EP0635858A1 - Joystick - Google Patents

Joystick Download PDF

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Publication number
EP0635858A1
EP0635858A1 EP94401181A EP94401181A EP0635858A1 EP 0635858 A1 EP0635858 A1 EP 0635858A1 EP 94401181 A EP94401181 A EP 94401181A EP 94401181 A EP94401181 A EP 94401181A EP 0635858 A1 EP0635858 A1 EP 0635858A1
Authority
EP
European Patent Office
Prior art keywords
shaft
control member
orientation
manipulator according
cursor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP94401181A
Other languages
German (de)
French (fr)
Other versions
EP0635858B1 (en
Inventor
Philippe Gaultier
Patrick Vouillon
Frédéric Simon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales Avionics SAS
Original Assignee
Thales Avionics SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thales Avionics SAS filed Critical Thales Avionics SAS
Publication of EP0635858A1 publication Critical patent/EP0635858A1/en
Application granted granted Critical
Publication of EP0635858B1 publication Critical patent/EP0635858B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick
    • H01H25/041—Operating part movable angularly in more than one plane, e.g. joystick having a generally flat operating member depressible at different locations to operate different controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H19/00—Switches operated by an operating part which is rotatable about a longitudinal axis thereof and which is acted upon directly by a solid body external to the switch, e.g. by a hand
    • H01H19/02—Details
    • H01H19/10—Movable parts; Contacts mounted thereon
    • H01H19/11—Movable parts; Contacts mounted thereon with indexing means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick
    • H01H25/041—Operating part movable angularly in more than one plane, e.g. joystick having a generally flat operating member depressible at different locations to operate different controls
    • H01H2025/043—Operating part movable angularly in more than one plane, e.g. joystick having a generally flat operating member depressible at different locations to operate different controls the operating member being rotatable around wobbling axis for additional switching functions
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick
    • H01H2025/048—Operating part movable angularly in more than one plane, e.g. joystick having a separate central push, slide or tumbler button which is not integral with the operating part that surrounds it
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/052—Strain gauge
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2239/00—Miscellaneous
    • H01H2239/074—Actuation by finger touch
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • H01H25/06—Operating part movable both angularly and rectilinearly, the rectilinear movement being along the axis of angular movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the present invention relates to a manipulator with multimode actuation usable in numerous applications such as, for example, remote control, remote handling, piloting, or even the management of a cursor on a display associated with a processor.
  • manipulators of this kind involve a control lever which can swivel on a fixed structure and which is associated with detection means capable of supplying electrical signals representative of the orientation and, possibly, of the amplitude of the transverse displacements. lever (or even only transverse forces exerted on it).
  • the lever is also axially movable so as to be able to actuate the push button of a validation switch and to allow the operator to simultaneously perform an operating action (by exerting on the lever a transverse force) and an independent validation action (by subjecting the lever to an axial force).
  • the invention therefore more particularly aims a manipulator which combines the advantages of the solutions mentioned above without having the disadvantages, and this, so that it can be used both for cursor management or the like as for piloting and remote handling .
  • the operator can use the manipulator in a conventional manner.
  • the operator can rotate the control member about its axis of rotation, for example to perform a corresponding synchronous rotation of a controlled member.
  • this solution may make it possible to determine and display on the screen (for example by virtue of a movable axis in rotation around a point of the cursor in correspondence with the rotation of the control unit) the direction that the latter must take to arrive at a desired location.
  • the action on control means which may consist of the validation means can then cause the cursor to move in the direction thus determined; until it reaches the chosen location.
  • the manipulator 1 is intended to manage a cursor C displayed on the screen 2 of a display device associated with a processor 3.
  • This manipulator comprises a housing 4, of parallelepiped shape, the upper face 5 of which is provided with a vertical central bearing 6 in which a rotary tubular shaft 7 can pivot and slide axially.
  • This rotary shaft 7 carries, at its upper end, a rotary disc 8 which extends parallel to the upper face 5.
  • the tubular shaft 7 comprises a thinned portion 10 located substantially halfway between the upper face 5 and the disc.
  • This thinned region forms, in a way, an elastic joint similar to a ball joint, thanks to which the assembly formed by the disc 8 and the upper part of the shaft 7 can pivot around a center of rotation 0, for example under the effect of an axial pressure exerted on the periphery of the disc 8.
  • the disc 8 also comprises a coaxial central cavity 11 which communicates with the internal volume of the tubular shaft 7, and in which is slidably mounted, with spring return 12, a coaxial pusher 13 secured to a rod 14.
  • the upper face 5 of the housing 4 supports four function keys T1 to T4, in the form trapezoidal, with the small curved base, which occupy the space between the disc 8 and the lateral edges of the housing 4.
  • These function keys T1 to T4 act on respective switches 20 mounted on the upper face 5.
  • the cylindrical surface of the disc 8 is provided with a notched track 22 on which comes a ball 23 urged by a spring 24 bearing on the housing 4, so as to generate a tactile sensation during the drive in rotation of the disc 8 .
  • the upper face of the disc 8 can be covered with a tactile layer 21 capable of detecting the presence of a finger or a hand in the immediate vicinity of the disc 8, or even a touch of the latter.
  • the switches 17, 18, 20, the detector 15, the strain gauge 19, the touch surface 26 and the strain gauge device G are connected to an interface circuit 27 which ensures the shaping of the signals delivered by these elements and transmits them in an appropriate digital form to processor 3.
  • the latter is notably designed so as to determine, as a function of the information transmitted by the strain gauge device G, the intensity and the direction, in a plane radial of the boom taken by the tubular shaft 7.
  • these two operating modes can also use the keys T1 to T4, the pusher 13, the switch 18 making it possible to detect the axial displacements of the tubular shaft and the touch layer 26, the functions assigned to these different means depending on the type of application.
  • the operation according to the second mode makes it possible to execute, in a particularly original and advantageous manner, a multiplicity of functions such as in particular a displacement of the cursor towards a point to be reached, with or without visualization of the plot, the survey '' a heading and / or the distance of the cursor to a singular point, etc ...
  • the operator then rotates the disk 8, a pivot whose angular data is transmitted to the processor 3 by the detector 15 which, in turn, causes a pivot of the axis around the center 0.
  • the latter emits a signal in the direction of the processor 3 which controls movement of the cursor C along the axis ⁇ , in direction of point X to be reached.
  • the speed of movement of the cursor C can be made proportional to the force exerted on the disc 8 (each value of the force detected by the gauge 19 can correspond to a determined value of the forward speed).
  • the operator can press the push-button 13 to cause switching of the switch 18 and, consequently, the validation of the position of the cursor C.
  • This validation can be translated by taking into account the coordinates of the cursor C by the processor 3, by singling out point X on the screen and, possibly, by erasing the axis ⁇ .
  • FIG. 3 which illustrates the process previously described, shows the visualization on the screen of the cursor path from the initial position A to the point X on the axis ⁇ (the initial direction ⁇ 'of this axis ⁇ being indicated by lines interrupted).
  • the operating mode used in this example is not unique: it would be possible at first to roughly orient the axis ⁇ '' as shown in Figure 4 in broken lines, (for example using the first operating mode ) and then make one or more changes of direction to reach point X.
  • This change of direction can be carried out by turning the disk 8, with or without interruption of the movement of the cursor, that is to say with or without pressure on the disk 8.
  • cursor C can be brought to point Y in a similar way to that previously described ( Figure 5).
  • this information can be displayed on the screen once the axis linked to the cursor has has been oriented to pass through this point and this orientation has been validated.
  • command ranges arranged for example around the screen (for example as shown in dashed lines in FIG. 1), by simply orienting the axis linked to the cursor. C so that it goes through the chosen range and confirming the corresponding orientation (without necessarily having to move the cursor along the ⁇ axis).
  • the first operating mode can be used to perform a rapid but coarse orientation of the axis linked to the cursor, the second mode then serving to display this orientation.
  • the shaft 35 on which the disc 8 is carried could include a spherical portion 36 swiveling in shells of complementary shapes 37 secured to the housing or to a structure movable in translation compared to the latter.
  • the lower end of the shaft 35 is then coupled to a strain gauge 38 ensuring both the detection of the order of movement of the cursor C, the direction of the axis ⁇ linked to the cursor and the speed of movement of the cursor C.
  • the orientation of the axis linked to the cursor is not obtained by rotating the disc 8 but by pressing the disc in an oriented area (relative to the center of the disc) corresponding to the desired orientation of the axis linked to the cursor.
  • Stops 39, 40 can be provided so as to limit the tilting of the shaft 35.

