• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    The invention relates to a method for manually controlled influencing movements of an electronically controlled machine (2) or system (1). In the course of the manual operation, a proportional or quasi-analogue controlling input means (9, 9 ') is used, which input means (9) as an at least one-dimensional resolution, touch-sensitive position detection sensor (10), in particular in the manner of a touchpad (11) or touch screen (12, 12 ') is executed. The touch-sensitive position detection sensor (10) is used for the continuous detection of a sweeping actuation movement or of at least one individual actuation position within an electronically evaluable actuation surface (13) of the touch-sensitive position detection sensor (10). By incorporating the touch-sensitive position detection sensor (10), a temporal sequence of default or position values with respect to its actuating surface (13) is determined and converted into a corresponding chronological sequence of desired values for the drive control (16). In addition, a corresponding machine control is specified.
    公开号:AT511488A2
    申请号:T695/2011
    申请日:2011-05-16
    公开日:2012-12-15
    发明作者:Michael Dipl Ing Petruzelka；Wolfgang Dipl Ing Windhager
    申请人:Keba Ag；
    IPC主号:
    专利说明:

    -1 - ·* * * • ·
    The invention relates to a method for manually controlled influencing of movements of an electronically controlled machine or system as well as a correspondingly abgeiklete machine control for implementing the method according to the invention, as indicated in the claims 1 and 17.
    From the field of control technology or the control engineering automation of equipment, machinery or technical processes, it is known to provide electronic control devices that form a so-called human-machine interface (HMI) to a visualization of process data and influencing the control processes by the To allow operator. For this purpose, such control devices comprise stationary operating panels and / or portable devices which form such a man-machine interface, as disclosed, for example, in WO 03/001393 A2, which is based on the Applicant. In this prior art embodiment, it has been proposed to implement a combined input and output device in the form of a touch screen, wherein visualization and monitoring of process-relevant parameters and a change of control processes by means of software based input masks is made possible by means of this touch screen. For manually controlled influencing of movements of an electronically controlled machine or system while a joystick is provided which represents an analog-controlling or quasi-analog input means and a proportional control, in particular allows a speed-controlled control of drives or machine axes. Such analog input means in the form of a joystick have proven themselves many times in practice, but due to the required reliability and the high demands in industrial environment, in particular with regard to sealing, N2011 / 09700 -2-
    A further disadvantage of such special input means, such as just a joystick or an equally widespread, but only one-dimensional acting jog wheel, is the Piatzbedarf for the Installation, which weighs particularly heavy in mobile or portable operator panels. In operating environments with special requirements for cleanliness and hygiene, the angles, gaps and elevations in the use of such input means represent a further disadvantage. In many cases, such analog or incremental input means are actually only relatively rarely actuated, such as the occasional manual setup of otherwise fully automatic machines.
    From the state of the art, it is also generally known to move machine axes by means of push-button or similar-acting input elements, such as membrane keys or corresponding fields on touch screens, in which case, however, usually only the direction of movement of the machine axis is directly predetermined by the operator , while the traversing speed is set independent of actuation and the target position of the axis movement is adjustable only over the duration of the actuation. Variable speed specifications, for example once for a fast, longer traversing movement and once again for a short, precise positioning, can not be made or only by means of additional input means.
    The present invention has for its object to provide a method for manually controlled influencing movements of an electronically controlled system or machine, which offers the most intuitive operation and at the same time allows a robust, compact and cost-effective implementation. Another object of the invention is to provide a corresponding machine control.
    The corresponding objects of the invention are achieved by the measures according to claim 1 and independently by the measures according to claim 17. N2011 / 09700 -3-
    An advantage of the inventive measures is that a touch-sensitive position detection sensor, in particular in the manner of a touchpad or touch screen, is used to accomplish a quasi-analog control of drives of a machine or system. The corresponding position detection sensor is thus not merely designed as a switch or pushbutton element with on and off function, but implemented as a quasi-analog control input means. That is, the touch-sensitive position detection sensor enables proportional control of drives or machine axes. In particular, a control of corresponding drives or machine axes, which is proportional to the operation or actuation of the touch-sensitive position detection sensor, is made possible. In particular, in a simple and reliable manner, a somewhat metered control of machine axes, for example a speed-proportional, acceleration-variable and / or position-proportional control of drives in relation to the operation or actuation of the touch-sensitive position detection sensor can be implemented. A particular advantage of the measures according to the invention lies in the fact that a particularly robust or functionally reliable design can be created since no moving parts are required. In particular, the mechanical structure of the stationary or portable control panel can be made particularly compact and also relatively simple or functionally reliable. Among other things, therefore, the implementation of a touch-sensitive position detection sensor ensures a high functional reliability or reliability, since the risk of damage thereof, for example due to relatively harsh industrial environmental conditions or due to the portability or mobility of the device for machine operation, is low. In particular, the probability or the danger of damage or of safety-critical functional errors of the touch-sensitive position detection sensor is minimal. Another advantage is that such machine controls or, control devices can be constructed particularly compact and lightweight, since the quasi-analog input means has a small footprint and requires no special mechanical protection measures. In addition, the im- N2011 / 09700 -4- ·· ·· * ». · Implementation of at least one touch-sensitive position detection sensor for influencing movements or drives of an electronically controlled machine or system can be implemented relatively inexpensively. In addition, under certain circumstances desired adaptations of the control concept or of the operating concept are made possible in a simple manner by software-technical adaptations or revisions of the control device. Another effect of the measures according to the invention lies in the fact that a direct or direct, ie. a synchronously coupled operation of machine axes or drives by means of a touch-sensitive position detection sensor, in particular by means of a touchpad or touch screen is made possible. According to the operating actions of the operator within the evaluation or signal chain of the control device, a sequence of desired values for the drive or whose converter circuit generates which setpoint values as direct input variables or control values for the drive or its converter, in particular for a Drive control can act.
    Another advantage is the further development measures according to claim 2, as a jitter or Ruckein the machine or the machine axis and an unwanted adjustment can be avoided or kept behind. In particular, the sensor or raw data of the touch input means are usually associated with a certain level of noise or jitter, which signal disturbances are not directly reflected in the generated setpoint values for the drive control by the specified measures. In particular, as a result of this, signal blurring or blurring with respect to the operator action are largely eliminated or best damped or filtered, wherein the specified smoothing is preferably carried out by mathematical methods, such as by a polynomial approximation. This ensures reliable signal conditioning and a setpoint generation that is practicable for machine operation or drive control.
    Of particular use are also the measures according to one or more of claims 3 to 5, as this results in the evaluation routine for the determination of N2011 / 09700 -5-
    Detection results or the query routine for the determination of position data of the touch-sensitive position detection sensor can be embedded in an operating system level, in which run various other processes, in particular with respect to a graphical user interface. The touch-sensitive position detection sensor, in particular its evaluation device or evaluation circuit can thus be integrated into operating systems which do not have to meet strict or temporally rigid real-time requirements or do not run in a guaranteed and rigid time grid. It is thus possible that the query of the current touch or touch positions on the touch-sensitive position detection sensor takes place in tolerable irregular intervals or it is acceptable if the corresponding operating system can not guarantee a strictly periodic query of the touch-sensitive position detection sensor.
    According to a suitable measure is provided, the contact or. To record activation points or corresponding coordinate data together with the respective detection time, in particular store in a buffer and to determine a temporal course, which can be done for example by a polynomial interpolation or by a polynomial approximation. In principle, however, a variety of filter techniques or filter characteristics as well as additional plausibility check methods for correcting, eliminating and smoothing faulty or faulty detection values can be used. Based on this, the setpoint values are then determined which match the rigid time grid for the drive control. In particular, by interpolation or by extrapolation, the time-varying time frame with respect to the interrogation of position or touch data can be converted into a strictly periodic time frame, after a machine control typically has a digital sampling system or an operating system which follows a strictly periodic time grid is working. In particular, temporally varying scanning systems for the touch-sensitive position detection sensor for a strictly periodic time grid of the drive control of machine axes or machine drives are compatible or coupled. This achieves a viable combination of a touch-sensitive position sensing sensor with a control device for influencing machine axes or machine movements in terms of the existing hardware N2011 / 09700 -6 and software resources.
    The measures according to claim 6 is based on the advantage that the query of the touch-sensitive position detection sensor, especially if it is designed in the form of a touch screen, can still run in an operating system level that is not reliably real-time capable and in which it is in special situations could lead to longer interruptions in the queries. In order to remedy this problem of the lack of real-time capability or the lack of continuity of detection or to discourage possibly resulting, possibly critical states, it is advantageously determined in another real-time operating system level in which, for example, the setpoint values for the drives are also determined be monitored, monitors the time since the last performed query the touch-sensitive position detection sensor and aborted in the absence of queries or query results, a current movement of the machine or machine axis. This movement abort can be initiated or implemented by the higher-level control device and / or by the drive control. Under certain circumstances safety-critical conditions can thus be automatically excluded in a reliable manner.
