Joystick-operated driving system

• US 5,086,870 A
• Filed: 10/31/1990
• Issued: 02/11/1992
• Est. Priority Date: 10/31/1990
• Status: Expired due to Term

• Current Assignee: Electronic Mobility Controls, LLC
• Original Assignee: Division Driving Systems, Inc.
• Inventors: Bolduc, Scott
• Primary Examiner(s): Rice, Kenneth R.
• Application Number:
  US07/606,560
• Time in Patent Office: 468 Days
• Field of Search: 180/315, 180/320, 180/333, 180/335, 180/336
• US Class Current: 180/333
• CPC Class Codes: B60W 2710/06 Combustion engines, Gas turbines
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B62D 1/12 Hand levers

Abstract

A remotely controlled system for the operation of a vehicle wherein a limited physical input is translated into desired vehicle movement. The invention uses a unitary manipulator with two axes of movement to direct the steering, acceleration and braking functions of the vehicle. The surplus current available from the main battery of the vehicle powers the control system. The steering function of the invention involves the conversion of a mechanical input into a frequency-based signal which is processed by a primary steering microprocessor. This microprocessor in turn directs a frequency-based motor controller to operate a motor which rotates a steering shaft of the vehicle. The acceleration and braking functions operate in the same way, wherein a primary acceleration microprocessor acts upon a frequency-based signal to direct a frequency-based motor which is connected to the accelerator and brake pedals of the vehicle. In order to provide a smooth transition from the manipulator input to motor operation, the motors of the present invention are preferably stepper motors. The invention can be disengaged to permit standard operation of the steering wheel and accelerator and brake pedals of the vehicle.

Claims

1. A control system for a vehicle of the type having:

(i) a rotary steering shaft;

(ii) an accelerator pedal; and

(iii) a brake pedal, wherein said control system comprises;

a. a remote manipulator, wherein said manipulator has two axes of movement, wherein one axis of movement directs the rotation of said steering shaft and a second axis of movement directs the displacement of said accelerator pedal and said brake pedal;

b. first electronic means connected to said remote manipulator, wherein said first electronic means translates mechanical movement of said remote manipulator into a first electronic steering signal and a first electronic acceleration signal;

c. command means connected to said first electronic means, wherein said command means receives and processes said first electronic steering signal and said first electronic acceleration signal and wherein said command means transmits a second electronic steering signal related to the rotation of said steering shaft and a second electronic acceleration signal related to the displacement of said accelerator pedal and said brake pedal;

d. a steering drive controller and an acceleration drive controller, wherein both of said controllers are connected to said command means, wherein said steering drive controller receives said second electronic steering signal and said acceleration drive controller receives said second electronic acceleration signal, wherein said steering drive controller transmits a steering movement signal and said acceleration drive controller transmits an acceleration signal;

e. a steering motor connected to said steering drive controller, wherein said steering motor receives said steering movement signal and translates said steering movement signal into mechanical motion, wherein said steering motor is connected to said rotary steering shaft and wherein said steering motor rotates said steering shaft as directed by said steering controller;

f. an acceleration motor connected to said acceleration drive controller, wherein said acceleration motor receives said acceleration signal and translates said acceleration signal into mechanical motion; and

g. a disc assembly connected to said acceleration motor, wherein said disc assembly operates to displace said accelerator pedal and said brake pedal.

2. The control system as claimed in claim 1 further comprising a display system, wherein said display system comprises a plurality of indicator lights, wherein said indicator lights display the status of an initialization sequence conducted by said command means.

3. The control system as claimed in claim 1 further comprising means to disengage said command means and means to disengage said steering motor, wherein said means to disengage said command means comprises a vacuum sensor deactivation switch and said means to disengage said steering motor comprises adjustable slots to slidably remove said steering motor from said steering shaft.

4. The control system as claimed in claim 1 further comprising a power cable to transmit power from a main battery and an alternator of said vehicle to said control system.

5. The control system as claimed in claim 4 further comprising backup power supply means, wherein said backup power supply means transmits power to said control system when said main battery and said alternator fail.

6. The control system as claimed in claim 5 further comprising a power supply unit, wherein said power supply unit connects to said main battery and said backup power supply means and wherein said power supply unit transmits power to said control system.

7. The control system as claimed in claim 6 wherein said power supply unit further comprises converter means to convert 12 volt output from said main battery and said alternator to 84 volt output to said steering drive controller and said acceleration drive controller.

8. The control system as claimed in claim 1 further comprising vehicle sensors connected to said command means, wherein said vehicle sensors are attached to said vehicle, wherein said vehicle sensors detect engine vacuum, vehicle motion and vehicle startup, and wherein said sensors transmit vehicle status signals to said command means through a vehicle interface cable.

