user interaction element (4).
    [7" id="c-fr-0007]
    7. Control station according to one of claims 1 to 6, 5 comprising other control devices (115, 116) with or without a haptic interface.
    [8" id="c-fr-0008]
    8. Lifting platform comprising a chassis (102), an extensible structure (106) and a platform (108) carried by the extensible structure (106) and at
    10 minus a control station (112) according to one of claims 1 to 7 disposed on the platform (108).
    [9" id="c-fr-0009]
    9. Lifting platform according to claim 8, comprising means (119) for detecting the state of said lifting platform and / or its arrangement
    15 with respect to the external environment and means for transmitting the signals emitted by the detection means to the controller so that it takes these signals into account to control the haptic interface.
    [10" id="c-fr-0010]
    10. A lifting platform according to claim 9, in which the
    Detection means (119) comprise means for measuring the tilt of the chassis (102), and / or one or more sensors for detecting the configuration of the extensible structure (106), and / or one or more position sensors the extendable structure (106) relative to the chassis (102), and / or one or more load sensors and / or one or more obstacle sensors.
    25
    [11" id="c-fr-0011]
    11. Lifting platform according to one of claims 8 to 10, in which the controller (117) includes charts on a safety envelope of said lifting platform and / or on at least one boundary between at least two position zones of the extendable structure (106).
    [12" id="c-fr-0012]
    12. Method of operating a lifting platform according to one of claims 8 to 11, comprising the steps:
    a) taking into account by the controller of at least one item of information relating to a state of said lifting platform and / or of its environment,
    b) sending of order to haptic stimulation means
    c) generation of haptic stimulation at the level of the element of interaction with the user.
    [13" id="c-fr-0013]
    13. The operating method according to claim 12, wherein during step a) the controller takes into account the position of the element of interaction with the user.
    [14" id="c-fr-0014]
    14. The operating method as claimed in claim 13, the interaction element comprising a rest position and being able to be moved at least along a given direction from the rest position in a first direction and in a second direction. opposite to the first direction, and in which the controller sends orders to the haptic stimulation means to generate a first haptic stimulation when moving the element of interaction with the user in the first direction and a second haptic stimulation when moving of the element of interaction with the user in the second direction, the first and second haptic stimulations being different.
    [15" id="c-fr-0015]
    15. The operating method as claimed in claim 12, 13 or 14, in which, during a conforming operation of the lifting platform, said controller sends orders to the kinesthetic stimulation means to apply a resistant force to the element of interaction with the user as long as it is not moved sufficiently to cause an action of the lifting platform, and to simulate notches when the movement of the element of interaction with the user causes an action of the lifting platform
    [16" id="c-fr-0016]
    16. Operating method according to one of claims 12 to
    15, in which:
    - the controller determines a safety envelope for the lifting platform and / or the presence of obstacles,
    - beyond a given configuration of said platform with respect to the security envelope of the platform and / or the presence of obstacles, said controller sends orders to the haptic stimulation means to generate at least one haptic stimulation for alert the user.
    [17" id="c-fr-0017]
    17. The operating method according to claim 16, in which the haptic stimulation comprises kinesthetic stimulation forcing the user to apply an additional force to the interaction element and vibrotactile stimulation.
    [18" id="c-fr-0018]
    18. Operating method according to one of claims 12 to
    17, in which, the controller sends an order to simulate a stop for the interaction element, when the safety envelope is reached and / or when at least one of the actuating cylinders of the lifting structure is at the end race.
    [19" id="c-fr-0019]
    19. Operating method according to one of claims 12 to
    18, in which the controller takes into account at least one piece of information relating to the state of the lifting platform and / or its environment, and determines at least one limit between at least two deployment zones of the expandable structure, and sends orders to the means for generating haptic stimulation to send a haptic message to the user to inform him of the fact that said at least one limit is near or crossed.
    [20" id="c-fr-0020]
    20. Operating method according to one of claims 12 to
    19, in which the controller on the basis of the relative position of the control station and the chassis links the direction and the direction of movement of the user interaction element and the direction and the direction of movement of the chassis and controls the means for generating kinesthetic stimulation so that the effector can only be moved in a direction parallel to the direction of movement of the chassis.
    S.61195
    1/3
    108
    118
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    公开号 | 公开日
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    EP3515855A1|2019-07-31|
    US20190210854A1|2019-07-11|
    WO2018055295A1|2018-03-29|
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    法律状态:
    2017-09-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-23| PLSC| Publication of the preliminary search report|Effective date: 20180323 |
    2018-09-07| TP| Transmission of property|Owner name: COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERG, FR Effective date: 20180808 |
    2018-09-28| PLFP| Fee payment|Year of fee payment: 3 |
    2019-09-30| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-30| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658880|2016-09-21|
    FR1658880A|FR3056202B1|2016-09-21|2016-09-21|CONTROL STATION FOR LIFTING PLATFORMS AND LIFTING PLATFORMS INCLUDING SUCH A CONTROL UNIT|FR1658880A| FR3056202B1|2016-09-21|2016-09-21|CONTROL STATION FOR LIFTING PLATFORMS AND LIFTING PLATFORMS INCLUDING SUCH A CONTROL UNIT|
    PCT/FR2017/052538| WO2018055295A1|2016-09-21|2017-09-21|System comprising a control station and a controlled device with improved operating safety|
    US16/334,566| US20190210854A1|2016-09-21|2017-09-21|System comprising a control station and a controlled device with improved operating safety|
    EP17783934.7A| EP3515855B1|2016-09-21|2017-09-21|System comprising a control station and a controlled device with improved operating safety|
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