DEVICE AND METHOD FOR CONVERTING FINGER OR HAND MOVEMENTS OR POSITIONS TO ELECTRICAL SIGNS

专利摘要:
A handle is provided which is adapted to receive one or more fingers or a part of the hand. A sensor assembly is mounted on or near the surface of the handle. each sensor associated with a different region of the handle. A detector is arranged to detect contact of one or more of the sensors by means of one or more fingers or part of a hand to generate an observed contact point map for the handle for a respective sampling interval. A controller may generate a ratio of the control response or gain in the electrical signals emitted in response to the observed contact point map by comparing or being substantially similar to a reference point map where the electrical signals are derived from motion or handle shift by a user.
公开号:BR102017010046A2
申请号:R102017010046-4
申请日:2017-05-12
公开日:2018-01-16
发明作者:E. Drum Jonathan
申请人:Deere & Company；
IPC主号:

专利说明:

(54) Title: DEVICE AND METHOD FOR CONVERTING FINGER OR HAND MOVEMENTS OR POSITIONS IN ELECTRIC SIGNS (51) Int. Cl .: A63F 13/212; G06F 3/01 (30) Unionist Priority: 01/07/2016 US 15/200668 (73) Owner (s): DEERE & COMPANY (72) Inventor (s): JONATHAN E. DRUM (74) Attorney (s): KASZNAR LEONARDOS INTELLECTUAL PROPERTY (57) Abstract: A handle is provided that is adapted to receive one or more fingers or part of the hand. A set of sensors is mounted on or near the surface of the handle. Each sensor is associated with a different region of the handle. A detector is arranged to detect the contact of one or more of the sensors, by means of one or more fingers or a part of a hand, to generate a map of the observed contact point for the handle for a respective sampling interval.
A controller can generate a control response or gain ratio in the electrical signals emitted in response to the observed contact point map by comparing or being substantially similar to a reference contact point map, where the electrical signals are derived from movement or displacement of the handle by a user.
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1/41 “DEVICE AND METHOD FOR CONVERTING MOVEMENTS OR POSITIONS OF THE FINGER OR HAND IN ELECTRIC SIGNS”
Field [001] This description refers to the method and system with sensors for reading the positions of the finger or hand for adjustable control, such as control of a trigger, electronic device, vehicle or implement.
Fundamentals [002] In a prior art, a steering lever sensor can simply detect the movement of a user's hand to generate the corresponding electrical signals. For example, for a given movement, a controller, associated with the steering lever sensor, generates uniform electrical control signals, regardless of how the user currently holds, supports, or tightens the steering lever. In a prior art, the user can manually enter or manually press one or more additional keys associated with the user interface to enable, disable or change a signal output from the steering lever sensor. Manual user activation or pressing additional mechanically operated keys can be inefficient, non-ergonomic or costly. One possible application of the steering lever sensor is to control a vehicle, such as heavy equipment off the road, which can be operated for extended periods of time. Thus, there is a need for a method and system with hand sensors for reading finger or hand positions that can detect and automatically react to the user's finger or hand positions consistent with the user's expectations, preferences or programming. a controller or controlled device.
Summary [003] In one embodiment, a method and system with hand sensors
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2/41 for reading finger or hand positions are able to convert the movements or positions of the finger or hand (for example, or both, positions and movements) into electrical signals. A handle is adapted to receive one or more fingers or part of the hand. A set of tactile sensors (for example, capacitive sensors) is mounted on or near the surface of the handle. Each sensor is associated with a different region of the handle. A detector is arranged to detect the contact of one or more of the sensors, by one or more fingers or part of a hand, to generate a map of the observed contact point for the handle for a respective sampling interval. A controller can generate a ratio of the control response or the gain in the electrical signals emitted (for example, by a trigger) in response to the observed contact point map by comparing or being substantially similar to a reference contact point map, where the electrical signals are derived from the movement or displacement of the handle by a user. Brief Description of the Drawings [004] Figure IA is a block diagram of a modality of a system with a hand sensor for reading the positions of the finger or hand.
[005] Figure 1B is a block diagram of another modality of a system with hand sensors for reading the positions of the finger or hand.
[006] Figure 2 is a flow chart of a modality of a method with a hand sensor for reading the positions of the finger or hand on a manipulator which can be converted into definable electrical signals, alone or in conjunction with any handle movement (for example, steering lever handle).
[007] Figure 3 is a flow chart of another modality of a method with a hand sensor for reading the positions of the finger or hand on a manipulator which can be converted into definable electrical signals, alone
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3/41 or in conjunction with any movement of the handle.
[008] Figure 4 is a flow chart of another modality of a method with a hand sensor for reading the positions of the finger or hand in a manipulator which can be converted into definable electrical signals, alone or in conjunction with any movement of the handle.
[009] Figure 5 is a flow chart of yet another modality of a method with a hand sensor for reading the positions of the finger or hand of a manipulator which can be converted into definable electrical signals, alone or in conjunction with any movement of the handle.
[0010] Figure 6A and Figure 6B, collectively, are a flow chart of a modality of a method with a hand sensor for reading the positions of the finger or hand which are used to control a vehicle. [0011] Figure 7 shows a cross section of a modality of a capacitive sensor or illustrative tactile sensor that can be used for the hand sensor to read the positions of the finger or hand.
[0012] Figure 8 is an exploded perspective view of an illustrative capacitive sensor modality.
[0013] Figure 9A is a perspective view of one side of a handle with one or more capacitive or tactile sensors built in.
[0014] Figure 9B is a perspective view from the opposite side of the handle of Figure 9A with one or more capacitive or tactile sensors built in.
[0015] Figure 10A is a perspective view of a first grip of the handle on one side.
[0016] Figure 10B is a perspective view of the first tightening on the opposite side to that of Figure 10A.
[0017] Figure 11A is a perspective view of a second tightening
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4/41 of the handle on one side.
[0018] Figure 11B is a perspective view of the second tightening on the opposite side to that of Figure 11 A.
[0019] Figure 12A is a perspective view of a third grip of the handle on one side.
[0020] Figure 12B is a perspective view of the third grip on the opposite side to that of Figure 12A.
[0021] Figure 13A is a perspective view of a fourth grip of the handle on one side.
[0022] Figure 13B is a perspective view of the fourth grip on the opposite side from that of Figure 13 A.
[0023] Figure 14 is a query table or possible graph associated with the sensors and contact points on a handle, which can define a corresponding illustrative tightening.
[0024] Figure 15 is another query table or possible graph associated with the sensors and contact points in a handle, which can define a corresponding illustrative tightening.
[0025] Figure 16 is yet another query table or possible graph associated with the sensors and contact points in a handle, which can define a corresponding illustrative tightening.
[0026] Figure 17 is yet another query table or possible graph associated with the sensors and contact points on a handle, which can define a corresponding illustrative tightening.
Detailed Description [0027] As used in this document, configured for, adapted for, or arranged for means that the data processor is programmed with appropriate software instructions, software modules, executable code,
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5/41 data libraries, and / or data needed to perform any referenced functions, mathematical operations, logical operations, calculations, determinations, processes, methods, algorithms, subroutines, or programs that are associated with one or more blocks presented in any drawing in this description. Alternatively, separately from or cumulatively with the above definition, configured for, adapted for, or arranged for may mean that the electronic data processing system comprises one or more components described here as software modules, equivalent electronic hardware modules, or both to perform any referenced functions, mathematical operations, calculations, determinations, processes, methods, algorithms, subroutine.
[0028] Throughout the drawings in this document, similar reference numbers indicate similar characteristics or elements of the devices or systems, or similar procedures or steps of the methods.
[0029] Figure IA is a block diagram of a modality of a system 11 with a hand sensor 12 for reading the positions of the finger or hand on a manipulator (for example, steering lever), alone or in conjunction with any movement of the handle by an operator or user. [0030] In Figure IA, the system 11 comprises a hand sensor 12 which comprises one or more of the following: (1) a handle with one or more tactile sensors or capacitive sensors 14, and (2) a sensor of displacement of the handle 18 for detecting movement (eg acceleration, speed), position or orientation of sensor 14, (3) and an optional detector 16 for detecting a change in capacitance or other electrical parameter of a user's finger, part of a finger, hand, or part of a hand contacting or approaching (in close proximity together) one or more capacitive or tactile sensors 14.