9. The control system as claimed in claim 1 further comprising a steering encoder attachable to said steering motor, wherein said steering encoder translates mechanical motion of said steering motor into a steering encoder signal and transmits said steering encoder signal to said command means.

10. The control system as claimed in claim 1 further comprising an acceleration encoder attachable to said acceleration motor, wherein said acceleration encoder translates mechanical motion of said acceleration motor into an acceleration encoder signal and transmits said acceleration encoder signal to said command means.

11. The control system as claimed in claim 1 wherein said steering motor and said acceleration motor are stepper motors.

12. The control system as claimed in claim 1 wherein said disc assembly comprises:

a. a cam follower roller, wherein one end of said cam follower roller is affixed to a gearhead of said acceleration motor and the other end of said cam follower roller is affixed to a brake pedal arm of said brake pedal and wherein said cam follower roller actuates said brake pedal; and

b. a cable pulley assembly comprising;

i. an acceleration eyelet, wherein said acceleration eyelet is affixed to said gearhead of said steering motor;

ii. an acceleration cable, wherein said acceleration cable is attached to said acceleration eyelet such that said acceleration cable slides through said acceleration eyelet to decelerate said vehicle and said acceleration eyelet pulls said acceleration cable to accelerate said vehicle; and

iii. an adjustable clevis, wherein one end of said clevis is attached to said acceleration cable and an opposite end of said clevis is attached to said accelerator pedal such that said adjustable clevis actuates said accelerator pedal.

13. The control system as claimed in claim 1 wherein said command means comprises:

a. a programmable primary steering microprocessor, wherein said primary steering microprocessor receives said first electronic steering signal from said first electronic means and wherein said primary steering microprocessor transmits said second electronic steering signal to said steering drive controller; and

b. a programmable primary acceleration microprocessor, wherein said primary acceleration microprocessor receives said first electronic acceleration signal and wherein said primary steering microprocessor transmits said second electronic acceleration signal to said acceleration drive controller,

wherein said primary steering microprocessor and said primary acceleration microprocessor further comprise integrated circuits to coordinate the operation of both said primary steering microprocessor and said primary acceleration microprocessor.

14. The control system as claimed in claim 13 wherein said integrated circuits within said primary steering microprocessor and aid primary acceleration microprocessor are CAN integrated circuits.

15. The control system as claimed in claim 14 further comprising secondary command means and secondary electronic means.

16. The control system as claimed in claim 15 wherein said secondary command means comprises:

a. a programmable secondary steering microprocessor, wherein said secondary steering microprocessor receives a secondary steering signal from said secondary electronic means; and

b. a programmable secondary acceleration microprocessor, wherein said secondary acceleration microprocessor receives a secondary acceleration signal from said secondary electronic means,

wherein said secondary microprocessors operate continuously and parallel with said primary microprocessors, wherein said secondary microprocessors further comprise coordinating integrated circuitry, wherein said secondary microprocessors provide backup signal processing in the event of primary microprocessor failure and wherein performance of said primary microprocessors is comparable against said secondary microprocessors.

17. The control system as claimed in claim 1 wherein said remote manipulator is a joystick.

18. The control system as claimed in claim 17 wherein said joystick comprises three regions of displacement related to the rotation of said steering shaft, said regions comprising:

a. a center deadband region to hold said vehicle in a straight-ahead position;

b. a steering region to command rotation of said steering shaft, wherein said steering region extends beyond said center deadband region; and

c. a holding region between said center deadband region and said steering region, wherein said holding region maintains the steering angle of said steering shaft at the angle commanded by movement of said joystick into said steering region.

19. The control system as claimed in claim 18 whereins said joystick further comprises two axial compression springs, wherein said springs operate to center said joystick when there is no force applied to said joystick.

20. The control system as claimed in claim 18 wherein said deadband region is plus or minus 15 degree about a steering axis of said joystick, wherein said steering region is between 15 and 50 degrees displacement in either sense about said steering axis and wherein said holding region is between 5 and 15 degree displacement in either sense about said steering axis of said joystick.

21. The control system as claimed in claim 1 wherein said electronic means comprises a steering potentiometer to translate left-and-right motion of said remote manipulator into said first electronic steering signal and an acceleration potentiometer to translate forward and backward motion of said remote manipulator into said first acceleration signal.