    The measures according to claim 7, a proportional control is ensured, as is also possible with an electromechanical, quasi-analog control joystick. In particular, this achieves a particularly intuitive and fail-safe operation or adjustment of machines or machine axes.
    Also advantageous are the measures according to claim 8, as this allows a quick and easy repositioning of machine axes, starting from any intermediate or initial positions. In addition, this allows in a simple manner, a change in the direction of movement over only a touch-sensitive position detection sensor. For such an operation is very intuitive and error-free executable. In particular, thereby the setpoint changes are proportional to the covered actuation path. This allows a relative movement of the machine axis, starting from a current starting point by a certain distance, which corresponds to the traveled actuating travel or with the length of the contact path when sweeping over the touch-sensitive position detection sensor. In particular, starting from an arbitrarily positioned first contact point or contact point relative to the position detection sensor, a corresponding adjustment movement can be initiated by a proportional amount or value.
    By means of the advantageous measures according to claim 9, it is ensured that only the component of an input movement in a certain direction has an influence on the generated target values. Movement components transverse to this predetermined direction or axis remain without influence. Thus, the position data of a two-dimensional resolving position detection sensor, for example, from a high-resolution touch screen of a graphical user interface, returned to a one-dimensional and unique position information corresponding to an analog slider for further generation of the setpoints of a machine axis. As a result, the operability or the handling for an operator is significantly improved or simplified.
    Due to the advantageous measures according to claim 10, the problem is solved that an operator basically can swipe as quickly as possible over the touch-sensitive position detection sensor, a drive or a machine axis but not arbitrarily fast this predetermined movement or these specifications can follow or may. In addition, especially when manually positioning a machine axis, for example, to protect the machine, tools or workpieces, or sometimes even the operator himself, the maximum permissible speed over the pure automatic mode, i. is limited compared to the fully automatic operating mode. That is, the speed limit of the machine axis is not necessarily given by an electromechanical performance limitation, but also by the manual operation mode. Another advantage of this measure is that the risk of damage to the machine or the risk of damage to property or persons is minimized.
    Also advantageous are the measures according to claim 11, since a maximum speed value is thereby made dependent on the axial position of the machine. In particular, in this way, for example, in the vicinity of the end positions of an axle, the maximum speed can be reduced in an automated manner in a timely manner. In addition, depending on a projection or projection of a forces or moments receiving element, in particular a moving arm, a reduction or adjustment of the travel speed can be made in order to achieve the most gentle and accurate positioning of the respective machine axis.
    Also advantageous are the measures according to claim 12, as a result of monitoring the discrepancy or deviation between the actually unlimited in its extent movement change according to the input of the operator and the actually achieved movement or running state of the machine or system according to applied or predetermined limitations , If the deviations exceed a certain extent or the lower and / or upper limit value, a warning is issued to the operator or the traversing movement is automatically aborted. This ensures that the discrepancy between operating action and movement or process change is not too great and thus it can not lead to confusion of the operator and resulting operator error due to inappropriate compensation reactions of the operator. In particular, an improved, that is a particularly fail-safe and always intentional operation of machines or systems is achieved.
    Of particular advantage are the measures according to claim 13, since the risk of unwanted operating actions is greatly reduced. In particular, in the case of a capacitively evaluating position detection sensor, the risk of unwanted operating actions due to the substantially powerless or in extreme cases even contactless triggering of input or position information is thereby reliably eliminated. Among other things, the stated, deliberately made activation minimizes the risk of property damage or personal injury. In particular, a subsequent setting or movement movement can be initiated only by deliberate activation as a result of correspondingly conscious operation of the touch-sensitive position detection sensor.
    Of particular advantage are also the measures according to claim 14, since thereby a kind of "breakaway effect" is implemented. In this case, the machine axis moves only when the input member, in particular a finger of the operator, actually and deliberately moved a certain distance. This addresses the problem occurring in practice that is usually directed by the user when visiting the position detection sensor, which is designed, for example, on an operating panel, the view of the control panel, then the input member, in particular the finger, on the position detection sensor is laid and not merely hovering over it. Only then is the view of the machine or the machine axis directed and initiated the desired movement or positioning movement without further view of the position detection sensor. It would be uncomfortable for the operator or little satisfactory if the machine axis would quasi quasi start to shake or would already move slightly at the mere touch of the position detection sensor, which would necessarily occur due to a certain noise signal or a jitter in the position detection on the position detection sensor. In addition, it would be difficult or less ergonomic for the operator if the finger after finding the position detection sensor would first have to be kept floating above it until the movement can then actually be started. The measures according to claim 12 address these problems and ensure the most ergonomic or comfortable and intuitive operation of machine axes or a controlled control of positioning or traversing movements. N2011 / 09700 -10-
    Measures for particularly intuitive and particularly flexible operation are specified in claim 15. In addition, the ease of use is significantly increased. In particular, extensive adjustment movements or relatively long periods of time taking up positioning movements can be implemented as planned and carried out conveniently. In particular, a continuation of the drive movement or the movement is made possible by the touch or, actuation of the predefined end zone of the touch-sensitive position detection sensor, without a constant Nachsetzen or Hinwegwischen on the touch-sensitive position detection sensor is required. In addition, when the desired end position is reached, an immediate deactivation or shutdown of the previously activated drive is achieved by lifting the input member, in particular by removing the finger of the operator from the corresponding end zone. The risk of incorrect operation is minimized. In particular, the operator with a single control element by sweeping the inner or central movement range of the position detection sensor both make a sensitive direct position specification in the vicinity of a current starting position of a machine axis, as well as make a variable speed specification for optionally desired longer adjustment paths. The specified measures thus improve the criteria ease of use, intuitiveness and error safety to a considerable extent.
    Also advantageous is the alternative according to claim 16. In this case, given by a wiping operation of the position detection sensor an impetus for a continued machine movement. The corresponding machine movement can be continued after the lifting of the input member, in particular the finger of an operator, with continuous speed or gradually delayed. This delay can be implemented continuously or discontinuously. In particular, the inertia effect of the movement initiation can be implemented with or without a damping of the continued movement speed. By renewed placement of the input member, in particular a finger on the position detection sensor, wherein this placement can preferably take place at any point, the corresponding N2011 / 09700 -11 -
    Drive movement immediately stopped. Also by these measures, an intuitive and comfortable operation is possible, with an application for rather uncritical or Sicherhertstechnisch harmless traversing movements to be preferred by re-putting the input member to stop the machine movement.
    The object of the invention is achieved independently of the specified method according to the invention by a machine control according to claim 17. The thus achievable technical effects and advantages can be found in the preceding and the following description parts.
    Also advantageous are the further development measures according to claim 18, as this allows coarse and fine positioning within a locally close to each other, touch-sensitive position detection surface. In particular, this allows the different requirements in terms of speed of the required adjustment movement and metering or sensitivity of the Verstbeflbewegung to be carried out in a simple manner into account. The corresponding handling is particularly intuitively recognizable by means of graphical representations on the touch-sensitive position detection sensor, and the operating procedure can also be carried out quickly, without requiring any special explanations or training measures for the operator.
    Also advantageous are the measures according to claim 19, since in addition to a functional separation and a structural separation of the respective required components, in particular with respect to two structurally independent position detection sensors is created.
    Furthermore, the measures according to claim 20 are advantageous since, in addition to an improved operator ergonomics, for example with regard to a gesture operation, a safety improvement with regard to the introduction of potentially dangerous machine movements can be achieved. For example, as a prerequisite for the initiation of a potentially dangerous adjusting movement, an actuation can be provided at two mutually distanced positions, wherein an actuation position is permanently predefined. By appropriate evaluation or checking of these triggering or starting conditions, conclusions can then be drawn from the control device or from the evaluation circuit in a simple manner on an operator action intended or intended for the operator.
    The measures according to claim 21 offer the advantage that thereby also a quasi blind or unobserved operation of the position detection sensor is made possible while minimizing the risk of unwanted operating actions. In particular, the probability of a so-called "overshoot", that is, a transfer of the finger or other actuator in the other strip-shaped part or operating portion of the position detection sensor is minimized. In particular, a tactile feedback with respect to the end point or the center of the touch-sensitive position detection sensor can thereby be achieved. In addition, a clear direction or position information can be reported back to the operator solely by a tactile or haptic feedback.
    Another advantage is the measures according to claim 22, since an intuitive operating concept is created, which allows an unmistakable and rapid shutdown of motion drives. In addition, this creates a clear start or neutral zone, which excludes misleading operator actions as far as possible.
    Of particular advantage are the measures according to claim 23, as a result of a blind operation or actuation of the position detection sensor is virtually facilitated or supported. Especially when the position detection sensor is formed on a vertical operating level, in particular on a control panel, thereby the guidance of the input member, in particular of the finger can be facilitated without a constant view of the control panel is required. Rather, by the gaze or the concentration of the operator can be directed to the manually controlled machine axis or movement. Thus, the ease of use can be significantly reduced by these measures. N2011 / 09700 -13- # 1 * * * * «* • * * • ** ** # • * • f» 4) · A ···· "* '* • > At the same time, the risk of erroneous operations is minimized, and the risk potential arising from interrupted and resumed operator actions can be reduced.