Abstract

The manipulator according to the invention comprises a disc (8) mounted so as to rotate about an axis by virtue of a shaft (7) and capable of swivelling about a centre of rotation (0), with elastic return to a rest position, a detector (15, 16) serving to determine the angular position of the disc (8) relative to the axis, strain gauges (G) allowing the orientation of the disc (8) to be determined relative to the centre of rotation (0), a switch (T1) making it possible to pass from an operating mode in which the information relating to the orientation of the shaft (7) is acted upon, to an operating mode in which the information on the angular position of the disc (8) is acted upon, and a switch making it possible to validate one or the other of these information items. The invention applies particularly to remote control, to the steering or equally to the management of a cursor on a screen. <IMAGE>

Description

La présente invention concerne un manipulateur à actionnement multimode utilisable dans de nombreuses applications telles que, par exemple, la télécommande, la télémanipulation, le pilotage, ou même la gestion d'un curseur sur un afficheur associé à un processeur.The present invention relates to a manipulator with multimode actuation usable in numerous applications such as, for example, remote control, remote handling, piloting, or even the management of a cursor on a display associated with a processor.

Habituellement, les manipulateurs de ce genre font intervenir une manette de commande pouvant rotuler sur une structure fixe et qui est associée à des moyens de détection aptes à fournir des signaux électriques représentatifs de l'orientation et, éventuellement, de l'amplitude des déplacements transversaux du levier (voire même uniquement des efforts transversaux exercés sur celui-ci).Usually, manipulators of this kind involve a control lever which can swivel on a fixed structure and which is associated with detection means capable of supplying electrical signals representative of the orientation and, possibly, of the amplitude of the transverse displacements. lever (or even only transverse forces exerted on it).

