Europaisches Patentamt
`
`European Patent Office
`
`Office europ6en des brevets
`
`iii
`iii
`1111
`11111111
`H11101111
`0 Publication number : 0 501 906 Al
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`12
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`EUROPEAN PATENT APPLICATION
`
`0 Application number : 92610012.4
`
`0 Int. CI 5: G06K 11/18, GO6K 1 1 /20
`
`0 Inventor : Soelberg, Peter
`57, Sct. Annagade
`DK-3000 Helsingor (DK)
`
`0 Representative : Siiger, Joergen et al
`c/o Chas. Hude H.C. Andersens Boulevard 33
`DK-1553 Copenhagen V (DK)
`
`0 Date of filing : 21.02.92
`
`0 Priority : 01.03.91 DK 377/91
`
`@ Date of publication of application :
`02.09.92 Bulletin 92/36
`
`0 Designated Contracting States :
`AT BE CH DE DK ES FR GB GRIT LI LU MC NL
`PT SE
`
`0 Applicant : HARDI INTERNATIONAL A/S
`38, Helgeshoj Alle
`DK-2630 Taastrup (DK)
`
`0 Contactless joystick.
`
`stick
`comprising a
`joystick
`0 Contactless
`swingable about a ball-and-socket joint, said
`stick comprising an upper portion and a lower
`portion displacable relative to the upper por-
`tion. An elastic spring connected to the upper
`portion and the lower portion biases the lower
`portion in a downwards direction. Magnetizing
`means are mounted at the end of the lower
`portion and a number of hall effect switches are
`mounted on a subjacent plate. According to the
`invention, the lower biased portion of the stick
`is adapted to engage indentations in positions
`corresponding to the positions of the hall effect
`switches. It is thereby possible to distinguish
`between a large number of positions while, at
`the same time, the associated electronics are
`made simpler.
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`7
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`Fig.1
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`Jouve, 18, rue Saint-Denis, 75001 PARIS
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`EP 0 501 906 Al
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`Sensata Ex. 1006 Page 0001
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`EP 0 501 906 Al
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`The invention relates to a contactless joystick
`comprising a stick swingable about a ball-and-socket
`joint, said stick comprising an upper portion and a
`lower portion displacable relative to the upper portion,
`an elastic spring connected to the upper portion and
`the lower portion and biasing the lower portion, mag-
`netizing means mounted at the end of the lower por-
`tion and a number of hall effect switches mounted on
`a subjacent plate, the lower biased portion of the stick
`being adapted to engage indentations in positions
`corresponding to the positions of the transducers.
`US patent No. 4,459,578 discloses a joystick
`where two movable arms are provided with magnets.
`The joystick may be moved in such a manner that the
`magnets are guided to the proximity of one of a num-
`ber of firmly mounted hall elements. By means of
`analog signals from the hall elements, the system is
`able to provide information on the position of the joys-
`tick in a XY plane. If it is required to distinguish be-
`tween a large number of positions of the joystick, the
`associated electronic circuits become rather com-
`prehensive and complicated.
`US patent No. 4,825,157 discloses a contactless
`joystick, where an electromagnet has been mounted
`on a movable stick, said electromagnet magnetizing
`the stick. Four hall elements are placed perpendicu-
`larly to the stick, said hall elements providing infor-
`mation on the position of the stick. The associated
`electronic circuits will, however, become relatively
`complicated if a larger number of hall elements is to
`be used.
`joystick with a magnet capable of influencing one
`out of several subjacent hall elements placed in a mat-
`rix-like pattern. The position of the joystick is deter-
`mined by means of a parallel reading of the signals
`from the hall elements. If a large number of hall ele-
`ments is to be used, the corresponding electronic cir-
`cuits become rather complicated.
`The object of the invention is to demonstrate how
`the scanning of the hall elements is simplified.