    Furthermore, the measures according to claim 24 are advantageous because faulty or unwanted operating actions can be reliably excluded. In addition, the necessary operator action is made clear and easy to understand by the graphic or visual feedback to the operator. Furthermore, undesired actuations, for example by means of the hand edge or the palm of the hand of the operator, can thereby be avoided in a simple and reliable manner. Thus, on the one hand, the operating safety is increased, which is particularly important in connection with the operation of machines or automation systems of increased importance. In addition, the ease of use is significantly increased and also the required operating time can be reduced because a mistake-avoiding guidance of at least one finger of the operator is possible. Consequently, the gaze and the concentration of the operator can predominantly be directed to the corresponding traversing or adjusting movements of the machine axis or the respective drive axle.
    Finally, the measures according to claim 25 are of particular use. The achievable advantages and technical effects can be found in the previous description parts.
    For a better understanding of the invention, this will be explained in more detail with reference to the following embodiments.
    In each case, in a highly simplified, schematic representation:
    1 shows an exemplary technical device with technical measures for the manually controlled influencing of movements or sequences of electronically controlled system parts or machines; N2011 / 09700 - 14-
    Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. 6 Fig. 7 Fig. 8 Fig. 9 Fig. 10 Fig. 11 shows a machine, in particular an injection molding machine, in connection with a control panel comprising at least one touch-sensitive position detection sensor; a desired speed profile based on operator actions with respect to a touch-sensitive position detection sensor in application to a machine axis or an adjustment drive; a diagram illustrating position or coordinate data of a position detection sensor for influencing machine movements; a table illustrating position values as a function of defined points in time and the resulting setpoint values for the drive control; an exemplary layout of a man-machine interface in combination with at least one touch-sensitive position detection sensor for influencing machine movements or machine axes; an advantageous embodiment of a position detection sensor for manually controlled influencing machine movements or adjusting drives; a development of the position detection sensor of FIG. 7; another embodiment of a position detection sensor for operating machine functions; a cross section through an operating section with a touch-sensitive position detection sensor; another embodiment of the touch-sensitive position detection sensor. N2011 / 09700 - 15-
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    In Fig. 1, an embodiment of an electrically controllable or electrotechnically controlled, technical device is illustrated. This technical device is formed, for example, by a technical system 1, which comprises at least one machine 2 or an industrial robot, in order to carry out a production process in this way, at least partially automated. The technical device may include any equipment 1, machines 2 and devices to perform technical processes, in particular manufacturing processes, chemical processes or the like, at least partially automated. Such devices can thus also be referred to as industrial automation systems or as at least partially automated production plants.
    The corresponding technical system 1 or machine 2 comprises at least one signal and data processing control device 3, which may be composed of individual control units 3 '- 3 "' or may comprise distributed control devices 3 '- 3"'. The respective control architecture for the technical system 1 can have any known from the prior art topologies. In particular, centralized and decentralized control architectures and any hybrid forms are possible. For example, it is also possible to integrate mobile or portable control units 3 "', in particular so-called handheld terminals 4, into the control device 3. N2011 / 09700 - 16-
    Likewise, arbitrary, signal and data networking between the respective control units 3 '- 3' " be provided.
    Furthermore, at least one operating panel 5 can be formed, which is operatively connected to the control device 3 or is structurally combined with at least one control unit 3 '- 3 "' of the control device 3. The control panel 5 can be positioned separately from the technical system 1 and designed, for example, on a control cabinet 6, on a control panel or on a remote control console. In the illustrated embodiment, the control panel 5 is installed in the side or front wall of the cabinet 6. This means that the control panel 5 can be designed to be mobile, or else it is stationarily positioned and is usually not intended for repositioning relative to the technical installation 1.
    At least one input element 7 is formed on the control panel 5 or in the immediate vicinity of the control panel 5, which is used for dispensing control commands to the technical system 1 and / or for entering data into the control device 3 and / or retrieving or changing information or Data is provided starting from an operator 8. In particular, an input and output of data in relation to the control device 3 or a change in the operation of the technical system 1 based on the various input elements 7 allows. These input elements 7 can be formed by discrete switches or keys or by a keyboard, for example by a membrane keyboard.
    According to an expedient embodiment, the control device 3 may comprise at least one analog-controlling or one quasi-analog input means 9, 9 '. Such analog control input means 9, 9 'allow in contrast to digitally controlling keys or switches a proportional control of at least one drive the electronically controlled system 1 or machine 2. This quasi analog or proportional control or conductibility of at least one drive electronically controlled system 1 or machine 2 is usually implemented by means of at least one joystick, jog wheel, trackball or N2011 / 09700 - 17 - * * · »· · · ·« «« • »». Such analogously controlling and discretely constructed input means 9, 9 'can be implemented in the control device 3 in order to enable the most intuitive or sensitive positioning or control of drives or of different machine axes.
    It is provided that this quasi-analog or analog controlling input means 9, 9 ', which is to be operated by an operator 8 manually or to operate as at least one-dimensionally resolving touch-sensitive position detection sensor 10 form. This touch-sensitive position detection sensor 10 may be designed in the manner of a touchpad 11 or as a subsection of a touch screen 12,12 'executed. This at least one touch-sensitive position detection sensor 10 is provided for the continuous registration or registration of an actuation movement or of at least one individual actuation position within an electronically evaluable actuation surface 13 of the touch-sensitive position detection sensor 10. The position sensing sensor 10 may be made to be specific to the application and the actuating movement at least one dimensional, i. determine in a particular direction or along a predetermined path. Preferably, however, universal and generally two-dimensionally resolving position detection sensors 10 are used, wherein only a portion of the entire sensory detectable actuation range is provided as the actual input range or range of motion and this input range is set, monitored and evaluated by software engineering means.
    With the at least one touch-sensitive position detection sensor 10, which may be embodied in the manner of a touchpad 11 and / or as a subsection of a touch screen 12, 12 ', a continuous sequence of default values or position values 14 - FIG. 5 - determined and converted into a corresponding temporal sequence of desired values 15 for a drive control 16 - Fig. 1 -. In the illustrated embodiment according to FIG. 1, the drive control 16 is formed by the control unit 3 ", which represents a subcomponent of the control device 3 and, for example, in the corresponding machine 2, in particular in the industrial robot N2011 / 09700. 18 · · · · · · · · · · # · · can be integrated. In this case, the drive controller 16 converts a corresponding movement or positioning of the corresponding drive axle or of the corresponding drive system on the basis of the respectively present desired values 15.
    By means of the at least one touch-sensitive position detection sensor 10, which acts as a quasi-analog, manually operated input means 9, 91, a chronologically continuous sequence of quasi-analog set values 15, in particular of position values, speed values and / or acceleration values, for the drive control 16 generated by at least one drive of the electronically controlled system 1 or machine 2. This temporally continuous sequence of quasi-analog nominal values 15 for the drive control 16 is based on the specifications or inputs of an operator 8 by means of or with respect to the touch-sensitive position detection sensor 10.
    As previously explained, the touch-sensitive position detection sensor 10 may be formed by at least one structurally independent touchpad 11 or by defined sections of a touch screen 12, 12 '. Such a touch screen 12,12 'may represent a sub-component of the control panel 5, or be performed on the mobile handheld terminal 4. Such a touch screen 12, 12 'combines a graphics-capable display 17 with a touch-sensitive touch panel, which is at least partially superimposed on the graphics-capable display 17. The touch screen 12, 12 'formed from at least one graphics-capable display 17 and from at least one touch panel superimposed on this display 17 serves to influence the mode of operation of the control device 3 or the technical system 1. The graphics-capable display 17 is shown here at least provided by subsets of total available or necessary information for the operator 8 of the technical device.
    The graphics-capable display 17 is used in particular for outputting status information about the operating or process state of the controllable, technical system 1. In addition to a graphics-capable display 17 with superimposed touch panel N2011 / 09700 -19- * * NEN in a conventional manner also other visually detectable output means, such as signal lights, pointer instruments or the like may be formed. Fig. 1 illustrates the use of a touch-sensitive position detection sensor 10 for manually controlled influencing movements or sequences of an electronically controlled plant 1 or machine 2 in the form of an industrial manufacturing plant comprising an industrial robot.