Un tel manipulateur, qui utilise des jauges de contrainte en tant que moyen de détection, se trouve décrit dans le brevet FR No 2 659 789 au nom de la Demanderesse. Dans cet exemple, la manette est en outre mobile axialement de manière à pouvoir actionner le bouton-poussoir d'un interrupteur de validation et de permettre à l'opérateur de réaliser simultanément une action de manoeuvre (en exerçant sur la manette un effort transversal) et une action de validation indépendante (en soumettant la manette à un effort axial).Such a manipulator, which uses strain gauges as a detection means, is described in patent FR No. 2,659,789 in the name of the Applicant. In this example, the lever is also axially movable so as to be able to actuate the push button of a validation switch and to allow the operator to simultaneously perform an operating action (by exerting on the lever a transverse force) and an independent validation action (by subjecting the lever to an axial force).

Il s'avère que ces manipulations qui conviennent ergonomiquement à certaines fonctions de pilotage et de télémanipulation, ne se prêtent pas bien à la gestion d'un curseur sur un écran, par exemple, dans le cas d'applications telles que la conception ou le dessin assisté par ordinateur.It turns out that these manipulations, which are ergonomically suitable for certain piloting and remote handling functions, do not lend themselves well to managing a cursor on a screen, for example, in the case of applications such as design or computer Assisted drawing.

C'est la raison pour laquelle pour ce type d'applications on préfère les tablettes graphiques ou même des dispositifs tels que les "souris" ou les "trackballs".This is the reason why for this type of applications we prefer graphic tablets or even devices such as "mice" or "trackballs".

On constate qu'à l'inverse, ces moyens ne conviennent pas bien au pilotage et aux télémanipulations.It can be seen that, conversely, these means are not well suited to piloting and remote handling.

L'invention a donc plus particulièrement pour but un manipulateur qui cumule les avantages des solutions précédemment évoquées sans en présenter les inconvénients, et ce, de manière à pouvoir être utilisé aussi bien pour des gestions de curseur ou similaire que pour des pilotages et des télémanipulations.The invention therefore more particularly aims a manipulator which combines the advantages of the solutions mentioned above without having the disadvantages, and this, so that it can be used both for cursor management or the like as for piloting and remote handling .

En vue de parvenir à ces résultats, elle propose un manipulateur multimode faisant intervenir :

  • un organe de commande monté rotatif autour d'un axe de rotation par l'intermédiaire d'un arbre sensiblement coaxial,
  • des moyens d'articulation permettant audit arbre de rotuler autour d'un centre de rotation sous l'effet d'un effort exercé sur l'organe de commande avec rappel élastique en position de repos dès que cesse ledit effort,
  • des moyens permettant de détecter la position angulaire de l'organe de commande autour dudit axe,
  • des moyens permettant de détecter l'orientation de l'arbre autour dudit centre de rotation,
  • des moyens de commutation permettant le passage d'un premier mode de fonctionnement dans lequel au moins les informations relatives à l'orientation de l'arbre sont prises en compte, à un second mode de fonctionnement dans lequel au moins les informations de position angulaire sont prises en compte,
  • des moyens permettant de valider l'information de position angulaire de l'organe de commande et d'orientation de l'arbre détectées par les susdits moyens de détection.
In order to achieve these results, it offers a multimode manipulator involving:
  • a control member mounted to rotate about an axis of rotation by means of a substantially coaxial shaft,
  • articulation means allowing said shaft to pivot around a center of rotation under the effect of a force exerted on the control member with elastic return to the rest position as soon as said force ceases,
  • means making it possible to detect the angular position of the control member around said axis,
  • means making it possible to detect the orientation of the shaft around said center of rotation,
  • switching means allowing the passage from a first operating mode in which at least the information relating to the orientation of the shaft is taken into account, to a second operating mode in which at least the angular position information is taken into account,
  • means for validating the information on the angular position of the control member and the orientation of the shaft detected by the above detection means.

Il est clair que dans le premier mode de commande, l'opérateur peut utiliser le manipulateur d'une façon classique. Par contre, dans le second mode, l'opérateur peut faire tourner l'organe de commande autour de son axe de rotation, par exemple pour effectuer une rotation synchrone correspondante d'un organe commandé.It is clear that in the first control mode, the operator can use the manipulator in a conventional manner. By cons, in the second mode, the operator can rotate the control member about its axis of rotation, for example to perform a corresponding synchronous rotation of a controlled member.

Dans le cas de la gestion des déplacements d'un curseur, cette solution pourra permettre de déterminer et d'afficher à l'écran (par exemple grâce à un axe mobile en rotation autour d'un point du curseur en correspondance avec la rotation de l'organe de commande) la direction que doit emprunter ce dernier pour parvenir à un emplacement recherché. L'action sur des moyens de commande pouvant consister en les moyens de validation peut alors provoquer un déplacement du curseur dans la direction ainsi déterminée ; jusqu'à ce qu'il atteigne l'emplacement choisi.In the case of managing the movements of a cursor, this solution may make it possible to determine and display on the screen (for example by virtue of a movable axis in rotation around a point of the cursor in correspondence with the rotation of the control unit) the direction that the latter must take to arrive at a desired location. The action on control means which may consist of the validation means can then cause the cursor to move in the direction thus determined; until it reaches the chosen location.