`According to the invention, a joystick of the type
`described in the introduction is characterised in that
`the hall effect switches are connected to a microp-
`rocessor adapted to periodically detect whether the
`individual hall effect switch short-circuits. The
`associated electronic circuits may thereby control an
`almost arbitrarily large number of positions where the
`joystick may engage indentations without the circuits
`for that reason being rendered correspondingly com-
`plicated.
`According to the invention, the distance between
`the magnetizing means and the hall effect switch
`which is desired to be activated may be about 1 mm.
`Furthermore, according to the invention, nine hall
`effect switches may be provided on the subjacent
`plate. It is thereby possible to control up to nine func-
`tions.
`According to the invention, the detection of the
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`position of the joystick takes place by a supply voltage
`being supplied to each of the hall effect switches one
`at a time from the microprocessor through some of the
`pins.
`The invention is explained in greater details
`below with reference to the drawings in which
`Figure 1 shows a contactless joystick according
`to the invention,
`Figure 2 is a block diagram of the associated elec-
`tronic circuits for the detection of the position of
`the joystick,
`Figure 3 is a detailed diagram of the circuit of the
`joystick,
`Figure 4 is a detailed diagram of the circuit for the
`detection of the position of the joystick,
`Figure 5 shows the joystick on a large scale,
`Figure 6 shows the hall effect switches in the joys-
`tick,
`Figure 7 shows a plate shaped body, the inden-
`tations of which the lower portion of the joystick
`may engage in predetermined positions,
`Figure 8 is a plan view of the plate-shaped body,
`and
`Figure 9 shows the plate shaped body shown in
`Figure 7 seen from below.
`The joystick shown in Figure 1 comprises a
`swingable stick 1 in the form of a carrying pipe for a
`handle. A ball 2 is situated on the stick 1, said ball
`being suspended in a ball-and-socket joint. The ball-
`and-socket joint comprises a housing 3 which has
`been lowered over the ball 2, a backstop 4 being pro-
`vided from the other side, said backstop engaging the
`housing 3 by means of projecting pins, and a lower
`portion which is fastened to the housing 3 by means
`of a split pin. The lower portion of the stick 1 is pro-
`vided with a displacable portion 6, which has been
`biased in a downwards direction by means of a spring
`7 fastened to the displacable portion 6. The displac-
`able portion 6 serves to determine the position of the
`stick 1. A strong magnet 8, for instance in the form of
`a cobalt magnet, is provided at the end of the displac-
`able portion 6. A number of hall effect switches, for
`instance 7 hall effect switches, are placed under the
`magnet 8. When the magnet 8 is placed opposite one
`of the hall effect switches, the distance to the hall
`effect switch is about 1 mm. The hall effect switches
`are mounted on a circuit board 10 situated at the bot-
`tom of the housing 3. The circuit board 10 is provided
`with two outlets. One outlet is for connection to two
`contacts SW1, SW2 in the handle of the stick 1, while
`the other outlet is for connection to the hall effect
`switches U8-U14.The associated electronic circuits -
`see Figure 4 - for detection of the position of the stick
`1 comprises a microprocessor 11 (68HCO5C8), a net-
`work interface 12 (COM 20020) and a local area net-
`work of two wires. The necessary voltage supply is
`also provided. The position of the stick is detected by
`means of the seven hall effect switches U8-U14 seen
`
`Ex. 1006 Page 0003
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`EP 0 501 906 Al
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`to the right in Figure 3, the magnet 8 at the bottom of
`the displacable portion 6 being detectable by means
`of said hall effect switches U8-U14. There is room for
`up to nine different positions of the stick 1. A scanning
`is now carried out to determine if one of the hall effect
`switches U8-U14 short-circuits, the output of the hall
`effect switch in question short-circuiting to the frame,
`thereby indicating the position of the stick 1. The sig-
`nal is carried to a multioutlet JP6. The scanning of the
`positon of the stick 1 takes place by the hall effect
`switches U8-U14 being activated one by one in that
`the supply voltage is supplied to each of the hall effect
`switches U8-U14 from the microprocessor 11 via the
`pins PB1-PB7. The activation is controlled by a prog-
`ram in the microprocessor 11. Each of the hall effect