22. The control system as claimed in claim 1 further comprising a touch control device to provide multi-function control of said vehicle, wherein said touch control device comprises:

a. a plurality of membrane switches, wherein said member switches correspond to a plurality of control functions of said vehicle;

b. a ribbon cable to transmit touch pad signals from said membrane switches;

c. a programmable control unit, wherein said control unit receives said touch pad signals from said membrane switches and transmits control unit signals to a relay-driver module, wherein said relay-driver module comprises a plurality of quick-disconnect switches; and

d. trigger wires attached to said relay-driver module, wherein said trigger wires receive control unit signals from said relay-driver module and wherein said trigger wires transmit said control unit signals to a plurality of accessories of sid vehicle.

23. A control system for specialized operation of a vehicle by a physically-impaired individual, wherein said vehicle is of the type having:

(i) a rotary steering shaft;

(ii) an accelerator pedal; and

(iii) a brake pedal, wherein said control system comprises;

a. a joystick, wherein said joystick has two axes of movement, wherein one axis of movement directs the rotation of said steering shaft and a second axis of movement directs the displacement of said accelerator pedal and said brake pedal and wherein comprises;

i. a center deadband region to hold said vehicle in a straight-ahead position;

ii. a steering region to command rotation of said steering shaft, wherein said steering region extends beyond said center deadband region; and

iii. a holding region between said center deadband region and said steering region, wherein said holding region maintains the steering angle of said steering shaft at the angle commanded by movement of said joystick into said steering region;

b. first electronic means connected to said remote manipulator, wherein said first electronic means translates mechanical movement of said joystick into a first electronic steering signal and a first electronic acceleration signal;

c. command means connected to said first electronic means, wherein said command means comprises;

i. a programmable primary steering microprocessor, wherein said primary steering microprocessor receives and processes said first electronic steering signal from said first electronic means receives and processes said first electronic steering signal and transmits a second electronic steering signal related to the rotation of said steering shaft; and

ii. a programmable primary acceleration microprocessor, wherein said primary steering microprocessor receives and processes said first electronic acceleration signal from said first electronic means and transmits a second electronic acceleration signal related to the displacement of said accelerator pedal and said brake pedal;

wherein said primary steering microprocessor and said primary acceleration microprocessor further comprise integrated circuits to coordinate the operation of both said primary steering microprocessor and said primary acceleration microprocessor;

d. a steering drive controller and an acceleration drive controller, wherein both of said controllers are connected to said command means, wherein said steering drive controller receives said second electronic steering signal and said acceleration drive controller receives said second electronic acceleration signal, wherein said steering drive controller transmits a steering movement signal and said acceleration drive controller transmits an acceleration signal;

e. a steering motor connected to said steering drive controller, wherein said steering motor receives said steering movement signal and translates said steering movement signal into mechanical motion, wherein said steering motor is connected to said rotary steering shaft and wherein said steering motor rotates said steering shaft as directed by said steering controller;

f. an acceleration motor connected to said acceleration drive controller, wherein said acceleration motor receives said acceleration signal and translates said acceleration signal into mechanical motion, and wherein said steering motor and said acceleration motors are stepper motors;

g. a disc assembly connected to said acceleration motor, wherein said disc assembly comprises;

i. a cam follower roller, wherein one end of said cam follower roller is affixed to a gearhead of said acceleration motor and the other end of said cam follower roller is affixed to a brake pedal arm of said brake pedal and wherein said cam follower roller actuates said brake pedal; and

ii. a cable pulley assembly comprising;

(a) an acceleration eyelet, wherein said acceleration eyelet is affixed to said gearhead of said steering motor;

(b) an acceleration cable, wherein said acceleration cable is attached to said acceleration eyelet such that said acceleration cable slides through said acceleration eyelet to decelerate said vehicle and said acceleration eyelet pulls said acceleration cable to accelerate said vehicle; and

(c) an adjustable clevis, wherein one end of said clevis is attached to said acceleration cable and an opposite end of said clevis is attached to said accelerator pedal such that said adjustable clevis actuates said accelerator pedal; and

h. a control touch pad to provide multi-function control of said vehicle, wherein said control touch pad comprises;

i. a plurality of membrane switches, wherein said member switches correspond to a plurality of control functions of said vehicle;

ii. a ribbon cable to transmit touch pad signals from said membrane switches;

iii. a programmable control unit, wherein said control unit receives said touch pad signals from said membrane switches and transmits control unit signals to a relay-driver module, wherein said relay-driver module comprises a plurality of quick-disconnect switches; and

iv. trigger wires attached to said relay-driver module, wherein said trigger wires receive control unit signals from said relay-driver module and wherein said trigger wires transmit said control unit signals to a plurality of accessories of said vehicle.