    It is also expedient to use at least one touch-sensitive position detection sensor 10 for the manually controlled influencing of movements, in particular adjusting movements of an injection molding machine 18 for processing plastics, as was illustrated schematically in FIG. Such an injection molding machine 18 for carrying out a plastic injection molding process has, inter alia, a machine bed 19, a closing unit 20 for opening and closing a clamped, multi-part mold tool 21 and a plasticizing unit 22, with which the raw material is taken from a reservoir 23, in the flowable state and is pressed by a nozzle in the closed mold tool 21. The various drives of this injection molding machine 18, in particular the drive for the closing unit 20 and / or the drive for the plasticizing unit 22, in particular for its worm shaft, which is rotatably mounted in the plasticizing unit 22 and also displaceable in the longitudinal direction in the manner of a piston, own good for a manually controlled influence by means of a touch-sensitive position detection sensor 10, which is to be actuated by an operator accordingly.
    Furthermore, such an injection molding machine 18 comprises a control device 3, which is usually constructed directly on the machine or can also be arranged offset relative to the machine body. The control device 3 comprises at least one touch-sensitive position detection sensor 10 for the manually controlled influencing of movements of at least one drive of the injection molding machine 18. In particular, the at least one position detection sensor 10 produces temporal sequences of desired values, in particular of position values, speed values or acceleration values for a drive control 16 generated by at least one drive of the electronically controlled injection molding machine 18. Such a drive control 16 can be formed by a converter circuit for an electric drive motor, in a manner known per se, this control device 3 can comprise at least one display 17 or a touch screen 12, wherein said components at least part of the so-called man-machine Cutting parts (HMI - Human Machine Interface). Of course, at least one discrete input element 7, for example an electromechanical switch or pushbutton, can also be implemented in the control device 3.
    Preferably, the touch-sensitive position detection sensor 10 is formed by an at least one-dimensional resolution, optionally by a two-dimensional resolution, capacitive touchpad 11. A capacitive touchpad 11 is preferred over a working on the resistive principle principle touchpad. In particular, touchpads 11, which operate on the capacitive action or detection principle, allow a multi-touch evaluation. This multi-touch capability of a capacitive touchpad 11 is particularly useful in connection with two-dimensional resolution, capacitive touchpad 11, as this example, two machine axes can be operated simultaneously via only one touchpad 11 or simultaneously driven or moved. It is advantageous, furthermore, that capacitive touchpads 11 with one- or two-dimensional resolution or position detection are available as standardized components and have a favorable price-performance ratio. In addition, the achievable evaluation accuracy and reliability of such touchpad 11 for control applications, especially for machine controls, is now satisfactory.
    Alternatively or in combination with a touchpad 11, it is also possible to provide at least one touch screen 12, 12 'as a touch-sensitive position detection sensor 10. Such a touch-screen 12, 12 'typically allows a two-dimensional resolution of its actuating surface 13 with respect to a N2011 / 09700 -21 - * * 4 · I t · «* I ♦ 4 4» · 4 · * · · f * * * 4 4 44 ·· »· • · · * 4» 4 * 4
    Variety of different touch or actuation positions or actuation movements. The touch screen 12, 12 'preferably also operates according to the capacitive function or detection principle, so that there is a multi-touch capability or a simultaneous recognition of multiple, simultaneous points of contact is possible. The multi-touch capability of the touch screen 12,12 'thus enables the simultaneous control or movement initiation for multiple drives or drive axes of the corresponding system 1 or machine 2, this touch screen 12, 12' is in a conventional manner a preferably high-resolution, graphics-capable display 17 superimposed. The display 17 and the overlaid touch screen 12, 12 'thus represent a combined input and output means for data, status information or control commands. An advantage of this embodiment is that the graphics-capable display 17 or the touch screen 12, 12 'are considered as standard available components and can form a reliable position detection sensor 10 with respect to operations of an operator 8 relative to a machine 2 or Appendix 1. In addition, it is possible to carry out variously pronounced, virtual or graphically implemented input means 9, 9 '. A software-based implementation achieves a high level of flexibility with regard to any changes or adaptations of the user interface. In particular, a software-controlled adaptation of size and visual appearance of the input area is made possible in a simple manner. A combination in conjunction with varying status information or other information relevant to the operation is made possible by the display 17 in a simple manner.
    In Figs. 3 to 5 are various measures for detecting the respective operating or. Actuating actions of an operator 8 and for conversion into corresponding control commands or desired values 15 for a drive of a machine 2 or system 1 illustrated schematically and by way of example. The operating actions of an operator 8 are preferably carried out by means of at least one finger of the operator 8. Especially in the preferred use of capacitive evaluating position detection sensors 10 is a control action by means of at least one finger of particular advantage. Alternatively or in combination, however, it is also possible to use special input devices, for example pen-type input aids or the like, for example. In particular, a corresponding sweeping or touching of the touch-sensitive, capacitively evaluating position-detecting sensor 10 with the finger of an operator 8 is carried out for the specification of desired values 15 or of control commands for the drive control 16.
    As can best be seen from FIGS. 4, 5, it is expedient to determine the individual default or position values 14 from which a chronological sequence of desired values 15 for the drive control 16 is determined at a time interval of less than 0.25 seconds , in particular less than 0.1 seconds to determine. This determination is carried out by at least one processor of the control device 3 or by an evaluation circuit 24-FIG. 1 implemented in the control device 3. 1 - which is directly or indirectly connected to the position detection sensor 10. By said time intervals or by the corresponding sampling frequency relative to the position detection sensor 10 delay times are kept sufficiently small, that is kept in an acceptable for the operator 8 and for the machine control frame. In addition, this leaves the requirements for the evaluation circuit 24 and the control device 3 in a favorable performance range, so that an optimal cost to performance ratio is achieved.
    In this case, it can also be expedient that in the course of the conversion of the chronological sequence of default or position values 14 from the position detection sensor 10 into the temporal sequence of desired values 15 for the drive control 16, a smoothing is carried out via a plurality of successively determined default or position values 14, or a smoothing over a plurality of immediately successive target values 15 is made. This smoothing can be implemented by any of the mathematical methods known in the art. For example, a polynomial approximation can be used for smoothing or damping severe overshoot or undershoot. It is also advantageous that as a result the raw data of the touch-sensitive position detection sensor 10, which typically has a certain amount of noise or noise, can be detected. N2011 / 09700 -23- * * «« * * * * ««
    Jitter are reflected, not reflected directly in the generated setpoint values 15 for the drive control 16.
    According to a practicable measure, it is provided that the individual values of the sequence of desired values 15 for the drive control 16 are determined at a time interval which is different compared to the time intervals of the determined default or position values 14 of the touch-sensitive position sensor 10. In particular, it is expedient to define or set the desired values 15 for the drive control 16 with respect to time-constant distances. For a practicable implementation, however, it is expedient to determine the default or position values 14, which are provided by the touch-sensitive position detection sensor 10, at time-varying intervals or to be detected by the evaluation circuit 24. Based on the respective default or position values 14, which are determined or determined in at least slightly varying intervals, the setpoint values 15 for the drive control 16 can then be determined or calculated for a predetermined time-constant distance. In particular, it is expedient to set or predetermine the setpoint values 15 for the drive control 16 in a strictly periodic time grid, the correspondingly periodic setpoint values 15 being determined by interpolation or extrapolation of the determined specification or position values 14 of the touch-sensitive position detection sensor 10. It is advantageous that the evaluation of the touch-sensitive position detection sensor 10 or its query routine can be embedded in an operating system level, run in the various other, sometimes runtime-intensive processes and thus a rigid time grid can not be guaranteed. By converting them to adequate setpoint values 15 at fixed, periodic times, the requirements of commonly used, standardized drive controls 16, such as converter switching devices, are then taken into account in a simple and reliable manner. In particular, deviations in the varying time intervals between the individual default and position values 14 and the time intervals between successive desired values 15, as required for the drive control 16, are determined by interpolation or rather by N2011 / 09700 -24.
    Extrapolation, calculated or calculated. This computational determination can also be made, for example, via a polynomial sentence.
    According to an advantageous measure, it is provided that during a movement movement of a machine axis or a drive of the controlled machine 2 or system 1 a continuous query, in particular a corresponding query routine for the detection of default or position values 14 of the touch-sensitive position sensor 10 is monitored and if the query does not occur or caused by query results over a specified period, by the control device 3 and / or the drive control 16, a termination of the movement is initiated or initiated. This is a safety-critical drift apart between the default or. Operating action and execution by the machine or system counteracted in a reliable manner.
    It is expedient if the change, in particular the change in the magnitude of the setpoint values 15 for the drive control 16, within a specific time interval is substantially proportional to the distance traveled over in this time interval on the actuation surface 13 of the touch-sensitive position detection sensor 10. By means of such a proportional control, an intuitive and accurate positioning or control of the respective drive can be ensured.
    According to an expedient embodiment, it is provided that the change of the setpoint values 15 for the drive control 16 within a specific time interval is substantially proportional to the distance of a current actuation position detected in this time interval compared to a first or initial contact point on the actuation surface 13 of the touch-sensitive position detection sensor 10 is. As a result, predetermined actual positions of the machine axis or of the drive can be changed without requiring a reset or starting from a defined zero position. It is particularly useful if in addition to the determined distance between a first touch point and a current N2011 / 09700
    Actuating position and the direction or orientation of the current operating position compared to the first point of contact, in particular with respect to a coordinate axis, is determined and the determination result for the change of the setpoint values 15 for the drive control 16 determines or flows into it. As a result, arbitrary changes in direction or forward and backward movements can be initiated starting from any starting points by corresponding actuation of the touch-sensitive position detection sensor 10.
