Inceptor apparatus

Patent metadata

Field	Value
Publication number	US-10401855-B2
Application number	US-201515313638-A
Country	US
Kind code	B2
Filing date	May 19, 2015
Priority date	May 28, 2014
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

An active inceptor apparatus and method for operating a machine. The apparatus comprises a stick member having a grip portion, the stick member being pivotably mounted relative to a housing. It further comprises a position sensor responsive to, and for generating signals indicative of, stick member position. A force sensor is provided on the stick member responsive to, and for generating signals indicative of, force applied to the stick by a user. The apparatus also includes a control unit operable to receive the position and force signals from the position and force sensors respectively. The control unit is operable to process the signals according to a predetermined relationship to determine a value FD indicative of force applied to the stick member relative to displacement of the stick member. The control unit is also operable to generate machine control signals as a function of position signals and force signals in dependence upon the value FD, for communication to the machine.

First claim

The invention claimed is:

1. An active inceptor apparatus for operating a machine, the apparatus comprising:
a stick member having a grip portion, the stick member being pivotably mounted relative to a housing;
a position sensor responsive to, and for generating position signals indicative of, a stick member position;
a force sensor provided on the stick member responsive to, and for generating force signals indicative of, a force applied to the stick by a user; and
a control unit, operable to
receive the position and force signals from the position and force sensors respectively,
process the position and force signals according to a predetermined relationship to determine a value FD indicative of the force applied to the stick member relative to a displacement of the stick member, and
generate machine control signals as a function of at least one of the position signals and the force signals in dependence upon the value FD, for communication to the machine.

2. The inceptor apparatus of claim 1 wherein:
in response to the value FD being below a predetermined tolerance limit, the control unit is operable to generate machine control signals in dependence upon the position signals and the force signals.

3. The inceptor apparatus of claim 1 wherein:
in response to the value FD being below a predetermined tolerance limit, the control unit is operable to generate machine control signals in dependence upon the position signals but not the force signals.

4. The inceptor apparatus of claim 1 wherein:
in response to the value FD exceeding a predetermined tolerance limit, the control unit is operable to generate machine control signals in dependence upon the force signals but not the position signals.

5. The inceptor apparatus of claim 1 wherein the stick member is coupled to an actuator operable in response to at least one of the machine control signals from the control unit.

6. The inceptor apparatus of claim 5 wherein:
in response to at least one of the machine control signals received from the control unit, the actuator is operable to urge the stick member to a predetermined position.

7. The inceptor apparatus of claim 5 wherein:
in response to at least one of the machine control signals received from the control unit, the actuator is operable to be locked in position relative to the housing, thereby locking the stick member into position.

8. The inceptor apparatus claim 5 wherein:
in response to at least one of the machine control signals received from the control unit, the actuator is operable to be disabled.

9. The inceptor apparatus of claim 1 wherein:
the stick member is operable to pivot in a first direction and second direction, the first direction being perpendicular to the second direction.

10. A vehicle control apparatus comprising the inceptor apparatus of claim 1 .

11. A method of operating an active inceptor apparatus for controlling a machine, the inceptor apparatus including a stick member having a grip portion, the stick member being pivotably mounted relative to a housing, the method comprising:
receiving position and force signals from position and force sensors respectively, the position sensor for generating the position signals indicative of a stick member position, and the force sensor for generating the force signals indicative of a force applied to the stick member by a user;
determining a value FD indicative of force applied to the stick member relative to displacement of the stick member; and
generating machine control signals as a function of at least one of the position signals and the force signals in dependence upon the value FD for communication to the machine.

12. The method of claim 11 wherein:
in response to the value FD being below a predetermined tolerance limit, generating machine control signals includes generating machine control signals in dependence upon the force signals and the position signals.

13. The method as claimed in claim 12 wherein generating machine control signals includes applying a first variable gain multiplier to the force signals, and applying a second variable gain multiplier to the position signals, the values of the gain multipliers being varied relative to one another in dependence upon the position signals.

14. The method of claim 11 wherein:
in response to the value FD being below a predetermined tolerance limit, generating machine control signals includes generating machine control signals in dependence upon the position signals but not the force signals.

15. The method of claim 11 wherein:
in response to the value FD exceeding the predetermined tolerance limit, generating machine control signals includes generating machine control signals in dependence upon the force signals but not the position signals.

16. The method of claim 11 , the method further comprising generating the machine control signals for control of an actuator coupled to the stick member in dependence upon the value FD.

17. The method of claim 16 wherein:
in response to the value FD exceeding a predetermined tolerance limit, generating the machine control signals for control of an actuator includes generating a signal to instruct the actuator to urge the stick member to a predetermined position.

18. The method of claim 16 wherein:
in response to the value FD exceeding a predetermined tolerance limit, generating the machine control signals for control of an actuator includes generating a signal to lock the actuator relative to the housing, thereby locking the stick member relative to the housing.

19. The method of claim 16 wherein:
in response to the value FD exceeding a predetermined tolerance limit, generating the machine control signals for control of an actuator includes generating a signal to disable the actuator.

20. An active inceptor apparatus for operating a machine, the apparatus comprising:
a stick member having a grip portion, the stick member being pivotably mounted relative to a housing;
a position sensor responsive to, and for generating position signals indicative of, a stick member position;
a force sensor provided on the stick member responsive to, and for generating force signals indicative of, a force applied to the stick by a user; and
a control unit, operable to
receive the position and force signals from the position and force sensors respectively,
process the position and force signals according to a predetermined relationship to determine a value FD indicative of the force applied to the stick member relative to a displacement of the stick member, and
generate machine control signals as a function of at least one of the position signals and the force signals in dependence upon the value FD, for communication to the machine;
wherein
in response to the value FD being below a predetermined tolerance limit, the control unit is operable to generate machine control signals in dependence upon at least one of the force signals and the position signals, and
in response to the value FD exceeding the predetermined tolerance limit, the control unit is operable to generate machine control signals in dependence upon the force signals but not the position signals.

Assignees

• Bae Systems Plc

Inventors

• Taylor Adam
• Bean Jason Howard

Classifications

• G05G2009/04748

  Position sensor for rotary movement, e.g. potentiometer · CPC title

• B64C13/04 Primary

  actuated personally · CPC title

• G05G2505/00

  Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member · CPC title

• G05G2009/04777

  with additional push or pull action on the handle · CPC title

• G05G1/04

  Controlling members for hand actuation by pivoting movement, e.g. levers · CPC title