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6/41 [0031] In one configuration, one or more capacitive or tactile sensors
14, the displacement sensor of the handle 18 and the optional detector 16, and an optional analog to digital converter 13 comprise a detection module 10.
[0032] In one embodiment, the hand sensor 12 is coupled to an electronic data processing system 22, which can comprise a controller. In turn, the data processing system 22 can be coupled to or connected to a driver 38 (for example, electro-hydraulic valve) to control a mechanism or device, such as a steering system, braking system, tool, or implement (for example, carrying the bucket attached to a boom or arm) associated with a vehicle. A driver 38 may comprise an electric motor, a linear drive, a relay, a solenoid, a micro-electromechanical system (MEMS), an electro-hydraulic valve, an electrically controlled hydraulic pump, or an electro-hydraulic pump, or other machine hydraulic or electrical.
[0033] In addition, the data processing system 22 can be coupled to a user interface 20, such as a mini keyboard, keyboard, display, touch screen display, key or other device for data input or output . For example, entering or leaving data in the data processing system 22 can facilitate the establishment or modification of a look-up table 32, file or other data structure associated with grip data maps, contact point maps, or reference maps of the user's contact points on the handle and corresponding gains (or corresponding control response ratio) for the electrical signals emitted to control the actuator 38 (for example, electro-hydraulic valve). The data in query table 32 or another data structure may be consistent with user definable preferences, factory default settings, or other
Petition 870170031552, of 05/12/2017, p. 73/131 / 41 configurations.
The control response ratio or C / R refers to the ratio of the input control signal to the output control signal. The electronic data processing system 22 can be employed to establish an output control signal provided for the driver 38 or an electronic device based on an input control signal provided by the hand sensor 12. In the context of a machine or vehicle , higher C / R values produce higher control resolution and slower, more precise machine movements for a reference movement of the handle (eg steering lever sensor). Precise movements are desirable for moving machinery or attachments in confined spaces or for gathering exact specifications or work plans, such as construction tasks around construction structures, fiber optic cable, pipes, gas lines, and lines electrical, for example. Conversely, lower C / R produces lower control resolution and faster, less precise machine movements for the same reference motion as the handle.
[0034] If an operator of a vehicle in the field needs more precise movement or faster movement of a machine, to some limited extent the operator can adjust his grip on the handle to try to impact the C / R (or gain) in the direction that it is suitable for the task at hand. For example, to adjust C / R, the operator can adjust the length of the steering lever control handle by selecting the grip on the handle. The combination of using smaller, more sensitive muscles (for digital tightening) and increasing the length of the handle (by tightening the top of the stick) allows the operator to mechanically increase the C / R (and inversely weaker gain) to some extent. In any case, the increase is limited by the skill and versatility of the operator to use the grip positions
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8/41 that can become awkward, extreme or uncomfortable over time. [0035] At this point, the description supports user-definable adjustment or leveraged automatic adjustment in C / R (or gain) in response to: (1) the detection of the hand sensor of an operator's handshake, (2) the interpretation of the data processing system of the capacitive or tactile sensor data 14 to identify the specific handshake, and (3) the assignment of the data processing system corresponding to C / R (or gain) associated with the specific handshake identified according to a look-up table 32 or data structure stored on the data storage device 30. According to an example, if the data processing system 22 identifies a closed-fist handshake of the operator on the handle, the C / R can be decreased from a baseline, neutral or reference C / R (for example, average C / R). In this way, an operator can use the closed-grip grip for rough, rapid movement, such as loading trucks.
[0036] According to another example, if the data processing system 22 identifies a fingertip grip or superior operator grip on the handle, the C / R can be increased from the baseline C / R , neutral or reference. In this way, the operator can use the fingertip grip for precise control movements, such as pipe placement or excavation near a foundation or foundation consistent with prudent, safe and customary industry practices.
[0037] In addition, the C / R can be adjusted with more gains or sensitivity to the corresponding specific tightening that is possible through any adjustment of the resulting mechanical handle associated with a tightening change. For example, such adjustments can be defined to provide uniform gain or sensitivity enhancement that is based on
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9/41 operator or user preferences or historical machine settings from one or more previous operators. The hand sensor 12 and associated data processing system 22 is well suited to obtain both precision for the most delicate operations and high speed for productivity operations.
[0038] In Figure 1 A, the electronic data processing system 22 comprises an electronic data processor 24, a data storage device 30, and one or more data ports 28, coupled to a data bus 26. In In one embodiment, the data processor 24 may be communicating with one or more of the devices that travel through the data bus 26: data storage device 30, and one or more data ports 28.
[0039] Data processor 24 may comprise a microcontroller, microprocessor, programmable logic matrix, application-specific integrated circuit (ASIC), digital signal processor, or other device for processing data, manipulating, accessing, retrieving , and store the data. A data storage device 30 may comprise an electronic element, non-volatile electronic memory, an optical storage device, a magnetic storage device, or other device for storing analog or digital data on a tangible storage medium, such as a disk optical drive, a magnetic disk, or electronic memory. Each data port 28 can comprise the buffer memory, a transceiver or both to interact with other network elements over a vehicle data bus (e.g., Controller Area Network or Ethernet) of a communications network. [0040] The data storage device 30 can store program instructions or one or more software modules, such as a
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10/41 look-up table 32 or other data structures, a controller 34 and a timer 36. In one embodiment, the data processor 24 can support a programming module, an orientation module and a mode 24 data processor. Lookup table 32, files, data records, or other data structures can store data about the relationship between the sensor contact data to the corresponding sensor identifiers, a corresponding handshake associated with the data of sensor contact (or a constellation of capacitive sensors 14 on or in the grip), and a respective gain, control gain or C / R applied to a normal or reference movement of the handle displacement sensor 18.
[0041] Each data port 28 may comprise a transceiver, an input / output device, a data port, a data serializer, temporary storage memory, or another device for communicating, transmitting, or receiving data (for example , via vehicle data bus 50) or from detection module 10.
[0042] In one embodiment, the hand sensor 12 comprises a handle displacement sensor 18. The handle displacement sensor 18 can comprise a handle encoder or position sensor to estimate a position, direction of rotation, angular position of the handle. handle. For example, the handle 18 displacement sensor may comprise a magnet mounted, embedded or attached to the handle, a magnetic field sensor (eg Hall effect sensor) spatially separate from the magnet, and an electronic circuit for reading the rotational speed. axis and / or rotational direction based on detectable changes in the magnetic field. [0043] In one embodiment, the hand sensor 12 comprises a handle associated with the set of capacitive or tactile sensors 14 in the known orientations or positions on the handle (for example, handle of the
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11/41 steering lever sensor). Collectively, the known orientations or positions of the capacitive or tactile sensors 14 on the handle can be referred to as a map of the sensor or constellation. The reference contact points of the fingers or hands on the capacitive or tactile sensors 14 are referred to as a reference contact point map. The observed contact points of the fingers or hands on the capacitive or tactile sensors 14 are referred to as an observed contact point map. As used here, the contact point map can refer to a reference contact point map for a corresponding identified grip or an observed contact point map, or both. In one example, the reference point map is associated with a grip type of one or more fingers or a part of the hand on the handle, where the grip type is selected from the group comprising one or more of those follow: a handshake, a finger grip, a total grip, a grip at the base, an open palm grip, a fingertip grip, a handshake with a closed fist, a handshake with the hand open, a finger grip with side handling, and a finger grip with top handling. In another example, each reference point map is associated with a relationship of the response of the respective control or the respective gain that is stored on a data storage device. In yet another example, each reference point map is associated with a respective gain (or ratio of the respective control response) and respective identified grip of the user's hand, part of the fingers or hands on the handle.