    In particular, it is expedient to carry out the evaluation by the evaluation circuit 24 or by the control device 3 in such a way that the desired values 15 for the drive control 16 are determined as a function of a change in the actuation position along a specific direction or dimension, in particular with respect to a specific coordinate axis and fixed. As a result, a direction change or reversal of direction of any machine axes or their drives can be implemented in a simple manner.
    It may be useful, a maximum vornehmbare change 25 -Fig. 3 - to limit the setpoint values 15 for the drive control 16 with respect to a certain time interval 26 by an upper limit value. According to the example according to FIG. 3, a maximum change of a speed value within a specific time interval 26, that is to say a maximum acceleration, can be defined in the control device 3 or in the evaluation circuit 24. In this case, it is expedient for the maximum modifiable change 25 of the desired values 15 to be dependent on the maximum permissible movement speed and / or on the maximum possible movement speed and / or on the movement speed of the drive or the corresponding machine axis which can still be monitored and controlled by an operator 8 be made. FIG. 3 shows a diagram 27 with a speed setpoint curve 28, as determined or derived from the various operator actions of an operator 8 in relation to the touch-sensitive position detection sensor 10. This speed - N2011 / 09700 -26-
    Setpoint curve 28 is converted into setpoint values 15 for drive control 16, so that the corresponding drive is operated or controlled in accordance with this setpoint speed curve 28.
    A maximum or maximum permitted limit value 29 for the speed, acceleration or deceleration of a drive is illustrated in FIG. 3 in the diagram 27 on the ordinate. According to an expedient embodiment, it is provided that the upper limit value 29 is variably adjusted by the control device 3. This adaptation of the upper limit value 29 with respect to acceleration, deceleration and / or speed can be made dependent on the operating state of the machine 2 or system 1 and / or on the current position of the drive, these dependencies and criteria being evaluated by the control device 3 and be taken into account accordingly.
    According to a combinatorial or alternative measure, it is provided that from the movement specification by the touch-sensitive position detection sensor 10 and / or from sensory measured values, the movement or sequence change carried out by the machine 2 or system 1 and / or from the control device 3 or the drive control 16 generated control commands a characteristic determined and compared with an upper limit. Based on this, if the upper limit value is exceeded, the movement or sequence change of the machine 2 or installation 1 is stopped immediately or after a defined limited follow-up phase, and / or the characteristic value is approached at the upper limit value or when a lower limit value is exceeded. which is lower than the upper limit, the operator 8 signals the proximity or approach to the upper limit by issuing a warning signal. This warning signal for the operator 8 can be delivered acoustically and / or optically and / or haptically, in particular by vibration. The introduction or generation takes place by the control device 3 and / or by the drive control 16. N2011 / 09700 -27- τ 9 • * *
    FIG. 6 illustrates an exemplary embodiment of a layout of the control device 3, in particular a machine control layout 30, by way of example. In this case, this layout comprises a plurality of status fields, input fields and output fields which, depending on the expediency, display various data or allow a change of settings. The corresponding graphical layout is accomplished by software adaptation of the control device 3 and visualized via the display 17. The machine control layout 30 expediently comprises three visualization or layout sections 31-33. In a first layout section 31 input and output masks are provided, which allow a display and / or change of values to various parameters of the machine control. In a second layout section 32, status displays are provided which provide or display status information about various machine parameters or process parameters. In a third layout section 33, an operation or influencing of machine axes or machine movements is provided. In particular, a plurality of input means 9 are concentrated in this third layout section 33, which offer a quasi-analog or proportional control of drives or enable a proportional movement control of machine axes and are designed as touch-sensitive position detection sensors 10.
    In conjunction with a touch-sensitive position detection sensor 10 for controlling machine axes or drives, it may be appropriate to implement an activation before the activation of a drive. In particular, it is expedient, only after execution of a predefined, characteristic operating action with respect to the touch-sensitive position detection sensor 10, in particular by double or multiple touching or touching of the touch-sensitive position detection sensor 10 within a predetermined, limited time period or only after execution of a predetermined movement pattern on the touch-sensitive position detection sensor 10, an activation or activation of the corresponding drive and / or a release to change the setpoint values 15 for the drive control 16 and / or to initiate or initiate the activation of the touch-sensitive position detection sensor 10 in terms of effect. Unintentional or erroneous operation of machines or machine axes can thus be ruled out in a simple and reliable manner. In particular, this prevents that uncontrolled activations or movements of drives are initiated. In addition, deliberate activation or activation of a drive minimizes the risk of accidents or the risk of personal injury or property damage.
    FIG. 7 illustrates an advantageous embodiment of a touch-sensitive position detection sensor 10 for controlling drives or machine axes. The actuating surface 13 of this position detection sensor 10 is designed strip-like, i. it has a much larger longitudinal than width extension. A width 34 may correspond to approximately one finger width, i. between 8 and 30 mm, preferably about 15 mm. A length 35 of the touch-sensitive position detection sensor 10, in particular of its actuating surface 13, is a multiple of the width 34. Its length 35 is suitably between 5 and 15 cm, typically about 10 cm. By touching, in particular by a wiping operation with respect to the actuating surface 13, the corresponding effect connected drive is driven, i. E. activated or moved. The relative movement of a finger of an operator with respect to the position detection sensor 10 is, according to an advantageous embodiment, proportional to the movement of the drive operatively connected therewith or of the machine axis to be controlled thereby.
    The actuating surface 13 of the position detection sensor 10 may preferably be subdivided into specific subsections or reference points. It is expedient to define a movement region 36 which extends over the largest subsection of the position-sensitive length 35. In a finger operation or a stroking movement with the finger within this movement range 36, a corresponding movement of the machine axis or the respective drive is triggered. The movement region 36 can be divided into a first directional region 37 and at least one further directional region 38. In the first directional range 37, movement can be initiated to the left and in the further directional range 38 a movement initiation opposite thereto, in particular a movement to the right, can be initiated. Likewise, it is possible to define the first and the at least one further directional range 37, 38 by movement directions downwards or upwards, or to provide additional deflection directions or directions of movement within the movement region 36. This is especially true if the position detection sensor 10 has a two-dimensionally resolving actuating surface 13 and, for example, can image or detect movements in the X and Y directions.
    It is expedient to determine a zero or start position 39 on the actuating surface 13 or in relation to the extent of the position detection sensor 10. By way of example, this zero or start position 39 is defined in the middle or center of the movement region 36. According to a practicable training is provided to define a short range 40 to the predefined zero or start position 39 and to make a change in the desired value 15 of the drive control 16 or a release of the drive to be operated only when an input member, in particular a finger of the operator is moved beyond a certain distance or is moved beyond the predefined short range 40. This implements a kind of "breakaway effect". In particular, the machine axis moves only when the finger has actually been deliberately moved a certain distance along the position detection sensor 10. The mere placement of the finger or the search of the zero-öder start position 39 thus does not lead to an unwanted activation of the drive or not to a movement of the machine axis.
    According to an expedient development, the touch-sensitive position detection sensor 10 comprises at least one graphically and / or software-technically, in particular evaluation-technically, predefined end zone 41, 42 in at least one of its distal end sections. In accordance with the illustrated exemplary embodiment according to FIG. 7, in which a strip-shaped position detection sensor 10 is illustrated, an end zone 41, 42, respectively, is preferably provided in the two opposite end sections, in particular software and / or evaluation technology. or visually perceptible to an operator 8. This preferred software or structurally defined end zone 41,42 in at least one end portion of the suitably strip-shaped position detection sensor 10 is assigned by the evaluation circuit 24 and by the controller 3, a special function or operation, this implementation is typically done software, in particular by appropriate Programming the evaluation circuit 24 and the controller 3 is implemented. An expedient function of this at least one end zone 41, 42 is that in this at least one end zone 41, 42, a special push-button operation for the drive or for the machine axis is implemented. In particular, it is expedient to keep the activated drive activated or to move the machine axis until the input member of the operator, in particular his finger, is lifted off the corresponding end zone 41, 42 again.
    In particular, it is expedient if an end zone 41, 42 is defined in at least one edge or end section of the touch-sensitive position detection sensor 10, and that, in the case of an uninterrupted sweeping actuating movement by means of an input member, in particular a finger of an operator, starting from a central or inner movement region 36 in one of the end zones 41, 42, the change in the desired values 15 from the moment of the transition into the respective end zone 41, 42 is continued, in particular constant, until the input member leaves the end zone 41, 42, independently of the further change in the actuation position, in particular lifted off the end zone 41, 42.