Des modes d'exécution de l'invention seront décrits ci-après, à titre d'exemples non limitatifs, avec référence aux dessins annexés dans lesquels :

  • La figure 1 est une représentation schématique, en coupe axiale verticale d'un manipulateur selon l'invention utilisé pour la gestion d'un curseur affiché sur un écran ;
  • La figure 2 est une vue de dessus du manipulateur représenté sur la figure 1 ;
  • Les figures 3, 4 et 5 sont des représentations schématiques de l'écran qui permettent d'illustrer un mode de fonctionnement du manipulateur ;
  • La figure 6 est une vue schématique, en coupe axiale d'une variante d'exécution du manipulateur.
Embodiments of the invention will be described below, by way of nonlimiting examples, with reference to the appended drawings in which:
  • Figure 1 is a schematic representation, in vertical axial section of a manipulator according to the invention used for managing a cursor displayed on a screen;
  • Figure 2 is a top view of the manipulator shown in Figure 1;
  • Figures 3, 4 and 5 are schematic representations of the screen which illustrate an operating mode of the manipulator;
  • Figure 6 is a schematic view, in axial section of an alternative embodiment of the manipulator.

Dans l'exemple représenté sur la figure 1, le manipulateur 1 est destiné à assurer la gestion d'un curseur C affiché sur l'écran 2 d'un dispositif d'affichage associé à un processeur 3.In the example shown in FIG. 1, the manipulator 1 is intended to manage a cursor C displayed on the screen 2 of a display device associated with a processor 3.

Ce manipulateur comprend un boîtier 4, de forme parallélépipédique dont la face supérieure 5 est munie d'un palier central vertical 6 dans lequel peut pivoter et coulisser axialement un arbre rotatif tubulaire 7.This manipulator comprises a housing 4, of parallelepiped shape, the upper face 5 of which is provided with a vertical central bearing 6 in which a rotary tubular shaft 7 can pivot and slide axially.

Cet arbre rotatif 7 porte, à son extrémité supérieure, un disque rotatif 8 qui s'étend parallèlement à la face supérieure 5.This rotary shaft 7 carries, at its upper end, a rotary disc 8 which extends parallel to the upper face 5.

Le maintien en position axiale de l'ensemble arbre 7-disque 8 est assuré par un ressort de compression 9 disposé coaxialement entre la face supérieure 5 et le disque 8.Maintaining the shaft 7-disc 8 in axial position is ensured by a compression spring 9 arranged coaxially between the upper face 5 and the disc 8.

L'arbre tubulaire 7 comprend une portion amincie 10 située sensiblement à mi-distance entre la face supérieure 5 et le disque. Cette région amincie forme, en quelque sorte, une articulation élastique similaire à une rotule, grâce à laquelle l'ensemble formé par le disque 8 et la partie supérieure de l'arbre 7 peut rotuler autour d'un centre de rotation 0, par exemple sous l'effet d'une pression axiale exercée à la périphérie du disque 8.The tubular shaft 7 comprises a thinned portion 10 located substantially halfway between the upper face 5 and the disc. This thinned region forms, in a way, an elastic joint similar to a ball joint, thanks to which the assembly formed by the disc 8 and the upper part of the shaft 7 can pivot around a center of rotation 0, for example under the effect of an axial pressure exerted on the periphery of the disc 8.

Le disque 8 comprend, par ailleurs, une cavité centrale coaxiale 11 qui communique avec le volume intérieur de l'arbre tubulaire 7, et dans laquelle est monté coulissant, avec rappel par ressort 12, un poussoir coaxial 13 solidaire d'une tige 14.The disc 8 also comprises a coaxial central cavity 11 which communicates with the internal volume of the tubular shaft 7, and in which is slidably mounted, with spring return 12, a coaxial pusher 13 secured to a rod 14.

Par ailleurs, le boîtier 4 renferme :

  • un détecteur 15 disposé en regard d'une roue codeuse 16 portée par l'arbre tubulaire 7, coaxialement à celui-ci,
  • un micro-interrupteur 17 disposé sous l'arbre tubulaire 7 de manière à être actionné par celui-ci lorsqu'à la suite d'une pression exercée sur le disque 8 l'arbre 7 se déplace vers le bas contre l'action du ressort 9, au-delà d'une course prédéterminée,
  • un micro-interrupteur 18 disposé sous l'extrémité de la tige 14 qui ressort de l'extrémité inférieure de l'arbre tubulaire 7, de manière à être actionné à la suite d'une pression exercée sur le poussoir 13,
  • une jauge de contrainte optionnelle 19, placée en parallèle ou en remplacement de l'interrupteur 17, de manière à obtenir un signal proportionnel à la force exercée sur le disque 8, et
  • un dispositif à jauges de contrainte G monté sur l'arbre au niveau de la portion amincie de manière à pouvoir déterminer l'orientation de la flexion de l'arbre ; ce dispositif pourra avantageusement comprendre quatre jauges de contrainte régulièrement espacées autour de l'arbre de manière à ce qu'une flexion de ce dernier provoque une extension ou une compression des jauges de contrainte.
Furthermore, the housing 4 contains:
  • a detector 15 disposed opposite a coding wheel 16 carried by the tubular shaft 7, coaxial with the latter,
  • a microswitch 17 placed under the tubular shaft 7 so as to be actuated by the latter when, following a pressure exerted on the disc 8, the shaft 7 moves down against the action of the spring 9, beyond a predetermined stroke,
  • a microswitch 18 disposed under the end of the rod 14 which projects from the lower end of the tubular shaft 7, so as to be actuated following a pressure exerted on the pusher 13,
  • an optional strain gauge 19, placed in parallel or in replacement of the switch 17, so as to obtain a signal proportional to the force exerted on the disc 8, and
  • a strain gauge device G mounted on the shaft at the thinned portion so as to be able to determine the orientation of the bending of the shaft; this device may advantageously include four strain gauges regularly spaced around the shaft so that a bending of the latter causes an extension or a compression of the strain gauges.