`switches U8-U14 is activated for a short moment, for
`instance 1 msec. From pin PB 1 a signal is supplied
`to the hall effect switch No. 7 which is thereby acti-
`vated. If there is a magnet opposite hall effect switch
`No. 7, the hall effect switch will short-circuit to the
`frame or ground; otherwise it will be drawn to V„, that
`is +5 V. If it is drawn to the frame, it is known that the
`stick 1 is opposite this hall effect switch, and via the
`multioutlet JP6 a signal appears on the line WALL-
`OUT. The signal on WALL-OUT is transmitted to a pin
`PC1 of the microprocessor 11 which checks if the sig-
`nal is high or low. It is low if the hall effect switch short-
`circuits to the frame and it is high if the hall effect
`switch is not activated. Information is thereby pro-
`vided on the position of the stick 1. Furthermore, infor-
`mation is provided on whether the switch should be
`turned on or off, as signals from some switches SW1
`and SW2 in the handle of the stick are supplied to the
`microprocessor 11 and causes the function in ques-
`tion to be either switched on or off. Further, at flag is
`set if the switch is to be turned on. The microprocessor
`11 communicates some hundred times a second with
`a local network 13 via an interface 12 COM 20020 and
`transmits messages via the network 13. This takes
`place through the pins PBO-PB7 and PAO-PA7 of the
`microprocessor. The signals from the pins PBO-PB7
`are transmitted to the interface 12 which contains a
`protocol. A signal is then transmitted from the inter-
`face 12 at the terminals PULSEI and TXEN. TXEN
`indicates whether the interface 12 sends or receives.
`The weak logical signals from the interface 12 are
`transformed by an output stage LTC 485 into stronger
`signals which are in opposite phase (to avoid noise).
`LTC 485 has the terminals RO (receive out) corre-
`sponding to received signal out, that is to the interface
`12, RE (receive enable) which is activated by being
`connected to the frame, DE (data enable) which is
`data out to the local network 13 and DI (data input).
`Further there is an output A and an inverted output B.
`The signal from the output A is transmitted to an outlet
`JP1 connectable to the two conductors in the local
`network 13. The plus and minus terminals of the volt-
`age supply are situated in the same outlet, said volt-
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`age supply supplying the voltage V„ through a volt-
`age stabilisator U4. The pins AO, A1, and A2 in the
`interface 12 selects eight internal registers containing
`different information. Data is supplied by the pins
`ADO-D7. Data may be transferred both in and out and
`the pins PBO-PB7 of the microprocessor 11 may func-
`tion both as inlets and as outlets. It is now assumed
`that a transfer of information from the microprocessor
`11 to the interface 12 is desired. The pins PBO-PB7
`of the microprocessor 11 are then set to be outlets and
`the interface 12 is then set to receive what is sent from
`said pins. Subsequently, the data are set up which the
`interface 12 COM 20020 is to receive and by means
`of AO-A2 the register is selected in which the received
`data are to be stored. Pin WR is then drawn or con-
`nected to the frame and input is carried out into the
`interface COM 20020. If data is to be received there-
`from, the gate PB is set to receive. The address is at
`AO-A2 and the information to be received from the
`interface 12 is selected through AO-A2. The pin RD
`(pin 27) is then drawn or connected to the frame and
`it is then possible to read data, for instance containing
`information on the position of a boom. The microp-
`rocessor 11 starts its program when reset is connec-
`ted to the frame. However, firstly the pins are set up
`which are necessary for the functioning of the remain-
`ing portion of the system while an internal watch is
`simultaneously scanned. The micro processsor is in
`a zero position. IRQ is connected to the pin INTR
`which is drawn or connected to the frame, when it has
`the information to be transferred. It thereby switches
`off the microprocessor instantaneously, irrespective
`of its activity, except if its activities have been inter-
`rupted. Otherwise, it stops the activities of the micro-
`processor and it then takes over the performance of
`the program concerning the communication in such a
`manner that data is removed from the interface COM
`20020 as quickly as possible to be treated. This has
`nothing to do with RESET. The RESET circuit com-
`prises a condensator C13. The signal on the conden-
`sator C13 is inverted twice, that is it is the same signal
`which is supplied from pin 20 of a Schmitt-trigger 74
`HC14. 74 HC14 is connected to the condensator C13.