    A typical mode of operation of a strip-shaped predefined position detection sensor 10 can be as follows: If the input element of the operator 8, in particular its finger, is moved within the movement range 36, this causes a corresponding change in position of the machine axis, in particular a method of the corresponding drive in each case given direction of movement. From the speed of the finger movement N2011 / 09700 within the range of movement 36, a factor or a desired value 15 for the speed profile is determined. Stopping the finger movement within the movement range 36 leads directly to a stopping of the machine axis or to a deactivation of the corresponding drive. That the movement of the finger within the range of movement 36 is converted into a proportional movement of the machine axis or of the drive responsible for this purpose. Within the range of movement 36, therefore, there is a drive motion corresponding or correlating with the movement of the finger, i. E. within the range of movement 36, a start-stop operation of the machine axis is implemented in correlation to the movement of the finger, in particular to its movement speed or to its acceleration or deceleration.
    The function of the at least one end zone 43, 42 within the touch-sensitive actuating surface 13 is that when the input member, in particular the operator's finger 8, is moved out of the movement region 36 into one of the predefined end zones 41, 42, that of the evaluation circuit 24 or determined by the control device 3 speed factor is maintained or maintained until the finger is lifted, in particular from the respective end zone 41, 42 is removed. In particular, it is provided that the drive remains activated as long as possible or the machine axis is moved on with the speed factor ascertained in the movement region 36 until the finger is lifted off the end zone 41, 42. That is, a wiping motion of the finger into one of the end zones 41, 42 causes the drive motion to continue at the last valid speed factor and direction value until the finger is lifted off the corresponding end zone 41, 42 respectively. In particular, by direct transfer of the finger into one of the end zones 41, 42, a continuation of the movement last initiated with the last valid setpoint values 15 is effected and only with the lifting of the finger from the respective end zone 41, 42 does the machine axis stop or deactivate the drive of the drive control 16 implemented. These end zones 41, 42 are therefore to be compared with a continued touch operation, wherein within the movement range 36 the default values, in particular for the travel speed or drive speed, are determined. A particular advantage of this measure lies in the fact that, as a result, even more extensive movement distances or longer-lasting travel movements can be implemented without requiring repeated repositioning of the finger within the movement region 36. A repeated stopping and resuming of the drive movement is thus avoided by the implementation of the previously explained end zones 41, 42, and thus a continuous course of motion can also be achieved with a finite, i. with a limited in length, touch-sensitive position detection sensor 10 can be achieved.
    According to a further measure, it is provided that when the input element, in particular the finger, is placed directly in one of the end zones 41, 42, the drive is activated with a speed factor of 1 or with a predefined speed setpoint profile on the control side. That is to say that a direct placement in one of the end zones 41, 42 is equated with a conventional push-button operation, in which the corresponding drive movement is active as long as the finger remains seated in the corresponding end zone 41, 42. The speed profile or the setpoint for the drive speed is fixed and can have a control factor of 1 factor.
    According to a suitable measure, an end zone 41, 42 is thus defined in at least one end section of the touch-sensitive position detection sensor 10. An adjustment movement or control of the drive of the machine 2 or system 1 by the drive control 16, which control by an operator 8 by a wiping operation of the touch-sensitive position detection sensor 10 by means of an input member, in particular with a finger of an operator 8, was predefined, is preferred due to a maintained uninterrupted or continued transfer of the wiping operation exporting input member in one of the end zones 41,42 until the wiping operation exporting input member, in particular a finger of the operator, is lifted from the end zone 41,42 of the touch-sensitive position detection sensor 10 again. As a result, repeated Nachsetzbewegungen the position detection sensor 10 N2011 / 09700 -33- remains, which is particularly advantageous if the corresponding drive longer distances or Versteilwege are to implement, is particularly advantageous. In addition, an immediate stop of the corresponding drive is initiated as soon as the input member, in particular the finger, is lifted from the respective end zone 41, 42 of the position detection sensor 10 again. This creates a particularly intuitive and error-free and at the same time comfortable operation of the respective drives or machine axes.
    It is also expedient if, with respect to a wiping operation of the touch-sensitive position detection sensor 10 by means of an input member, in particular with a finger of an operator 8, a speed and / or acceleration profile is determined, which corresponding influence on the sequence of desired values 15 for the drive control 16 takes. In connection with a wiping operation can be provided that a speed and / or acceleration value is used immediately before the lifting of the input member relative to the touch-sensitive position detection sensor as a continuous setpoint 15 for the drive control 16, until the input member, in particular a finger of the operator 8, again impinges on the touch-sensitive position detection sensor 10. In particular, a continuation of the initiated movement is thereby carried out in conjunction with a wiping operation until the input element, in particular a finger, is recognized again by the position detection sensor 10. This also makes a relatively comfortable and intuitive machine or system operation, especially in relation to motion drives possible.
    Accordingly, it can be provided that in a sweeping operation by means of an input member, in particular a finger of an operator 8 and a corresponding change of the desired values 15, the further change of the desired values 15 from the moment of lifting the input member of the actuating surface 13 is continued, in particular is continued unchanged or slowly decreasing until the input member is placed again on the actuating surface 13. N201U09700 »· · · · • • • • • • • · · * * * * * * * * * * * * * * * * * * * * * * *
    As further illustrated by way of example in FIG. 7, according to an advantageous embodiment, the touch-sensitive position detection sensor 10 within its actuating surface 13, for example within the predefined range of motion 36, in a first operating portion 43 and in at least one other, in particular in a second operating portion 44 subdivide. The corresponding division plane, which was shown in dashed lines in FIG. 7, preferably extends in the longitudinal direction of the strip-shaped position detection sensor 10 and divides its actuating surface 13 into a lower or first actuating section 43 and into an upper or second actuating section 44. The second actuating section 44 is designed to generate desired values 15 for the drive control 16, which are relatively higher or finer in comparison to the setpoint values 15 for the drive control 16 that can be generated via the first actuation section 43 and allow a comparatively sensitive manual control of the drive. In particular, when actuated in the first operating portion 43, a comparatively faster or coarser resolved adjustment can be initiated, while an actuation within the operating portion 44, a comparatively slower or finer adjustment is initiated, which may be advantageous for example in the vicinity of end stops or target positions. The first and second actuating section 43, 44 may be defined, for example, by an evaluation-technological longitudinal division of the position detection sensor 10. Alternatively, it is also possible for the first actuation section 43 and the at least one further actuation section 44 to be formed by structurally independent position detection sensors 10.
    FIG. 8 shows a further embodiment of a substantially strip-shaped, touch-sensitive position detection sensor 10. Here, the touch-sensitive position detection sensor 10 comprises a first strip-shaped actuating section 43 and a second strip-shaped actuating section 44. The second strip-shaped actuating section 4 is formed angled relative to the first strip-shaped actuating section 43 or the two actuating sections 43, 44 extend with respect to each other N2011 / 09700 -35- # ··· φ «· ♦ · 4 *
    • * * · I different orientation. In particular, a substantially V- or U-shaped actuating surface 13 is formed in plan view. The first actuating portion 43 may be provided for initiating movements to the left, while the second, angled extending to actuating portion 44 is provided for initiating directions of movement to the right. Of course, other, mutually opposite directions of movement, for example, down or up or forward or backward conceivable.
    According to an expedient embodiment, a neutral or start zone 46 is formed in a connection or transition section 45 between the first and second operating section 43, 44. This neutral or start zone 46 is provided for immediate shutdown of the driven, active drive of the machine 2 or system 1, as soon as this neutral or start zone 46 is actuated by the operator, in particular touched with his finger. This means that the setpoint value 15 for the speed of the correspondingly controlled drive assumes the value zero as soon as the neutral or start zone 46 has been activated or touched. The left or first operating portion 43, that is, the left branch of the touch-sensitive position detection sensor 10, expediently initiates movements to the left, while the right and second operating portion 44 initiates movements to the right. The respective position or the corresponding distance of the actuation, in particular the finger position, starting from the neutral or start zone 46 in the direction of the respective end of the first or second actuation section 43, 44 corresponds to a speed factor or a speed setpoint for the respective drive. In particular, in the distal end portions of the operating portions 43, 44, a maximum traveling speed can be selected to the left or right. That is, the speed command value, starting from the neutral or start zone 46, increases with a setpoint value 15 of "zero" toward the respective end portions of the actuation sections 43, 44 and finally defines the maximum speed value or setpoint value 15 at the respective end. In particular, by setting up or moving the finger along the first or second actuating section 43, 44, an increase and reduction of the movement or driving speed to the left can be made, or the speed of travel can be increased and / or reduced. by intervening on the first operating section 43. On the other hand, an increase or decrease in the traveling speed can be initiated when the second operating portion 44 is operated. The two operating sections 43, 44 make possible a proportional or quasi-analogous positron or speed change for correspondingly controlled drives.
    Additionally or alternatively to a stop of the drive movement upon actuation of the central neutral or start zone 46, this result can also be achieved by an input member, in particular a finger of the operator, is lifted from the actuating surface 13 of the touch-sensitive position detection sensor 10.