Dans cet exemple, la face supérieure 5 du boîtier 4 supporte quatre touches de fonction T₁ à T₄, de forme trapézoïdale, avec la petite base incurvée, qui occupent l'espace compris entre le disque 8 et les bords latéraux du boîtier 4. Ces touches de fonction T₁ à T₄ agissent sur des interrupteurs respectifs 20 montés sur la face supérieure 5.In this example, the upper face 5 of the housing 4 supports four function keys T₁ to T₄, in the form trapezoidal, with the small curved base, which occupy the space between the disc 8 and the lateral edges of the housing 4. These function keys T₁ to T₄ act on respective switches 20 mounted on the upper face 5.

La surface cylindrique du disque 8 est munie d'une piste crantée 22 sur laquelle vient porter une bille 23 sollicitée par un ressort 24 en appui sur le boîtier 4, de manière à engendrer une sensation tactile lors de l'entraînement en rotation du disque 8.The cylindrical surface of the disc 8 is provided with a notched track 22 on which comes a ball 23 urged by a spring 24 bearing on the housing 4, so as to generate a tactile sensation during the drive in rotation of the disc 8 .

La face supérieure du disque 8 peut être recouverte d'une couche tactile 21 apte à déceler la présence d'un doigt ou d'une main à proximité immédiate du disque 8, voire même un effleurement de ce dernier.The upper face of the disc 8 can be covered with a tactile layer 21 capable of detecting the presence of a finger or a hand in the immediate vicinity of the disc 8, or even a touch of the latter.

Les interrupteurs 17, 18, 20, le détecteur 15, la jauge de contrainte 19, la surface tactile 26 et le dispositif à jauges de contrainte G, sont connectés à un circuit d'interface 27 qui assure une mise en forme des signaux délivrés par ces éléments et les transmet sous une forme numérique appropriée, au processeur 3. Celui-ci est notamment conçu de manière à déterminer, en fonction des informations transmises par le dispositif à jauges de contrainte G, l'intensité et la direction, dans un plan radial de la flèche prise par l'arbre tubulaire 7.The switches 17, 18, 20, the detector 15, the strain gauge 19, the touch surface 26 and the strain gauge device G, are connected to an interface circuit 27 which ensures the shaping of the signals delivered by these elements and transmits them in an appropriate digital form to processor 3. The latter is notably designed so as to determine, as a function of the information transmitted by the strain gauge device G, the intensity and the direction, in a plane radial of the boom taken by the tubular shaft 7.

Tel que précédemment décrit, le manipulateur 1 présente deux modes principaux de fonctionnement sélectables, par exemple grâce à la touche T₁, à savoir :

  • un premier mode de fonctionnement qui correspond à celui d'un manipulateur classique et qui fait intervenir le dispositif à jauges de contrainte G pour définir la position et l'intensité d'un effort exercé sur le disque 8, et
  • un deuxième mode de fonctionnement qui fait intervenir le détecteur 15 associé à la roue codeuse 16 pour fournir au processeur une information relative à la position angulaire.
As previously described, the manipulator 1 has two main selectable operating modes, for example by means of the T₁ key, namely:
  • a first operating mode which corresponds to that of a conventional manipulator and which involves the device with strain gauges G to define the position and the intensity of a force exerted on the disc 8, and
  • a second operating mode which involves the detector 15 associated with the coding wheel 16 to supply the processor with information relating to the angular position.

Bien entendu, ces deux modes de fonctionnement peuvent en outre utiliser les touches T₁ à T₄, le poussoir 13, l'interrupteur 18 permettant de détecter les déplacements axiaux de l'arbre tubulaire et la couche tactile 26, les fonctions affectées à ces différents moyens dépendant du type d'application.Of course, these two operating modes can also use the keys T₁ to T₄, the pusher 13, the switch 18 making it possible to detect the axial displacements of the tubular shaft and the touch layer 26, the functions assigned to these different means depending on the type of application.

Le fonctionnement du manipulateur selon le premier mode est classique et ne sera donc pas décrit plus en détail.The operation of the manipulator according to the first mode is conventional and will therefore not be described in more detail.

Par contre, le fonctionnement selon le second mode permet d'exécuter, d'une façon particulièrement originale et avantageuse, une multiplicité de fonctions telles que notamment un déplacement du curseur vers un point à atteindre, avec ou sans visualisation du tracé, le relevé d'un cap et/ou de la distance du curseur à un point singulier, etc...On the other hand, the operation according to the second mode makes it possible to execute, in a particularly original and advantageous manner, a multiplicity of functions such as in particular a displacement of the cursor towards a point to be reached, with or without visualization of the plot, the survey '' a heading and / or the distance of the cursor to a singular point, etc ...