[0044] In one configuration, a handle has one or more capacitive sensors 14 associated with an external surface of the handle. For example, one or more capacitive sensors 14 are embedded in the next layer or on the outer surface of the handle. The handle can receive one or more
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12/41 fingers or part of the hand. The hand can support, squeeze or otherwise contact the handle or one or more capacitive sensors 14 according to one or more identifiable grips. In one embodiment, a set of capacitive sensors 14 on or near the surface of the handle. For example, each sensor is associated with a different region of the handle.
[0045] A detector 16 is arranged to detect the contact of one or more of the capacitive or tactile sensors 14 to generate a contact point map for the handle for a respective sampling interval. In one configuration, detector 16 comprises an oscillator and a measuring circuit comparator.
[0046] In a configuration, if detector 16 does not provide a digital signal output, an optional analog to digital converter 13 converts an analog signal from detector 16 into a digital signal. Similarly, if the handle 18 displacement sensor does not provide a digital signal output, an optional analog to digital converter 13 converts an analog signal from the handle 18 displacement sensor into a digital signal. The optional analog to digital converter 13 is illustrated as a block on the dashed lines in Figure IA. The analog to digital converter 13 can include one or more analog to digital converters 13 or a multiplexer that supports multiple inputs to share a single analog to digital converter 13 with the output provided to the electronic data processing system 22 via a or more data ports 28.
[0047] The manipulation displacement sensor 18 is derived from the normal electrical or reference signals of the movement or displacement of the manipulation by a user. A data processor 24, controller 34, or data processing system 22 generates a gain (or adjustment of C / R) in the normal electrical or reference signals emitted by the displacement sensor of the
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13/41 handle 18 in response to the operator's movement and in response to the operator's identified grip on one or more capacitive sensors 14. The grip identified on the handle is based on the observed contact points of the grip or hand on the capacitive sensors 14 that compares a corresponding contact point map based on a look-up table 32 or other reference contact data structure of the capacitive sensors 14 (by means of the capacitor sensor identifier) and corresponding gains. [0048] In one embodiment, the handle comprises a control handle or steering lever sensor that produces the electrical signal based on the movement or displacement of the handle in relation to a reference coordinate system. The reference coordinate system can represent the coordinates in the X-Y plane of a Cartesian coordinate system.
[0049] The contact point map is associated with one or more of the following grips: a handshake, a finger grip, a total grip, a grip at the base, an open palm grip, a grip with the tip of the finger, a handshake with a closed fist, a handshake with an open hand, a finger grip with lateral handling, and a finger grip with handling from the top. In some cases, the touchpoint map is associated with a gesture or posture in which a user supports or interacts with the manipulator with the user's fingers, palm or other parts of a user's hand.
[0050] The observed contact point map is felt by one or more capacitive or tactile sensors 14, or provided in an output of the optional detector 16 or analog to digital converter 13. However, the reference point map for the corresponding grips are stored in the data storage device 30. During the operation of the vehicle, the specific grip of the operator can be identified for each interval of
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14/41 sampling based on the correspondence, correlation or comparison of the contact point map observed in a better candidate among the respective reference contact point maps.
[0051] In one embodiment, the data processing system 22 provides an electrical control signal with a gain (or equivalent C / R) selected in the support, grip or identified contact of the operator with the handle or sensor positions on the handle. In one example, the identified tightness can be identified if the observed point of contact map sufficiently compares, matches or correlates with the reference point of contact map based on the meeting or excess of a certain percentage threshold of compatibility for the point of contact map. observed contact and the reference contact point map for the identified tightening. In another example, the identified tightness can be identified if the observed point of contact map sufficiently compares, matches or correlates to the reference point of contact map based on the meeting or excess of a certain percentage threshold of compatibility for the point of contact map. observed contact and the reference contact point map for the identified tightening, where each non-protective state (see, for example, third sensor in Figure 14) for a reference contact point is excluded from a denominator used to determine the threshold percentage, which comprises a numerator of contact points observed from an affirmative state (yes, see, for example, first sensor in Figure 14) for the corresponding sensor identifiers divided by a denominator of the reference contact points of a state affirmative for the same identifiers as the corresponding sensors. In other words, in some modalities, the affirmative state only counts to compare whether the affirmative state applies to the same sensor identifier on the observed contact point map and the
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15/41 respective reference point map.
[0052] In one example, the data processing system 22 generates a control or command signal for an actuator 38 (for example, electro-hydraulic valve) based on the gain (or C / R) to increase the hydraulic flow at a first flow level that is higher than a second flow level (for example, reference or moderate flow level) if the data processor 24 identifies an identified handshake from the handle for the sampling interval, where the identified handshake is within the set of handshakes that is associated with a gain set, a gain adjustment, C / R set, or C / R adjustment to increase hydraulic flow. For example, such digital grips, which are associated with increased hydraulic flow, may comprise one or more of the following: closed-hand and open-hand grip, handshake, which tends to be compatible with abrupt control of an implement (or tool) controlled by the hydraulic valve.
[0053] In another example, actuator 38 (for example, electro-hydraulic valve) is controlled based on gain (or C / R) to decrease hydraulic flow to a second flow level that is lower than a first level of flow. flow (for example, reference or moderate flow level) if the data processor 24 identifies an identified handshake (or identified finger grip) of the handle for the sampling interval, where the identified handshake is within a set of handshakes that is associated with a gain set, a gain adjustment, C / R set, or C / R adjustment to increase hydraulic flow. For example, such digital grips, which are associated with decreased hydraulic flow, may comprise one or more of the following: upper finger grip handling or lateral finger grip handling, which tends to be compatible
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16/41 with the precise control of an implement (or tool) controlled by the hydraulic valve.
[0054] In one configuration, a timer 36 is associated with data processor 24 or controller 34 to determine if the handle is not connected by a user's hand or fingers for a minimum threshold period. A user interface 20 is coupled to data processor 24. Data processor 24 or controller 34 is adapted to generate an alert to user interface 20 or to disable the displacement sensor of handle 18 for one or more time intervals if the handle is not connected by a user's hand or fingers for a minimum threshold period. [0055] Figure 1B is a system block diagram with hand sensor 12 for reading the finger or hand positions that is similar to the system in Figure IA, except the system in Figure 1B also comprises a vehicle data bus 50, an optional data processor 24 and an optional ignition key 54. Similar reference numbers in Figure 1A and FIG. 1B indicate similar elements.
[0056] The data bus of vehicle 50 is coupled to the electronic data processing system 22 or to a data port 28 or the electronic data processing system 22. In turn, an actuator 38 (for example, an electro-actuator -hydraulic 38) is coupled to the vehicle data bus 50. In addition, an optional data processor 24 can be coupled to the vehicle data bus 50. Optional data processor 24 can provide an ignition key interface 54 to the vehicle data bus 50 to activate or enable hand sensor 12 (for example, capacitive sensors Meo and handle displacement sensor 18) when the ignition key 54 is in an on state and to disable or disable hand sensor 12 when the ignition key 54 is in an off state.
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17/41 [0057] Figure 2 is a flow chart of a modality of a method with a hand sensor 12 for reading the positions of the finger or hand that can be converted into definable electrical signals. The method in Figure 2 starts at step S200.
[0058] In step S200, a handle (for example, steering lever handle) receives the contact of one or more fingers or part of the hand by an operator or user and a handle 18 displacement sensor produces an electrical signal in response to movement or displacement of the handle.
[0059] In step S202, a set of capacitive sensors 14 or other tactile sensors are provided on or near the surface of the handle, where each sensor is associated with a different region of the handle. For example, the sensors can be arranged in a constellation in the known regions of the handle.
[0060] In step S204, detector 16 or data processor 24 detects the contact of one or more of the capacitive sensors 14 or other tactile sensors by the fingers or a hand to generate an observed contact point map for the manipulation for a respective sampling interval. For example, the observed contact point map indicates the identifiers of the corresponding capacitive sensors 14 or tactile sensors that the operator or user contacts with a part of the hand or finger during a sampling interval.