    FIGS. 9, 10 illustrate an advantageous development. In this case, the touch-sensitive position detection sensor 10 is implemented by means of a touch screen 12 and thus represents a virtual input means 9. In this case, a plate-like aperture 47 and / or a film 48 is superimposed on this virtual, in particular graphically and touch-sensitive position detection sensor 10. This diaphragm 47 and / or film 48 has recesses 49 and / or elevations 50 for facilitating position finding and / or for haptically guiding the finger of an operator relative to the touch-sensitive position detection sensor 10. The recesses 49, which serve to guide the finger, can be formed by openings, material recesses or cutouts in the transparent or translucent, plate-like aperture 47. In the case of the formation of a film 48 having at least one protrusion 50 - FIG. 9 - this survey 50 may also provide a tactile feedback with respect to the actuation or contact of the position detection sensor 10. In particular, such a survey can be carried out elastically yielding and thus achieve a kind of "cracking effect" to provide the operator with a tactile and / or acoustic feedback with respect to an actual operation or actuation of the touch-sensitive position detection sensor 10. N2011 / 09700 -37-
    According to an expedient measure, it is provided that a thickness 51 of the plate-like aperture 47 or a height 52 of the elevations 50 of the film 48 are dimensioned so high that no recognition of a finger or hand section of an operator 8 supported thereon takes place on the part of the touch-sensitive position detection sensor 10. In this context, then a depth 53 of the recesses 49 in the plate-like aperture 47, or an elastic deformability of the elevations 50 of the film 48 is dimensioned such that upon contact or actuation with the finger of an operator 8 a detection by the touch-sensitive position detection sensor 10 and . Is reliably ensured by the above the display 17 touch panel, in particular by the touch screen 12. This avoids unwanted operator actions and is also a particularly safe or safe application achieved in conjunction with machine controls.
    As was schematically illustrated in FIG. 10, in the transition section between the upper side or the outer flat side of the transparent or translucent panel 47 and the recess 49, an at least partially circumferential, preferably a completely circumferential chamfer 54 may be formed. Such a chamfer 54 facilitates the virtually blind finding of the guide depressions 49 for the finger of an operator 8. In addition, this improves the ergonomics and minimizes the risk of injury. Instead of a bevel 54, it is also possible to provide a rounded transition in the transition region between the recess 49 in the direction of the top of the aperture 47. It is essential that the diaphragm 47, an optionally used film 48 and the touch-sensitive cover layer of the display 17, in particular the touch panel, are transparent or translucent, so that the graphics shown on the display 17, such as status bars, icons, value fields or the like. for which operator 8 can be visually perceived. In Fig. 11, another embodiment of a touch-sensitive position detecting sensor 10, as already explained in connection with Figs. 7-10, is illustrated. For parts already described above, the same reference numbers are used and the preceding parts of the description are mutatis mutandis to the same parts with the same reference numerals.
    Here, the touch-sensitive actuating surface 13 of the position detection sensor 10 is circular or annular, so that at least a quasi-endless or self-contained actuating surface 13 is ausgebifdet. It can be performed by circular movements with an input member, in particular with a finger of the operator a quasi-endless movement target, so that a readjustment of the input member is unnecessary. This improves the ease of use and simplifies handling.
    Here, too, by an operator input with regard to the speed and / or the direction of the wiping or sweeping operation, a correlative specification of control commands or a corresponding generation of desired values 15 for the drive control 16 of a machine 2 or system 1 - FIG. be achieved.
    Furthermore, it can be provided to form the actuating surface 13 by concentric, circular or annular actuating portions 43, 44. The outline contours of the actuation sections 43, 44 need not be exactly circular, but may also have a polygonal outline shape. According to an expedient measure, it is provided that a fine positioning of drives or machine axes is provided in the outer region or on the outer circumference of the actuating surface 13, in particular on the basis of the outer actuating section 44. In contrast, in the inner or central region or on the inner circumference of the contact-sensitive actuating surface 13 , In particular by means of the inner operating portion 43, a coarse positioning of machine axes or a relatively faster adjustment allows for a driven drive.
    The exemplary embodiments show possible embodiments of the method according to the invention and / or the corresponding machine control, wherein it should be noted at this point that the invention is not limited to the specifically illustrated embodiments of the same, but rather also various N2011 / 09700
    Combinations of the individual variants with each other are possible and this possibility of variation due to the doctrine of technical action by objective invention in the skill of those working in this technical field is the expert. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.
    The corresponding contours or actuating sections 43, 44 can in turn be highlighted graphically, in particular by permanent imprints on the touch-sensitive actuating surface 13 and / or visualized by means of the display 17 flexible and thus made apparent or distinguishable for an operator in a simple manner become.
    For the sake of order, it should finally be pointed out that, for a better understanding of the structure of the machine control system, these or their components have been shown partly unevenly and / or enlarged and / or reduced in size. The same applies to the touch-sensitive position detection sensor.
    The task underlying the independent inventive solutions can be taken from the description.
    Above all, the individual embodiments shown in FIGS. 1 to 11 can form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures. N2011 / 09700 * · «
    REFERENCE NUMBERS
    investment
    machine
    control device
    Communicator
    control panel
    switch cabinet
    input element
    operator
    input means
    Position detection sensor
    touchpad
    Touch Screen
    actuating surface
    Default or position values
    setpoints
    drive control
    display
    injection molding machine
    machine bed
    Closing unit 36 Movement area 37 First direction area 38 Further direction area 39 Zero or start position 40 Close area 41 End area 42 End area 43 Operating section 44 Operating section 45 Connecting or transition section 46 Neutral or start zone 47 Aperture 48 Foil 49 Recess 50 Elevation 51 Thickness 52 Height 53 Depth 54 Chamfer
    Form tool
    plasticizing
    reservoir
    evaluation circuit
    change
    lag
    diagram
    Speed setpoint curve
    limit
    Machine control layout first layout section second layout section third layout section width length
    NiOl · 0ΐ700
    权利要求:
    Claims (25)
    [1]
    1. A method for manually controlled influencing movements of an electronically controlled machine (2) or system (1), comprising: a manual operation of a proportional or quasi-analog control input means (9, 9 '), generating a temporal sequence of quasi- analog setpoint values (15), in particular of position values, speed values or acceleration values, for a control device (3) or for a drive control (16) of at least one drive of the electronically controlled machine (2) or system (1), which chronological sequence of quasi analog setpoints (15) based on the specifications or inputs of an operator relative to the quasi-analog control input means (9, 9 '), characterized in that as input means (9) an at least one-dimensional resolution, touch-sensitive position detection sensor (10), in particular in the manner of Touchpads (11) or touch screens (12, 12 ') is used, w in that an eletrer is used for the continuous detection of a sweeping actuating movement or of at least one individual actuation position within an electronically evaluable actuation surface (13) of the touch-sensitive position detection sensor (10), and that a temporal sequence of predefined or position values (14) is integrated with the touch-sensitive position detection sensor (10) ) in relation to its actuating surface (13) and converted into a corresponding chronological sequence of desired values (15) for the drive control (16). -2- • m • · · ·
    [2]
    2. The method according to claim 1, characterized in that in the course of the conversion of the temporal sequence of default or position values (14) in the temporal sequence of desired values (15) for the drive control (16) smoothing over a plurality of successively determined default or Position values (14) is made, or a smoothing over several immediately successive setpoints (15) is made.
    [3]
    3. The method according to claim 1 or 2, characterized in that the individual values of the sequence of default or position values (14) of the touch-sensitive position sensor (10) are determined at a time interval which, compared to a time interval of the setpoint values (15 ) is different for the drive control (16).
    [4]
    4. The method according to claim 3, characterized in that the default or position values (14) of the touch-sensitive position detection sensor (10) are determined at time varying intervals and the setpoint values (15) for the drive control (16) for a predetermined, time constant distance be determined.
    [5]
    5. The method according to claim 3 or 4, characterized in that the setpoint values (15) for the drive control (16) are determined in a strictly periodic time grid and by interpolation or extrapolation of the detected default or position values (14) of the touch-sensitive position detection sensor (10 ) be determined.
    [6]
    6. The method according to any one of claims 3 to 5, characterized in that during a movement of a machine axis or a drive of the controlled machine (2) or system (1) a continuous query for the detection of Vorgabe- or position values (14) of the touch-sensitive Posrtionssensors (10) is monitored and in the absence of the query or query results beyond a specified period of time, from the control device (3) and / or the drive control (16). a termination of the movement is initiated or initiated.
    [7]
    7. The method according to any one of the preceding claims, characterized in that the change of the set values (15) for the drive control (16) in the course of the actuation of the touch-sensitive position detection sensor (10) within a certain period of time substantially proportional to the path swept during this period on the actuating surface (13) of the touch-sensitive position detection sensor (10).