Lorsque l'opérateur désire déplacer le curseur du point A où il se trouve, vers un point X, il sélecte tout d'abord le mode de fonctionnement correspondant en exerçant une pression sur la touche T₁ puis il pose ses doigts sur le disque 8. La couche tactile 26 détecte la présence des doigts et en informe le processeur 3 qui procède alors à l'affichage d'un axe Δ' (en traits interrompus) passant par le centre du curseur C et présentant la dernière orientation donnée à ce dernier.When the operator wishes to move the cursor from point A where it is located, to point X, he first selects the corresponding operating mode by pressing the T₁ key and then places his fingers on disk 8. The touchscreen layer 26 detects the presence of the fingers and informs the processor 3 which then proceeds to display an axis Δ '(in dashed lines) passing through the center of the cursor C and having the last orientation given to the latter.

L'opérateur fait alors pivoter le disque 8, pivotement dont les données angulaires sont transmises au processeur 3 par le détecteur 15 qui, à son tour, provoque un pivotement de l'axe autour du centre 0.The operator then rotates the disk 8, a pivot whose angular data is transmitted to the processor 3 by the detector 15 which, in turn, causes a pivot of the axis around the center 0.

Bien entendu, l'opérateur poursuit son pivotement jusqu'à ce que l'axe Δ passe par le point à atteindre X.Of course, the operator continues to pivot until the axis Δ passes through the point to reach X.

L'opérateur exerce alors un appui sur le disque 8 de manière à provoquer une commutation de l'interrupteur 17. Celui-ci émet un signal en direction du processeur 3 qui commande un déplacement du curseur C le long de l'axe Δ, en direction du point X à atteindre.The operator then presses on the disk 8 so as to cause the switch 17 to switch. The latter emits a signal in the direction of the processor 3 which controls movement of the cursor C along the axis Δ, in direction of point X to be reached.

Dans le cas où l'on utilise la jauge de contrainte 19, la vitesse de déplacement du curseur C peut être rendue proportionnelle à l'effort exercé sur le disque 8 (à chaque valeur de l'effort détecté par la jauge 19 peut correspondre une valeur déterminée de la vitesse d'avance).In the case where the strain gauge 19 is used, the speed of movement of the cursor C can be made proportional to the force exerted on the disc 8 (each value of the force detected by the gauge 19 can correspond to a determined value of the forward speed).

Une fois que le curseur C a atteint le point X recherché, l'opérateur peut appuyer sur le poussoir 13 pour provoquer une commutation de l'interrupteur 18 et, en conséquence, la validation de la position du curseur C. Cette validation peut se traduire par une prise en compte des coordonnées du curseur C par le processeur 3, par une singularisation du point X à l'écran et, éventuellement, par l'effacement de l'axe Δ.Once the cursor C has reached the desired point X, the operator can press the push-button 13 to cause switching of the switch 18 and, consequently, the validation of the position of the cursor C. This validation can be translated by taking into account the coordinates of the cursor C by the processor 3, by singling out point X on the screen and, possibly, by erasing the axis Δ.

Bien entendu, en sélectionnant un mode graphique, par exemple par une action sur une touche 20, il est possible de visualiser, d'une façon persistante, les déplacements du curseur C. Dans ce cas, ce tracé se maintiendra à la suite de l'effacement de l'axe Δ.Of course, by selecting a graphic mode, for example by pressing a key 20, it is possible to display, in a persistent manner, the movements of the cursor C. In this case, this trace will be maintained following the 'deletion of the axis Δ.

La figure 3, qui illustre le processus précédemment décrit, montre la visualisation à l'écran du trajet du curseur de la position initiale A vers le point X sur l'axe Δ (la direction initiale Δ' de cet axe Δ étant indiquée en traits interrompus).FIG. 3, which illustrates the process previously described, shows the visualization on the screen of the cursor path from the initial position A to the point X on the axis Δ (the initial direction Δ 'of this axis Δ being indicated by lines interrupted).

Toutefois, le mode opératoire utilisé dans cet exemple n'est pas unique : il serait possible dans un premier temps d'orienter grossièrement l'axe Δ'' comme représenté figure 4 en traits interrompus, (par exemple en utilisant le premier mode de fonctionnement) puis de procéder ensuite à un ou plusieurs changements de direction pour atteindre le point X.However, the operating mode used in this example is not unique: it would be possible at first to roughly orient the axis Δ '' as shown in Figure 4 in broken lines, (for example using the first operating mode ) and then make one or more changes of direction to reach point X.

Ce changement de direction peut être effectué en tournant le disque 8, avec ou sans interruption du déplacement du curseur, c'est-à-dire avec ou sans pression sur le disque 8.This change of direction can be carried out by turning the disk 8, with or without interruption of the movement of the cursor, that is to say with or without pressure on the disk 8.

Il apparaît clairement qu'en combinant la pression et la rotation du disque 8, il est possible d'obtenir des trajets du curseur de forme courbe, voire même circulaire.It clearly appears that by combining the pressure and the rotation of the disc 8, it is possible to obtain paths of the cursor of curved shape, or even circular.

A partir du point X, le curseur C peut être amené à un point Y d'une façon analogue à celle précédemment décrite (figure 5).From point X, cursor C can be brought to point Y in a similar way to that previously described (Figure 5).

En raison de ses particularités, le manipulateur précédemment décrit offre de nombreuses possibilités.Because of its particularities, the manipulator previously described offers many possibilities.