[0061] In step S206, a data processor 24, data processor 24, or electronic data processing system 22 determines a gain (eg, gain set or a gain adjustment) or control response ratio (eg example, an A / R set or an A / R setting) for the electrical signal, which is output to a driver 38 (or electronic device) associated with a vehicle or implement in response to the
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18/41 observed contact point comparing or corresponding to a selected reference contact point map, in which the selected reference contact point map is associated with (a corresponding identified grip of the handle and) the control response relationship or gain (for example, corresponding gain setting, gain adjustment, C / R set, or C / R adjustment). For example, the observed contact point map compares or corresponds to the reference contact point map (for example, selected contact point map) if the observed percentage of contact points (for example, for the corresponding capacitor sensors in different regions of the handle) meets or exceeds a threshold percentage of contact points for the reference contact point map.
[0062] The reference point map can comprise the sensor identifiers and the related state according to either the fingers or the operator's grip contact each capacitive sensor 14 or not, or whether the capacitive sensor 14 has a state of no protection, such as the reference contact point maps from Figure 14 to Figure 17, inclusive. If a specific capacitive sensor 14 has a non-protective state, the reference tightening can be associated with the contact or non-contact of the finger on that specific sensor. The reference contact point can be stored as a look-up table 32, a file or other data structure in the data storage device 30 together with a plurality of other reference contact point maps. In one embodiment, data processor 24, data processor 24 or electronic data processing system 22 searches for candidate reference point maps on the data storage device that it compares in more detail, or that is substantially similar to, the observed touchpoint map to identify the selected reference touchpoint map and its posture or
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19/41 corresponding identified tightening.
[0063] Step S206 can be performed according to various techniques that can be applied separately or cumulatively. Under a first technique, the data processor 24 or data processing system 22 stores the reference contact point map on a data storage device together with a plurality of other reference contact point maps. In addition, data processor 24 or data processing system 22 searches the candidate reference point maps on the data storage device for the reference contact point map that compares or is substantially similar to the reference map. observed contact point.
[0064] Under a second technique, data processor 24 or data processing system 22 associates the reference point map with a type of grip selected from a group comprising one or more of the following: one handshake, a finger grip, a total grip, a grip at the base, an open palm grip, a fingertip grip, a clenched handshake, an open hand grip, a finger grip with side handling, and a finger grip with top handling.
[0065] Under a third technique, in which the data processor 24 or the data processing system 22 identifies a grip of the manipulator user if the observed point of contact map sufficiently compares, corresponds or correlates to the point of contact map reference contact based on the meeting or excess of a certain percentage threshold of compatibility for the observed contact point map and the reference contact point map for an identified tightening.
[0066] Under a fourth technique, the data processor 24 or the system
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20/41 data processing 22 excludes each state of non-protection in the reference contact point map for a determination of the threshold percentage. [0067] Under a fifth technique, data processor 24 or data processing system 22 associates each reference point map with a relationship of the response of the respective control or the respective gain that is stored in a storage device of data.
[0068] Figure 3 is a flow chart of another modality of a method with a hand sensor 12 for reading the positions of the finger or hand that can be converted into definable electrical signals. The method in Figure 3 is similar to the method in Figure 2, except the method in Figure 3, it also includes step S208. Similar reference numbers in Figure 2 and Figure 3 indicate similar elements.
[0069] In step S208, data processor 24, data processor or electronic data processing system 22 produces or adjusts the electrical signal (associated with handle 18 displacement sensor) based on the control response ratio or in the determined gain (C / R). For example, the handle 18 displacement sensor provides an initial electrical signal that data processor 24 or data processor 24 can adjust to produce a revised electrical signal that is amplified or attenuated with / in relation to the initial electrical signal; or more sensitive or less sensitive than the initial electrical signal for the movement or displacement of the handle with respect to a reference coordinate system.
[0070] Figure 4 is a flow chart of another modality of a method with a hand sensor 12 for reading the positions of the finger or hand that can be converted into definable electrical signals. The method in Figure 4 is similar to the method in Figure 2, except the method in Figure 4, it also includes step S210. Similar reference numbers in Figure 2 and Figure 4
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21/41 indicate similar procedures or steps.
[0071] In step S210, an electronic data processing system or data processor 24 provides an electrical signal adjusted to control an actuator 38 (for example, a vehicle's electro-hydraulic valve) based on the electrical signal and the relationship the determined control response or the determined gain (C / R) to change (for example, increase or decrease) the hydraulic flow that corresponds to an identified handshake or finger grip of the handle or a gesture applicable to the sampling interval.
[0072] Figure 5 is a flow chart of yet another modality of a method with a hand sensor 12 for reading the positions of the finger or hand that can be converted into definable electrical signals. The method in Figure 5 is similar to the method in Figure 2, except the method in Figure 5, it also includes step S212 and step S214. Similar reference numbers in Figure 2 and Figure 5 indicate similar procedures or steps.
[0073] In step S212, the electronic data processing system
22, data processor 24, or stopwatch 36 determines whether the handle is not connected by one of the user's fingers or hands (or part of the fingers or hands) for a minimum threshold period.
[0074] In step S214, the electronic data processing system
22, data processor 24, or timer 36 generate an alert for a user interface 20 if the handle is not connected by a user's hand or fingers (or a part of the fingers or hands) for a minimum threshold period. For example, the alert can comprise an audible alert, a visual alert, an audio message, a visual message, a siren or an alarm.
[0075] Figure 6 is a flow chart of the method with a sensor of
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22/41 hand 12 for reading the finger or hand positions that are used to control a vehicle. The method in Figure 6 starts at step S600.
[0076] In step S600, the vehicle is started or the vehicle's electronics are activated. For example, the vehicle's ignition key 54 is in an on state.
[0077] In step S601, during and after the vehicle is started, actuator control 38 or hydraulic control is deactivated for one or more time intervals based on disabling the S612 block evaluation process.
[0078] In block S612, a data processor 24 or data processor 24 determines whether or not communications on the vehicle data bus 50 are interrupted or unavailable in step S614, whether or not the vehicle's ignition key 54 is turned off in step S616, and whether or not the hydraulic lock is active in step S618. In step S614, if communication on the vehicle data bus 50 or hand sensor 12 is interrupted, the method continues with step 601 in which the hydraulic control is disabled. In step S616, if the ignition key 54 is turned off in step S616, the method continues with step S601 in which the hydraulic control is deactivated. In step S618, if the hydraulic lock is active, the method continues with step S601 in which the hydraulic control is disabled. In any case, if the communication on the vehicle data bus 50 or hand sensor 12 is not interrupted in step S614, if the ignition key 54 is not turned off in step S616, and if the hydraulic lock is not active in step S618, the method continues with step S620. The hydraulic lock can refer to a state in which the user disables the hydraulic system, such as through an entry in the user interface 20 or in the entry for the position of the handle.
[0079] In one mode, step S602 can follow step S601.
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23/41 [0080] In step S602, after a first interval or another interval, a hand sensor 12, a handle, or one or more capacitive sensors 14 can determine whether a hand or part of a hand (for example , one or more fingers) is detected on the handle. If the hand sensor 12 or data processing system 22 determines that the hand or part of the hand is not detected, then the method resumes step S601. In any case, if the hand sensor 12 or the data processing system 22 determines that the hand or part of the hand is detected, then the method continues with step S603.
[0081] In step S603, the electronic data processing system or data processor 24 determines a hand posture or grip identified based on the sensor output or observed data from the contact point for one or more capacitive sensors 14 that compares or it is substantially similar to the reference contact point data stored in the data storage device 30. For example, the reference of the contact point data is stored as a look-up table 32 or other data structure. The reference contact point data define a constellation of the contact points of the hand or fingers on the respective capacitive sensors 14 with the capacitive sensor identifiers 14, where each capacitive sensor 14 is associated with a different or unique region of the handle . An identified grip or grip can be defined by the orientation of one or more fingers, the palm or other parts of the hand with respect to the handle one or more capacitive sensors 14 associated with the handle. Similarly, posture can be defined by the orientation of one or more fingers, the palm or other parts of the hand in relation to the handle and one or more capacitive sensors 14 associated with the handle, in which a grip or posture can be assessed in accordance with resistance, fragility,
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24/41 smoothness, accuracy, angular orientation, compression force, or other tightening characteristic in relation to a standard tightening or reference tightening. [0082] Each grip or posture is defined by the tightening data, which refers to the corresponding contact points or a constellation (for example, three-dimensional spatial representation) of the capacitive sensors contacted 14. In certain embodiments, a look-up table 32 or other data storage device 30 can store the pinch data for a number (e.g., typically two to six) of unique surroundings. Each grip can be associated with a style, name, or unique identifier. For example, grip identifiers can include the following, among others: grip with the whole hand or grip with the top of the fingertip. The output of step S603 can be used in step S610 and in step S604 and / or step S610 can follow step S603.