    [8]
    8. The method according to any one of the preceding claims, characterized in that the change of the set values (15) for the drive control (16) within a certain period of time substantially proportional to the detected in this period distance of a current actuation position compared to a sweeping actuating movement initiating, initial contact point on the actuating surface (13) of the touch-sensitive position detection sensor (10), wherein in addition to the detected distance, where appropriate, the direction or orientation of the current operating position compared to the immediately preceding, initial contact point, in particular with respect to a coordinate axis, is determined and for the change of the set values (15) for the drive control (16) is co-determining.
    [9]
    9. The method according to any one of the preceding claims, characterized in that the desired values (15) for the drive control (16) in dependence of a change in the actuation position along a particular direction or dimension, in particular with respect to a certain coordinate axis, determined and determined.
    [10]
    10. The method according to any one of the preceding claims, characterized in that the maximum permitted change (25) of the desired values (15) for the drive control (16) with respect to a certain time interval (26) N20 '' -4- * • by a is limited to the upper limit value, wherein the maximum permissible change (25) of the setpoint values (15) is made dependent on the maximum permissible movement speed, on the maximum possible movement speed, or on the movement speed of the controlled drive that can still be safely monitored and controlled by an operator as expected ,
    [11]
    11. The method according to claim 10, characterized in that the upper limit is variably adjusted, this adjustment of the upper limit of the operating state of the machine (2) or system (1) and / or the current position of the driven drive or a controlled machine axis is made dependent.
    [12]
    12. The method according to any one of the preceding claims, characterized in that from the movement specification by the touch-sensitive position detection sensor (10) and / or sensed measured values of the machine (2) or system (1) running movement or sequence change and / or from the control commands generated by the control device (3) or the drive control (16) determines a characteristic and is compared with an upper limit, and that when the upper limit is exceeded, the movement or sequence change of the machine (2) o the plant (1) is stopped immediately or after a defined limited follow-up phase, and / or that when the characteristic is approached at the upper limit or when a lower limit, which is lower than the upper limit, the operator closes or approaches the upper limit by delivery a warning signal is signaled.
    [13]
    13. The method according to any one of the preceding claims, characterized in that a release before the activation of the drive to be controlled and / or a release for changing the setpoint values (15) for the drive control (16) and / or an active activation of the üh Only after performing a predefined, characteristic operator action, in particular by double or multiple tapping or touching the touch-sensitive position detection sensor (10) within a predetermined period of time, or only after execution of the position-sensitive sensor (10) a predetermined movement pattern on the touch-sensitive position detection sensor (10).
    [14]
    14. The method according to any one of the preceding claims, characterized in that a short range (40) to a predetermined zero or start position (39) of the touch-sensitive position detection sensor (10) is predefined and a change in the desired values (15) for the drive control (16). or a release of the drive to be operated takes place only when an input member, in particular a finger of the operator, is moved beyond a certain distance or beyond the predefined short range (40).
    [15]
    15. The method according to any one of the preceding claims, characterized in that in at least one edge or end portion of the touch-sensitive position detection sensor (10) an end zone (41,42) is defined, and that in an uninterrupted sweeping actuating movement by means of an input member, in particular a finger an operator, starting from a central or inner range of motion (36) in one of the end zones (41,42), the change of the set values (15) from the moment of the transition into the respective end zone (41,42) regardless of the further change of Operation position continued, in particular, is maintained constant until the input member leaves the end zone (41,42) again, in particular from the end zone (41,42) is lifted.
    [16]
    16. The method according to any one of claims 1 to 14, characterized in that in a sweeping operation by means of an input member, in particular a finger of an operator and a corresponding change of the desired values (15), the further change of the desired values (15) from the N2G - ·········································································································································· of the actuating surface (13) is continued, in particular unchanged or slowly decreasing, until the input element is placed again on the actuating surface (13)
    [17]
    17. Machine control with a control panel (5), which is designed at least for the manually controlled influencing of movements of an electronic machine (2) or system (1), with a proportional or quasi-analog control input means (9, 9 '), which manually operated wherein the machine controller or a drive controller (16) encompassed by the machine controller generates a chronological sequence of quasi-analog setpoint values (15), in particular position values, speed values or acceleration values for at least one drive of the electronically controlled machine (2) or system (2). 1) and this temporal sequence of quasi-analog reference values (15) is based on the specifications or inputs of an operator with respect to the quasi-analogically controlled input means (9, 9 '), characterized in that the input means (9) are an at least one-dimensionally resolving, touch-sensitive Position detection sensor (10), esp is formed in the manner of a touchpad (11) or touchscreen (12, 12 '), which is provided for continuously detecting a sweeping actuation movement or at least a single actuation position within an electronically evaluable actuation surface (13) of the touch-sensitive position detection sensor (10) and in that the machine control or drive control (16), with the involvement of the touch-sensitive position detection sensor (10), determines a time sequence of default values (14) with respect to actuations with respect to the N201'-09700 actuation surface (13) and converts this time sequence is formed by default or position values (14) in a corresponding temporal sequence of set values (15) for the machine control or the drive control (16).
    [18]
    18. Machine control according to claim 17, characterized in that the touch-sensitive position detection sensor (10) within its actuating surface (13) has a first and at least one second actuating portion (43, 44), wherein the second actuating portion (44) for generating desired values (15 ) is formed for the drive control (16), which compared to the over the first operating portion (43) generatable set values (15) for the drive control (16) are comparatively higher or finer resolved and allow a relatively more sensitive, manual control of the drive.
    [19]
    19. Machine control according to claim 18, characterized in that the first actuating portion (43) and the at least one further actuating portion (44) are formed by structurally independent position detection sensors (10).
    [20]
    20. Machine control according to one of claims 17 to 19, characterized in that the touch-sensitive position detection sensor (10) is multi-touch capable and is designed for the simultaneous detection of a plurality of mutually distanced operation points.
    [21]
    21. Machine control according to one of claims 17 to 20, characterized in that the touch-sensitive position detection sensor (10) comprises a first strip-shaped actuating portion (43) and a second strip-shaped actuating portion (44), wherein the second strip-shaped actuating portion (44) relative to the first strip-shaped Operating portion (43) is angled aligned or runs with a different orientation, -8 so that in plan view substantially V- or U-shaped actuating surface (13) is formed.
    [22]
    22. Machine control according to claim 21, characterized in that in a connecting or transition section (45) between the first strip-shaped actuating portion (43) and the second strip-shaped actuating portion (44) is formed a neutral or start zone (46) which upon actuation is provided for stopping the driven, active drive of the machine (2) or system (1).
    [23]
    23. Machine control according to one of claims 17 to 22, characterized in that the touch-sensitive position detection sensor (10) has a plate-like aperture (47) and / or a film (48) is superposed, which depressions (49) and / or elevations (50) for facilitating position finding or haptic guidance of the finger of an operator with respect to the touch-sensitive position detection sensor (10).
    [24]
    24. Machine control according to claim 23, characterized in that a thickness (51) of the plate-like aperture (47) or a height (52) of the elevations (50) of the film (48) is dimensioned such that on the part of the touch-sensitive position detection sensor (10 ) there is no recognition of a finger or hand section of an operator supported thereon, and that a depth (53) of the recesses (49) in the plate-like aperture (47), or an elastic deformability of the elevations (50) of the film (48) is dimensioned in such a way in that a detection by the touch-sensitive position detection sensor (10) is ensured in the case of a touch or actuation with the finger of an operator. N20 - 'O & 7QÖ -9- • ·


    [25]
    25. Machine control according to one of claims 17 to 24, characterized in that it is designed for carrying out a method according to one or more of claims 1 to 16. KEBAAG represented by Anhalt ^^ i Partner Rechtsanwalt GmbH
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    同族专利:
    公开号 | 公开日
    EP2709803A2|2014-03-26|
    EP2709803B1|2016-12-21|
    WO2012155167A3|2013-03-28|
    AT511488A3|2014-12-15|
    WO2012155167A2|2012-11-22|
    PL2709803T3|2017-08-31|
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    法律状态:
    2016-05-15| REJ| Rejection|Effective date: 20160515 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA695/2011A|AT511488A3|2011-05-16|2011-05-16|METHOD FOR MANUALLY CONTROLLING MOVEMENT OF A MACHINE OR APPARATUS AND CORRESPONDING MACHINE CONTROL|ATA695/2011A| AT511488A3|2011-05-16|2011-05-16|METHOD FOR MANUALLY CONTROLLING MOVEMENT OF A MACHINE OR APPARATUS AND CORRESPONDING MACHINE CONTROL|
    EP12740279.0A| EP2709803B1|2011-05-16|2012-05-15|Method for influencing movements of a machine or facility in a manually controlled manner and corresponding machine control system|
    PL12740279T| PL2709803T3|2011-05-16|2012-05-15|Method for influencing movements of a machine or facility in a manually controlled manner and corresponding machine control system|
    PCT/AT2012/050069| WO2012155167A2|2011-05-16|2012-05-15|Method for influencing movements of a machine or facility in a manually controlled manner and corresponding machine control system|
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