Il permet, par exemple, de définir le cap que doit suivre le curseur pour parvenir au point recherché ainsi que la distance séparant le curseur de ce point, ces informations pouvant être affichées à l'écran une fois que l'axe lié au curseur a été orienté de manière à passer par ce point et que cette orientation a été validée.It allows, for example, to define the course that the cursor must follow to reach the point sought as well as the distance separating the cursor from this point, this information can be displayed on the screen once the axis linked to the cursor has has been oriented to pass through this point and this orientation has been validated.

Il permet d'effectuer des sélections rapides de plages de commande, disposées par exemple autour de l'écran (par exemple de la façon indiquée en traits interrompus sur la figure 1), en procédant simplement à une orientation de l'axe lié au curseur C de manière à ce qu'il passe par la plage choisie et en validant l'orientation correspondante (sans devoir nécessairement déplacer le curseur le long de l'axe Δ).It allows quick selections of command ranges, arranged for example around the screen (for example as shown in dashed lines in FIG. 1), by simply orienting the axis linked to the cursor. C so that it goes through the chosen range and confirming the corresponding orientation (without necessarily having to move the cursor along the Δ axis).

Par ailleurs, les deux modes de fonctionnement précédemment décrits peuvent être combinés dans certaines applications et, en particulier, pour la gestion d'un curseur.Furthermore, the two operating modes described above can be combined in certain applications and, in particular, for managing a cursor.

Dans ce cas, le premier mode de fonctionnement pourra être utilisé pour effectuer une orientation rapide mais grossière de l'axe lié au curseur, le second mode servant ensuite à afficher cette orientation.In this case, the first operating mode can be used to perform a rapid but coarse orientation of the axis linked to the cursor, the second mode then serving to display this orientation.

Bien entendu, l'invention ne se limite pas au mode d'exécution précédemment décrit.Of course, the invention is not limited to the embodiment described above.

Ainsi, selon le mode d'exécution illustré sur la figure 6, l'arbre 35 sur lequel est porté le disque 8 pourrait comprendre une portion sphérique 36 rotulant dans des coquilles de formes complémentaires 37 solidaires du boîtier ou d'une structure mobile en translation par rapport à ce dernier. L'extrémité inférieure de l'arbre 35 est alors accouplée à une jauge de contrainte 38 assurant à la fois la détection de l'ordre de déplacement du curseur C, la direction de l'axe Δ lié au curseur et la vitesse de déplacement du curseur C. Dans ce cas, l'orientation de l'axe lié au curseur n'est pas obtenue par une rotation du disque 8 mais par un appui sur le disque dans une zone orientée (par rapport au centre du disque) en correspondance avec l'orientation souhaitée de l'axe lié au curseur.Thus, according to the embodiment illustrated in Figure 6, the shaft 35 on which the disc 8 is carried could include a spherical portion 36 swiveling in shells of complementary shapes 37 secured to the housing or to a structure movable in translation compared to the latter. The lower end of the shaft 35 is then coupled to a strain gauge 38 ensuring both the detection of the order of movement of the cursor C, the direction of the axis Δ linked to the cursor and the speed of movement of the cursor C. In this case, the orientation of the axis linked to the cursor is not obtained by rotating the disc 8 but by pressing the disc in an oriented area (relative to the center of the disc) corresponding to the desired orientation of the axis linked to the cursor.

Des butées 39, 40 peuvent être prévues de manière à limiter le basculement de l'arbre 35.Stops 39, 40 can be provided so as to limit the tilting of the shaft 35.

Claims (10)