[0083] In step S604, the displacement sensor of the handle 18 determines whether the handle is centered, in a resting position, or in a neutral state. In one embodiment, the handle displacement sensor 18 may comprise a steering lever sensor that is capable of providing a code indicating the position of the steering lever so that the handle is centered, in a rest position, or in a neutral state. If the handle displacement sensor 18 determines that the handle is centered, in a resting position or in a neutral state, the method continues with step S608.
[0084] In any case, if the handle 18 displacement sensor determines that the handle is not centered, not in a resting position or not in a neutral state, the method continues with step S606. [0085] In step S608, hydraulic flow or driver 38 is immediately available.
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25/41 [0086] In step S606, the data processing system 22 supports the increase in hydraulic flow based on a flow commanded by the operator during a start-up period of time (for example, 2 seconds), where the commanded flow by the operator is derived from the movement or position detected by the manipulator by the operator through the displacement sensor of the manipulator 18. In some modalities, the increase in hydraulic flow can be canceled by centralizing or re-centralizing the manipulator (for example, steering lever) after the increase started during the startup time period. In addition, the handle can have a disabled position or holding position where there is no response or activation of the initialization period.
[0087] After step S608 or step S606, in step S609, the data processing system 22 activates the hydraulic control of a vehicle, implement, system or vehicle component based on the ratio of the control or gain response ( or a corresponding hydraulic fluid flow rate) determined by the reference point map for a respective handshake or posture, consistent with step S610, step S608 or step S606.
[0088] In step S610, the data processing system 22 determines the electrical gain for the output of the displacement sensor from handle 18 based on the identified grip, grip identifier or posture (for example, from step S603). The electrical gain is applied to a driver 38 or the electrical gain is converted in relation to the control response or hydraulic gain (for example, hydraulic fluid flow rate, volume and / or pressure) applied by a hydraulic pump or valve electro-hydraulic. For example, if a first grip (950, 951) (for example, first hand grip or grip identifier) is detected, the electrical gain (for example, revised or adjusted gain) of the handle 18 displacement sensor is
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26/41 set at a high level or the data processing system 22 provides an electrical signal to the driver 38, electro-hydraulic valve or electro-hydraulic pump to obtain the total hydraulic flow for one or more hydraulic cylinders or circuits in a vehicle or associated implement. For example, the high level of gain (eg, abrupt control) is well suited for violent or rapid operation of implements, vehicle systems, or vehicle components. In any case, if a second tightening (953,954) (for example, second tightening or tightening identifier with the top of the fingertip) is detected, the electrical gain (for example, revised or adjusted gain) of the displacement sensor of handle 18 is set at a low level or the data processing system 22 provides an electrical signal to the driver 38, electro-hydraulic valve, electrically controlled hydraulic pump, or electro-hydraulic pump to obtain low hydraulic flow. The low level of gain (for example, precise control) is well suited for precise operation of implements, vehicle systems or vehicle components.
[0089] In step S620, which can follow block S612 if certain conditions are met, a data processor 24, a hand sensor 12, a handle, or one or more capacitive sensors 14 can determine whether a hand or a part of a hand is detected on the handle during a first threshold period or a second threshold period. If the hand sensor 12 or data processing system 22 determines that the hand or hand part is not detected for a period of time that is equal to or greater than a first threshold period (for example, approximately 1 second) , and then the method goes back to step S622. In any case, if the hand sensor 12 or data processing system 22 determines that the hand or part of the hand is not detected during a second threshold period that is less than
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27/41 a second threshold (for example, approximately 10 minutes), and then the method continues with step S624.
[0090] In step S622, data processor 24 or timer 36 determines that the handle is inactive for a period of time that meets or exceeds a first threshold (for example, approximately 1 second or greater than or equal to 1 second ). After step S622, the method returns to step S601 to disable hydraulic control.
[0091] In step S624, data processor 24 or timer 36 determines that the handle is inactive for a period of time that is less than a second threshold (for example, approximately 10 minutes). [0092] After step S624 in step S626, data processing system 22 determines a handshake or hand posture based on the sensor output. After step S626, the method continues with step S610.
[0093] Figure 7 shows a cross-section of a modality of an illustrative capacitive sensor 14 that can be used for hand sensor 12 to read the positions of the finger or hand. In one embodiment, capacitive sensor 14 comprises a first electrode 704 and a second electrode 702 which are separated by means of an intermediate dielectric layer 703. As illustrated in Figure 7, the first electrode 704 and the second electrode 702 can each comprise an electrically conductive grid of rows or columns. Although the lines of the first electrode 704 are connected to a common terminal 709 and the columns of the second electrode 702 are connected to a common terminal 707, in alternating modalities, each line of the first electrode 704 can be associated with a corresponding first terminal and each column of the second electrode 702 can be associated with a corresponding second terminal to provide an exact location or higher resolution position from which a finger, part of the hand, covers or contacts the capacitive sensor
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28/41
14.
[0094] In another alternate embodiment, the first electrode 704, the second electrode 702 or both may comprise a substantially planar plate or conductive layer with any perimeter or geometric shape, such as a polygon, ellipse or otherwise. In any case, if both the first electrode 704 and the second electrode 702 are continuous conductive plates or layers, such as rectangular conductive plate, the exact contact position on the electrode cannot be detected.
[0095] The first electrode 704 and the second electrode 702 are composed of a metal (for example, copper), a metal alloy, or more. The first electrode 704 can be connected to the wire or conductor 710. Similarly, the second electrode 702 can be connected to a wire or conductor 708. In some embodiments, the first electrode 704 is embedded in a first dielectric protective layer 706 and the second electrode 702 is embedded in a second dielectric protective layer 701.
[0096] In one embodiment, the first dielectric protective layer 706, the second dielectric protective layer 701 and the intermediate dielectric layer 703 can be composed of polymers, plastics, elastomers, fiber-filled polymers, fiber-filled plastics, or other composite materials . In one embodiment, the first dielectric protective layer 706, the second dielectric protective layer 701, and the intermediate layer 703 are formed of flexible circuit board materials, such as polyimide with conductive lines (for example, copper, metal or conductive lines) metal alloy).
[0097] During the operation of hand sensor 12, each capacitive sensor is charged with a voltage potential between the terminals associated with the first electrode 704 and the second electrode 702. If a finger or hand, or part of these, covers or contacts the first electrode 704 or the second electrode 702, the
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29/41 capacitive sensor 14 changes its capacitance, which can be detected by detector 16.
[0098] In one embodiment, detector 16 comprises an oscillator and a measurement circuit, in which the oscillator uses capacitive sensor 14 as part of a tuned circuit that establishes an oscillator oscillation frequency. The measuring circuit can identify a change in the oscillation frequency as a corresponding change in capacitance of capacitive sensor 14, for example.
[0099] Figure 8 is an exploded perspective view of a modality of an illustrative capacitive sensor 14. Although capacitive sensors 14 are referenced in Figure 7 and Figure 8 as illustrative examples, in alternative modalities, one or more sensors of resistance can be used, alone or together with one or more capacitive sensors 14. For example, capacitive sensor 14 can be replaced by a piezoresistance sensor that changes its electrical resistance in response to the application of force by one or more fingers, a hand , or a part of the hand. Similarly, capacitive sensor 14 can be replaced by a piezoelectric sensor or another tactile sensor that changes its electrical characteristic in response to the application of force by one or more fingers, a hand, or a part of the hand. If resistance sensors or piezoresistance sensors are employed, detector 16 is adapted to detect the change in resistance of the piezoresistance circuit by measuring a change in voltage or current associated with a resistance divider circuit (eg Wheatstone).
