CONTROL DEVICE AND METHOD FOR GENERATING CONTROL SIGNALS FOR TECHNICAL DEVICES
First Claim
1. Control device (1) comprising an automatic control command system (2) for the automatic generation of control signals (SA), a haptic control command input device (3) which has at least one actuator (5) for operating the control command input device (3) in dependence on the automatically generated control signals (SA) and at least one sensor (6) for detecting manual control command inputs (SM) by manual operation of the control command input device (3), an arbitration unit (4) for generating control signals (SR) which are conducted to a controlled system (7) following the arbitration unit (4), in dependence on the automatically generated control signals (SA) and the manual control command inputs (SM), characterized in that the arbitration unit (4) is set up in order, in the case of mutually contradictory or overriding manual control command inputs (SM) and automatically generated control signals (SA), to continuously adjust to one another, within an arbitration phase selected in dependence on a dead space of the haptic control command input device (3) and/or the controlled system (7), the manual control command inputs (SM) and the automatically generated control signals (SA), by rule-based generation of a correction signal (S1, S2) and feeding back the correction signal (S1, S2) to at least one actuator (5) of the haptic control command input device (3).
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Accused Products
Abstract
A control device (1) has
- an automatic control command system (2) for the automatic generation of control signals (SA),
- a haptic control command input device (3) which is connected to the automatic control command system (2) and has at least one actuator (5) for operating the control command input device (3) in dependence on the automatically generated control signals (SA) and at least one sensor (6) for detecting manual control command inputs (SM) by manual operation of the control command input device (3),
- an arbitration unit (4) for generating control signals (SR) which are conducted to a controlled system (7) following the arbitration unit (4), in dependence on the automatically generated control signals (SA) and the manual control command inputs (SM),
The arbitration unit (4) is set up in order, in the case of mutually contradictory or overriding manual control command inputs (SM) and automatically generated control signals (SA), to continuously adjust to one another, within an arbitration phase selected in dependence on a dead space of the haptic control command input device (3) and/or the controlled system (7), the manual control command inputs (SM) and the automatically generated control signals (SA), by rule-based generation of a correction signal (S1, S2) and feeding back the correction signal (S1, S2) to at least one actuator (5) of the haptic control command input device (3).
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Citations
27 Claims
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1. Control device (1) comprising
an automatic control command system (2) for the automatic generation of control signals (SA), a haptic control command input device (3) which has at least one actuator (5) for operating the control command input device (3) in dependence on the automatically generated control signals (SA) and at least one sensor (6) for detecting manual control command inputs (SM) by manual operation of the control command input device (3), an arbitration unit (4) for generating control signals (SR) which are conducted to a controlled system (7) following the arbitration unit (4), in dependence on the automatically generated control signals (SA) and the manual control command inputs (SM), characterized in that the arbitration unit (4) is set up in order, in the case of mutually contradictory or overriding manual control command inputs (SM) and automatically generated control signals (SA), to continuously adjust to one another, within an arbitration phase selected in dependence on a dead space of the haptic control command input device (3) and/or the controlled system (7), the manual control command inputs (SM) and the automatically generated control signals (SA), by rule-based generation of a correction signal (S1, S2) and feeding back the correction signal (S1, S2) to at least one actuator (5) of the haptic control command input device (3).
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16. Method for generating control signals for technical devices which have at least one controlled system and a control device (1) comprising
an automatic control command system (2) for the automatic generation of control signals (SA) a haptic control command input device (3) which has at least one actuator (5) for operating the control command input device (3) in dependence on the automatically generated control signals (SA) and at least one sensor (6) for detecting manual control command inputs (SM) by manual operation of the control command input device (3), an arbitration unit (4) for generating control signals (SR) which are conducted to a controlled system (7) following the arbitration unit (4), in dependence on the automatically generated control signals (SA) and the manual control command inputs (SM) characterized in that the arbitration unit (4) is set up in order, in the case of mutually contradictory or overriding manual control command inputs (S_) and automatically generated control signals (SA), to continuously adjust to one another, within an arbitration phase selected in dependence on a dead space of the haptic control command input device (3) and/or the controlled system (7), the manual control command inputs (SM) and the automatically generated control signals (SA), by rule-based generation of a correction signal (S1, S2) and feeding back the correction signal (S1, S2) to at least one actuator (5) of the haptic control command input device (3), characterized by the following steps: -
automatic generation of control signals (SA) and actuatory operation of a control command input device (3) in dependence on the automatically generated control signals (SA), detection of manual control command inputs (SM) via the control command input device (3) as response to the actuatory operation of the control command input device (3) by the automatically generated control signals (SA), generation of controlled-system control signals (SR) for the controlled system (7) by the arbitration unit (4) with, in the case of mutually contradictory or overriding manual control command inputs (SM) and automatically generated control signals (SA), continuous adjustment of the manual control command inputs (SM) and of the automatically generated control signals (SA) to one another by rule-based generation of a correction signal (S1, S2), and feedback of the correction signal (S1, S2) to at least one actuator (5) of the haptic control command input device (3) within an arbitration phase selected in dependence on a dead space of the haptic control command input device (3) and/or of the controlled system (7). - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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Specification