Manipulateur à plusieurs modes d'actionnement utilisable notamment à la gestion d'un curseur (C) sur un afficheur (2) associé à un processeur (3), caractérisé en ce qu'il comprend : - un organe de commande (8) monté rotatif autour d'un axe de rotation, par l'intermédiaire d'un arbre (7) sensiblement coaxial, - des moyens d'articulation (10) permettant audit arbre (7) de rotuler autour d'un centre de rotation (0) sous l'effet d'un effort exercé sur l'organe de commande (8) avec rappel élastique en position de repos dès que cesse ledit effort, - des moyens (15, 16) permettant de détecter la position angulaire de l'organe de commande (8) autour dudit axe (7), - des moyens (G) permettant de détecter l'orientation de l'arbre (7) autour dudit centre de rotation (0), - des moyens de commutation (T₁) permettant le passage d'un premier mode de fonctionnement dans lequel au moins les informations relatives à l'orientation de l'arbre (7) sont prises en compte, à un second mode de fonctionnement dans lequel seules les informations de position angulaire de l'organe de commande (8) sont prises en compte, - des moyens permettant de valider l'information de position angulaire de l'organe de commande (8) et d'orientation de l'arbre (7) détectées par lesdits moyens de détection (G, 15, 16). Manipulator with several actuation modes usable in particular for managing a cursor (C) on a display (2) associated with a processor (3), characterized in that it comprises: a control member (8) rotatably mounted about an axis of rotation, by means of a substantially coaxial shaft (7), - articulation means (10) allowing said shaft (7) to pivot around a center of rotation (0) under the effect of a force exerted on the control member (8) with elastic return in position rest as soon as said effort ceases, - means (15, 16) for detecting the angular position of the control member (8) around said axis (7), - means (G) for detecting the orientation of the shaft (7) around said center of rotation (0), - switching means (T₁) allowing the passage from a first operating mode in which at least the information relating to the orientation of the shaft (7) is taken into account, to a second operating mode in which only the angular position information of the control member (8) is taken into account, - Means for validating the information on the angular position of the control member (8) and the orientation of the shaft (7) detected by said detection means (G, 15, 16). Manipulateur selon la revendication 1,
caractérisé en ce que les susdits moyens d'articulation consistent en une portion flexible (10) de l'arbre (7), et en ce que, dans ce cas, les moyens permettant de détecter l'orientation de l'arbre consistent en un dispositif à jauges de contrainte (G) disposées au niveau de ladite portion (10).Manipulator according to claim 1,
characterized in that the above articulation means consist of a flexible portion (10) of the shaft (7), and in that, in this case, the means making it possible to detect the orientation of the shaft consist of a device with strain gauges (G) arranged at said portion (10). Manipulateur selon la revendication 1,
caractérisé en ce que les susdits moyens d'articulation consistent en une liaison à rotule (36, 37) prévue entre une structure support fixe ou mobile en translation et une région centrale de l'arbre (35), et en ce que, dans ce cas, les moyens permettant de détecter l'orientation de l'arbre consistent en un dispositif à jauges de contrainte (38) couplé à l'extrémité de l'arbre (35) opposée à l'organe de commande (8).Manipulator according to claim 1,
characterized in that the above articulation means consist of a ball joint (36, 37) provided between a fixed or mobile support structure in translation and a central region of the shaft (35), and in that, in this In this case, the means making it possible to detect the orientation of the shaft consist of a strain gauge device (38) coupled to the end of the shaft (35) opposite the control member (8). Manipulateur selon l'une des revendications 1 et 2,
caractérisé en ce que le susdit arbre (7) est axialement mobile contre l'action de moyens élastiques (9), et en ce qu'il comprend un interrupteur (17) et/ou une jauge de contrainte (19) sensible aux déplacements axiaux du susdit arbre (7).Manipulator according to one of claims 1 and 2,
characterized in that the aforesaid shaft (7) is axially movable against the action of elastic means (9), and in that it comprises a switch (17) and / or a strain gauge (19) sensitive to axial displacements from the above tree (7). Manipulateur selon l'une des revendications précédentes,
caractérisé en ce que les moyens permettant de détecter la position angulaire de l'organe de commande (8) consistent en une roue codeuse (16) portée par le susdit arbre (7) et associée à un détecteur (15).Manipulator according to one of the preceding claims,
characterized in that the means making it possible to detect the angular position of the control member (8) consist of a coding wheel (16) carried by the above-mentioned shaft (7) and associated with a detector (15). Manipulateur selon l'une des revendications précédentes,
caractérisé en ce que le susdit arbre (7) est tubulaire, et en ce que les moyens de validation comprennent un poussoir (13) monté coulissant avec rappel par ressort dans une cavité centrale (11) coaxiale de l'organe de commande (8) et qui coopère avec un interrupteur (18).Manipulator according to one of the preceding claims,
characterized in that the aforesaid shaft (7) is tubular, and in that the validation means comprise a pusher (13) slidingly mounted with spring return in a central cavity (11) coaxial with the control member (8) and which cooperates with a switch (18). Manipulateur selon l'une des revendications précédentes,
caractérisé en ce qu'il comprend une pluralité de touches (T₁ à T₄) disposées autour de l'organe de commande (8).Manipulator according to one of the preceding claims,
characterized in that it comprises a plurality of keys (T₁ to T₄) arranged around the control member (8). Manipulateur selon l'une des revendications précédentes,
caractérisé en ce que le susdit organe de commande est revêtu d'une couche tactile (26) apte à détecter la présence et/ou le contact d'un doigt de l'opérateur.Manipulator according to one of the preceding claims,
characterized in that the above control member is coated with a tactile layer (26) capable of detecting the presence and / or contact of a finger of the operator. Manipulateur selon l'une des revendications précédentes,
caractérisé en ce que les susdits moyens de communication (T₁ à T₄) permettent de passer à un troisième mode de fonctionnement prenant en compte à la fois les informations relatives à la position angulaire de l'organe de commande (8) et les informations relatives à l'orientation de l'arbre (7).Manipulator according to one of the preceding claims,
characterized in that the aforesaid means of communication (T₄ to T₄) make it possible to switch to a third operating mode taking into account both the information relating to the angular position of the control member (8) and the information relating to the orientation of the tree (7). Manipulateur selon l'une des revendications précédentes,
caractérisé en ce que la rotation de l'organe de commande (8) et/ou le pivotement de l'arbre (7) commandent l'orientation du susdit curseur, le déplacement de celui-ci dans la direction choisie étant ensuite obtenu par une action sur des moyens de commutation.Manipulator according to one of the preceding claims,
characterized in that the rotation of the control member (8) and / or the pivoting of the shaft (7) control the orientation of the above-mentioned cursor, the displacement of the latter in the chosen direction then being obtained by a action on switching means.
EP94401181A 1993-07-23 1994-05-27 Joystick Expired - Lifetime EP0635858B1 (en)

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FR9309205A FR2707911B1 (en) 1993-07-23 1993-07-23 Manipulator with multimode actuation.
FR9309205 1993-07-23

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Publication number Publication date
DE69401470D1 (en) 1997-02-27
DE69401470T2 (en) 1997-05-22
US5543592A (en) 1996-08-06
FR2707911B1 (en) 1995-09-22
EP0635858B1 (en) 1997-01-15
FR2707911A1 (en) 1995-01-27

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