[00100] Figure 9A and Figure 9B show the constellation or illustrative positioning of one or more capacitive sensors 14 in a possible configuration of the handle. Capacitor sensors are shown as
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Dashed lines because they may be on or below the outer surface of the handle. For example, capacitive sensors 14 can be embedded below a film or dielectric outer layer of the handle.
[00101] In Figure 9A, which shows a view or side of the handle, a first sensor 901 and a fourth sensor 904 are fully visible, where the fifth sensor 905 and the eighth sensor 908 are at least partially visible. In Figure 9B, which shows an opposite view or opposite side of the handle of Figure 9A, a sixth sensor 906 is fully visible, while a second sensor 902, a third sensor 903, a fifth sensor 905 and a seventh sensor 907 are partially visible. Any of the sensors illustrated in Figure 9A and Figure 9B can represent the capacitive or tactile sensors 14 illustrated in Figure 1, Figure 7 and Figure 8, or resistance sensors (for example, piezoresistance sensors). The positions and orientations of the sensors on the handle are selected to form a constellation or three-dimensional representation from which the contact points of the fingers or hands can indicate a specific grip of a user.
[00102] Each sensor is associated with a unique sensor identifier. Lookup table 32 or data structure stores each sensor identifier for each of the contact points that is contacted together with a corresponding tightening identifier for the set of sensor identifiers or contact points which are contacted simultaneously or substantially simultaneously within a circuit time window (for example, a maximum time between the first sensor contacted and the last sensor contacted on the handle). The look-up table 32 or the data structure can be specific to the positions and orientations of the sensors on the handle. For example, query table 32 or data structure is compared or paired with an appropriate handle configuration with orientations and / or positions
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31/41 corresponding and known to the sensors (for example, contacted sensors) to define exactly the tightening identifiers that apply. In addition, the sensors can be calibrated with various types of tightening if the user's hand differs in size from a medium, moderate, medium, or middle hand.
[00103] Figure 10A is a perspective view of a first grip (950, 951) of the handle on one side. Figure 10B is a perspective view of the first pinch (950, 951) on the opposite side from that of Figure 10A. Figure 10A and Figure 10B collectively illustrate a handshake or a handshake with a closed fist.
[00104] Figure 14 provides the corresponding fit data map or reference contact point map, which can be stored as a lookup table 32 on data storage device 30, for the first fit (950, 951) or hand grip with a closed fist from Figure 10A and Figure 10B. The reference contact point map can be stored on the data storage device 30 for later reference by the data processor 24 to identify a specific tightening, or a ratio of the control response or gain that applies to the specific operator tightening. on the handle. For example, the grid map data or reference contact point map proves that the hand is in contact with the first sensor 901, the second sensor 902, the fourth sensor 904, the fifth sensor 905, the sixth sensor 906, the seventh sensor 907 and the eighth sensor 908, since the third sensor 903 has a non-contact state or a non-protective state. If the third sensor 903 is contacted by the hand, this would indicate that the user has a hand greater than medium, moderate or median; such contact with the third sensor 903 can be evaluated during a calibration process that the user accepts to calibrate the handle and the user interface 20 from time to time before
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32/41 of the vehicle user’s first use.
[00105] In one embodiment, the first grip (950, 951) or a full hand grip, with a closed fist, is associated with a first gain or a first control response ratio (C / R) to be applied to a trigger 38. The first gain or the first C / R can be stored in conjunction with lookup table 32, tightening data map, or reference reference point map, or separately from lookup table 32, tightening data map, or reference contact point map, such as Figure 14. For example, the first gain may represent a first gain set of an initial electrical signal from hand sensor 12 or a first adjustment of gain of the initial electrical signal to produce a revised electrical signal.
[00106] The first gain and the first control response have an inverse relationship so that an increase in gain is associated with a corresponding decrease in the control response ratio, and vice versa. In one configuration, a first gain for the first grip (950, 951) or the whole hand grip is greater than any gain for the third grip (955, 956) (for example, open handshake) the fourth grip (957, 958) (for example, finger grip when handling the top). Equivalently, a first control response (C / R) ratio for the first grip (950, 951) or full-hand grip is weaker than any C / R for the third grip (955, 956) (for example , open handshake) the fourth grip (957, 958) (for example, finger grip when handling the top).
[00107] In another configuration, the first gain for the first grip (950, 951) or full hand grip is greater than any gain for the second grip (953,954) (for example, weaker grip with the whole hand with closed fist), the third grip (955, 956) (for example, open hand grip)
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33/41 the fourth grip (957, 958) (for example, finger grip when handling the top). Equivalently, a first C / R for the first grip (950, 951) or full-hand grip is weaker than any C / R for the second grip (953, 954) (for example, weaker grip with all the hand with closed fist), the third grip (955, 956) (for example, open handshake) the fourth grip (957, 958) (for example, finger grip when handling the top) [00108] Still in another configuration, the first gain for the first grip (950, 951) or full hand grip is greater than any gain for the second grip (953,954) (for example, weaker grip with the whole hand with closed fist) . Similarly, the first C / R for the first grip (950, 951) or full-hand grip is less than any gain for the second grip (953,954) (for example, weaker grip with the whole hand with a closed fist) . In this way, the greater or greater C / R gain associated with the first tightening (950, 951) than the other tightening can support fast, responsive and / or aggressive movement of the driver 38, or implements, systems or vehicles controlled by the driver 38. For example, the greatest gain or greatest C / R can be employed for tasks that require speed, as opposed to precision, such as a backhoe or loader loading trucks with the material.
[00109] Figure 11A is a perspective view of a second grip (953, 954) of the handle on one side. Figure 11B is a perspective view of the second pinch (953, 954) from a side opposite that of Figure 1 IA. Figure 11A and Figure 11B collectively illustrate a weaker grip with the whole hand or a weaker grip with a closed fist.
[00110] Figure 15 provides the corresponding tightening data map or reference contact point map, which can be stored as a
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34/41 lookup table 32 on data storage device 30, for the second grip (953,954) or weaker grip with the whole hand with a closed handle of Figure 11A and Figure 11B. The reference contact point map can be stored in the data storage device 30 for later reference by the data processor 24 to identify a specific tightening, or a ratio of the control response or gain that applies to the specific operator close on the handle. For example, the reference touch point map or grid map data proves that the hand is in a contact state with the first sensor 901, the second sensor 902, the third sensor 903, and the fourth sensor 904, since the hand is not in a state of contact with the fifth sensor 905, the sixth sensor 906, the seventh sensor 907 or the eighth sensor 908, during a sampling period.
[00111] In one embodiment, the second grip (953, 954) or a weaker grip with the whole hand, with a closed fist, is associated with a second gain or second control response ratio (C / R) to be applied to a trigger 38. The second gain or second C / R can be stored in conjunction with lookup table 32, tightening data map, or reference reference point map, or separately from lookup table 32 , grip data map, or reference contact point map, such as Figure 15.
[00112] In one configuration, a second gain or second control response ratio (C / R) for the second grip (953,954) or weakest grip with the whole hand, with a closed fist, is approximately equal to the first gain of I grip with the whole hand, with a closed fist. In one configuration, a second gain for the second grip (953,954) or the weakest grip with the whole hand, with a closed fist, is greater than any gain for the third grip (955, 956) (for example, handshake open) and the fourth grip (957,
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35/41
958) (for example, finger grip when handling the top). In this way, the greater gain associated with the second tightening (953,954) than the other tightening can support the fast, responsive and / or aggressive movement (for example, abrupt control) of the trigger 38, or implements, electronic devices, systems or vehicles controlled by the trigger 38. [00113] Conversely, the second control response ratio for the second grip (953,954) or the weakest grip with the whole hand, with closed fist, is weaker than any gain for the third grip ( 955, 956) (for example, open handshake) and the fourth grip (957, 958) (for example, finger grip when handling the top). In this way, the lower second ratio of the control response associated with the second tightening (953,954) than the other tightening can support the rapid, responsive and / or aggressive movement (eg, abrupt control) of the trigger 38, or implements, devices electronics, systems or vehicles controlled by the trigger 38. [00114] Figure 12A is a perspective view of a third grip (955, 956) of the handle on one side. Figure 12B is a perspective view of the third pin (955, 956) from a side opposite that of Figure 12A. Figure 12A and Figure 12B collectively illustrate an open handshake. [00115] Figure 16 provides the data map of the corresponding squeeze or reference contact point map, which can be stored as a look-up table 32 in the data storage device 30, for the third squeeze (955, 956) or open handshake of Figure 12A and Figure 12B. The reference contact point map can be stored on the data storage device 30 for later reference by the data processor 24 to identify a specific tightening, or a ratio of the control response or gain that applies to the specific operator tightening. on the handle. For example, the grip data map or
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36/41 data proves that the hand is in a state of contact with the fourth sensor 904, the fifth sensor 905 and the sixth sensor 906, since the hand is not in a state of contact with the second sensor 902, the third sensor 903 or the seventh sensor 907. In addition, according to the tightening data map or data point map, the first sensor 901 and eight sensors are in contact with the hand or have a non-protective state that may be in contact or out of contact with the user's hand.
[00116] In one embodiment, the third grip (955, 956) or open handshake is associated with a third gain or third control response ratio (third C / R) to be applied to a 38.0 third gain trigger or to third C / R can be stored in conjunction with lookup table 32, grip data map, or reference contact point map, or separately from lookup table 32, grip data map, or point map reference contact, as in Figure 16. In one configuration, a third gain or third C / R for the third grip (955, 956) or open handshake is approximately equal to the fourth gain or fourth C / R for the fourth squeeze (957, 958) or finger squeeze with handling from the top. In another configuration, a third gain for the third grip (955, 956) or open handshake is less than the first gain for the first grip (950, 951) or handshake, with a closed fist and is less than than the second gain of the second grip (953, 954) or weaker grip with the whole hand. In this way, the lower gain is associated with the third tightening (955, 956) than the other tightening can support the precise, smooth or subtle movement (for example, precise control) of the trigger 38, or implements, electronic devices, systems or vehicles controlled by the driver 38.
[00117] Conversely, a third C / R for the third grip (955, 956) or open handshake is greater than the first C / R of the first grip (950,
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37/41
951) or grip with the whole hand, with closed fist and is greater than the second C / R of the second grip (953, 954) or weaker grip with the whole hand. In this way, the higher C / R is associated with the third grip (955, 956) than the other grips can support the precise, smooth or subtle movement (for example, precise control) of the trigger 38, or implements, electronic devices, systems or vehicles controlled by the driver 38.
[00118] Figure 13A is a perspective view of a fourth grip (957, 958) of the handle on one side. Figure 13B is a perspective view of the fourth grip (957, 958) from a side opposite that of Figure 13A. Figure 13A and Figure 13B collectively illustrate a finger grip when handling the top. In one embodiment, the fourth grip (957, 958) or finger grip with the upper hand is associated with a fourth gain or fourth C / R to be applied to a trigger 38.
[00119] Figure 17 provides the data map of the corresponding squeeze or reference contact point map for the fourth squeeze (957, 958) or finger squeeze with the handling of the upper part, which can be stored as a table reference 32 in the data storage device 30, for the fourth squeeze (957, 958) or finger squeeze with the upper part of Figure 13A and Figure 13B.
[00120] The fourth gain or fourth C / R can be stored in conjunction with lookup table 32, tightening data map, or reference reference point map, or separately from lookup table 32, data map of the grip, or reference point of contact map, as in Figure 17. In one configuration, a fourth gain or fourth C / R for the fourth grip (957, 958) or the finger grip with handling part from above is approximately equal to the third gain or the third C / R, respectively, for the third tightening (955, 956) or open tightening with
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38/41 above. In another configuration, a fourth gain for the fourth grip (957, 958) or the finger grip with the upper hand is less than the first gain for the first grip (950, 951) or full hand grip, with a closed fist, and is less than the second gain of the second grip (953, 954) or weaker grip with the whole hand. Thus, the lower gain associated with the fourth grip (957, 958) than the other grips can support the precise, smooth or subtle movement of the driver 38, or implements, systems or vehicles controlled by the driver 38.
[00121] Conversely, a fourth C / R for the fourth squeeze (957, 958) or the finger squeeze with handling from the top is greater than the first C / R of the first squeeze (950, 951) or squeeze with the whole hand, with a closed fist and is greater than the second C / R of the second grip (953, 954) or weaker grip with the whole hand. Thus, the higher C / R is associated with the fourth grip (957, 958) than the other grips can support the precise, smooth or subtle movement of the driver 38, or implements, systems or vehicles controlled by the driver 38.
[00122] In Figure 14 to Figure 17, inclusive, they represent the possible graphs, query table 32s, files or data structures associated with the sensors and contact points in a handle, which can define a corresponding illustrative tightening. As shown in Figure 14 through Figure 17, each tightening is defined by the contact state of up to eight respective sensors, which are indicated from a first sensor 901 to an eighth sensor 908. In any case, in the most general case, any number of sensors N can be used where N is a positive total number or positive integer greater than three.
[00123] Each sensor can be defined, a sensor identifier that is indicative of a position or relative spatial orientation of an area of
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39/41 surface associated with the sensor on the handle. In some configurations, each sensor may have an approximately equal surface area and equivalent shape. However, in other configurations, the sensor's surface area and shape may vary based on the special position or orientation on the handle. In some configurations, the sensor surface area for one or more sensors on the handle can be programmed according to the operator's preferences or the operator's hand size. For example, the sensor surface area for one or more sensors on the handle can be reduced for operators with hands larger than average and increased for operators with hands smaller than average, where hands larger than average and smaller than average hands can be determined using statistical data on operators or people in a sample geographic area relative to the average size, which represents a medium, moderate mode of statistical data.
[00124] In Figure 14 to Figure 17, inclusive, each graph or query table has a corresponding reference point data indicating whether or not a hand or part of a hand (one or more fingers) touches or sings a corresponding sensor identifier. For example, the reference contact point map of Figure 14 for a corresponding identified grip, such as the full hand grip of Figure 10A and Figure 10B, includes hand contact on the first sensor 901, on the second sensor 902, on the fourth sensor 904, on the fifth sensor 905, on the sixth sensor 906, on the seventh sensor 907 and on the eighth sensor, since the third sensor 903 has a state of no protection or a non-contact with the fingers or hands of the operator.
[00125] In an alternating mode, each contact point map or tightening data for any specific tightening in Figure 14 through Figure 17, inclusive, can be increased or appended by an additional field of one.
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40/41 ratio of the control response or corresponding gain, such as a gain set, gain adjustment, control response configuration, or control response adjustment. Each specific tightening can be associated with a respective gain or control response.
[00126] In one configuration, the control response or gain ratio associated with each specific tightening has a value or configuration that depends on the operating signal range or other specifications of the trigger 38 that is controlled by the response or gain ratio, the work task that will be performed with a relation of the control response or the accompanying gain, and any other relevant characteristics of the control system for the implement and the vehicle, for example.
[00127] In some modalities, the control or gain response can be varied, programmed or adjusted based on the user's definable preferences, factory equipment settings, or historical operation of certain operators.
[00128] Figure 15 is another query table or possible graph 32 associated with the sensors (for example, sensor identifiers) and sensor contact state (for example, hand contact state) in a handle, which you can define a corresponding illustrative grip, such as a weaker grip with the whole hand or a weaker grip with a closed fist of Figure 11A and Figure 11B.
[00129] Figure 16 is yet another query table or possible graph 32 associated with the sensors (for example, sensor identifiers) and contact state (for example, hand contact state) in a handle, which can define a corresponding illustrative grip, such as the open handshake of Figure 12A and Figure 12B.
[00130] Figure 17 is yet another query table or possible graph
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41/41 associated with the sensors (for example, sensor identifiers) and contact state (for example, hand contact state) on a handle, which can define a corresponding illustrative grip, such as the finger grip with the handling the top of Figure 12A and Figure 12B.
[00131] The system and method described in this document are well suited for ergonomically, automating the control of C / R or gain of the steering lever in real time consistent with different types of operator tightening on heavy equipment or other vehicles to reduce the operator fatigue, increase operator comfort, and increase operator efficiency. For example, the system and method are well suited to perfectly, dynamically adjust the gain or C / R based on the detection of the operator's grip of the steering lever handle for each sampling interval during vehicle operation, where the gain adjusted can be directed to the precise control or abrupt control of an implement or tool controlled by a driver.
[00132] Having described the preferred modality, it should be evident that various modifications can be made without departing from the scope of the invention as defined in the appended claims.
Petition 870170031552, of 05/12/2017, p. 108/131

权利要求:
Claims (23)
[1]
1. Device for converting the movements or positions of the finger or hand into electrical signals, the device, characterized by the fact that it comprises:
a handle for receiving one or more fingers or part of a hand;
a handle displacement sensor to produce an electrical signal in response to movement or displacement of the handle;
a set of tactile sensors on or near the surface of the handle, each touch sensor associated with a different region of the handle;
a detector for detecting the contact of one or more of the tactile sensors to generate an observed contact point map for the handle for a respective sampling interval; and an electronic data processor to generate a ratio of the control response or the gain in the electrical signal emitted by the device in response to the observed contact point map comparing or being substantially similar to a reference contact point map.
[2]
2. Device according to claim 1, characterized by the fact that the reference contact point map is stored in a data storage device together with a plurality of other reference contact point maps and in which the processor Data search the candidate reference point maps on the data storage device to the reference point map that compares or is substantially similar to the observed contact point map.
[3]
3. Device according to claim 1, characterized by the fact that the reference contact point map is associated with a
Petition 870170031552, of 05/12/2017, p. 109/131
2/7 type of grip of one or more fingers or part of the hand on the handle, and in which the grip type is selected from the group comprising one or more of the following: a handshake, a finger grip, a total grip, a grip at the base, an open palm grip, a fingertip grip, a clenched handshake, an open hand grip, a lateral hand grip, and a finger grip when handling the top.
[4]
Device according to claim 1, characterized by the fact that a grip comprises one or more fingers or part of the hand on the handle, and in which the grip is identified if the observed contact point map sufficiently compares, matches or correlates to the reference point-of-contact map based on the meeting or excess of a certain percentage threshold of compatibility for the observed contact point map and the reference contact point map for the identified tightening.
[5]
5. Device according to claim 4, characterized by the fact that each non-protection state for a reference point map is excluded for the determination of the threshold percentage.
[6]
6. Device according to claim 1, characterized by the fact that the handle comprises a control handle that produces the electrical signal based on the movement or displacement of the handle in relation to a reference coordinate system.
[7]
7. Device according to claim 6, characterized by the fact that the reference coordinate system comprises the coordinates in the X-Y plane of a Cartesian coordinate system.
[8]
8. Device according to claim 1, characterized by the fact that each reference point map is associated with the response ratio of the respective control or the respective gain, which is
Petition 870170031552, of 05/12/2017, p. 110/131
3/7 stored on a data storage device.
[9]
9. Device according to claim 1, characterized by the fact that it also comprises:
a controlled trigger based on the control response ratio or gain if the electronic data processor identifies a respective handshake as a gesture applicable to the sampling interval.
[10]
10. Device according to claim 1, characterized by the fact that it also comprises:
an electro-hydraulic valve is controlled based on the control response ratio or gain to increase hydraulic flow to a first flow level that is higher than a second flow level if the data processor identifies a handshake of the handle as a gesture applicable to the sampling interval that is associated with the abrupt control of an implement controlled by the electro-hydraulic valve.
[11]
11. Device according to claim 1, characterized by the fact that it also comprises:
an electro-hydraulic valve is controlled based on gain to decrease hydraulic flow to a second flow level that is lower than a first flow level if the electronic data processor identifies a finger grip of the handle as an applicable gesture the sampling interval that is associated with precise control of an implement controlled by the electro-hydraulic valve.
[12]
12. Device according to claim 1, characterized by the fact that it also comprises:
a timer associated with the data processor to determine if the handle is not connected by a user's hand or fingers
Petition 870170031552, of 05/12/2017, p. 111/131
4/7 for a minimum threshold period;
a user interface connected to the data processor; and the data processor generating an alert to the user interface if the handle is not connected by a user's hand or fingers during a minimum threshold period.
[13]
13. Device according to claim 1, characterized by the fact that the set of tactile sensors comprises a set of capacitive sensors.
[14]
14. Method for converting movements or positions of the finger or hand into electrical signals, the method characterized by the fact that it comprises:
receiving one or more fingers or a part of the hand on a handle; produce an electrical signal in response to the movement or displacement of the handle;
provide a set of tactile sensors on or near the surface of the handle, each sensor associated with a different region of the handle;
detecting the contact of one or more of the tactile sensors to generate a map of the point of contact observed for the handle for a respective sampling interval; and determining a relationship of the control response or gain in the electrical signal emitted by the method in response to the observed contact point map by comparing or being substantially similar to a reference contact point map.
[15]
15. Method according to claim 14, characterized by the fact that it also comprises:
store the landmark touchpoint map on a data storage device along with a plurality of
Petition 870170031552, of 05/12/2017, p. 112/131
5/7 other reference contact point maps; and searching the candidate reference point maps on the data storage device for the reference point point map that compares or is substantially similar to the observed contact point map.
[16]
16. Method according to claim 14, characterized by the fact that it also comprises:
associate the reference point map with a type of grip selected from a group comprising one or more of the following: a handshake, a finger grip, a full grip, a grip at the base, a grip open palm, a grip with the fingertip, a handshake with a closed fist, a handshake with an open hand, a finger grip with lateral handling, and a finger grip with the upper handling.
[17]
17. Method according to claim 14, characterized by the fact that it also comprises:
identify a grip of the user of the handle if the observed point of contact map sufficiently compares, matches or correlates to the reference point of contact map based on the meeting or excess of a certain percentage threshold of compatibility for the observed point of contact map and the reference point map for a identified tightening.
[18]
18. Method according to claim 17, characterized by the fact that it also comprises:
exclude each state of non-protection on the reference point map for a determination of the threshold percentage.
[19]
19. Method according to claim 15, characterized by the
Petition 870170031552, of 05/12/2017, p. 113/131
6/7 the fact that each reference point map is associated with a relationship of the response of the respective control or the respective gain that is stored in a data storage device.
[20]
20. Method according to claim 14, characterized by the fact that it also comprises:
control a trigger based on the gain if the controller identifies a respective handshake of the handle as a gesture applicable to the sampling interval.
[21]
21. Method according to claim 14, characterized by the fact that it also comprises:
control an electro-hydraulic valve based on gain to increase hydraulic flow to a first flow level that is higher than a second flow level if the controller identifies a handshake as a gesture applicable to the sampling interval which is associated with the abrupt control of an implement controlled by the electro-hydraulic valve.
[22]
22. Method according to claim 14, characterized by the fact that it also comprises:
control an electro-hydraulic valve based on gain to decrease hydraulic flow to a second flow level that is lower than a first flow level if the controller identifies a finger grip of the handle as a gesture applicable to the sampling interval which is associated with precise control of an implement controlled by the electro-hydraulic valve.
[23]
23. Method according to claim 14, characterized by the fact that it also comprises:
determine if the handle is not connected by a hand of the
Petition 870170031552, of 05/12/2017, p. 114/131
7/7 user or fingers for a minimum threshold period;
generate an alert for a user interface if the handle is not connected by a user's hand or fingers during a minimum threshold period.
Petition 870170031552, of 05/12/2017, p. 115/131
1/15
Detector (16) (for example, Oscillator and Measuring Circuit Comparator)
Actuator (for example, Electro-hydraulic Valve)
Petition 870170031552, of 05/12/2017, p. 116/131
2/15
Detector (16) (for example, Oscillator and Measuring Circuit Comparator)
Petition 870170031552, of 05/12/2017, p. 117/131
3/15

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法律状态:
2018-01-16| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

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2022-02-08| B06W| Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette]|

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US15/200668|2016-07-01|

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US15/200,668|US10088915B2|2016-07-01|2016-07-01|Method and system with sensors for sensing hand or finger positions for adjustable control|

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