`The Schmitt-trigger causes the output to be low until
`the voltage on C13 has risen to e.g. 3 V. When it rises
`above 3 V the output goes high and remains high until
`the voltage of C13 has fallen to below e.g. 2 V corre-
`sponding to a hysteresis in 74 HC 14. When starting
`up the microprocessor 11, it alternately connects or
`draws pin 5 (PA7) to the frame and to plus whereby a
`charge is pumped via IRQ through a condensator
`C12, a resistor R13 and two diodes D8 and D9 and
`into a condensator C11. Thereby pin 3 on 74 HC14
`remains high. If the microprocessor suddenly stops, is
`will cease pumping charge. The circuit thereby
`becomes unstable whereby it constantly changes be-
`tween high and low on the output, corresponding to it
`transmitting reset pulses to the microprocessor 11
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`Ex. 1006 Page 0004
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`until said microprocessor has been started in a normal
`way again. This is called a watchdog (safety circuit).
`The joystick is now assumed to be set in a definite
`position to control a predetermined function. The
`microprocessor 11 then scans the position of the joys-
`tick and whether the function in question is to be
`switched on or off. The microprocessor 11 subse-
`quently stores the signals internally and transmits the
`signals as a number of words to the local network 13,
`which words contain information. The protocol in the
`interface 12 provides the transmitted words with a pre-
`determined meaning (via pin 3 and pin 4 on JP1).
`The bit flow supplied to the local network 13 is
`received by a corresponding circuit of e.g. a boom
`function, which in its turn gives a corresponding signal
`on a pin. A further microprocessor may optionally be
`adapted, said microprocessor supplying a signal cor-
`responding to the signal on the pin for activation of
`e.g. a valve. However, the latter takes place a different
`place. The principle is that all information is transfor-
`med into signals transmittable by means of two con-
`ductors, irrespective of the amount of information, the
`information being in a bit flow but being registable by
`the receiver in order for the receiver to ascertain if the
`information is for it or for one of the other receivers.
`Figure 5 shows the joystick in its entirety. The
`contacts SW1 and SW2 are seen at the top. Wires are
`carried from the contacts to outlet 1 of the printed cir-
`cuit board 10 shown in Figure 6, onto which the seven
`hall effect switches have also been mounted. Figures
`7,8 and 9 show a substantially plate-shaped body into
`which the lower portion of the spring biased portion
`may engage the indentations. The lower portion of the
`biased portion is rounded corresponding to the inde-
`ntations of the substantially plate-shaped body. Fig-
`ure 8 is a plan view of the plate-shaped body. It is seen
`that the outer projecting portion of the biased portion
`of the stick 1 where the magnet 8 is placed may be
`moved in a double F-shaped groove with inden-
`tations. Each of the holes shown in Figure 9 is oppo-
`site a hall effect switch.
`In an alternative embodiment the field generating
`means are radiation emitting means while the trans-
`ducers are radiation sensitive means. The radiation
`used may for instance be light, in which case the radi-
`ation emitting means is a light diode, while the radi-
`ation sensitive means are light sensitive semicon-
`ducting devices.
`In a further alternative embodiment the radiation
`is ultrasound, both the transmitter and the receiver
`being an ultrasound transducer.
`Finally, the radiation may be radioactive radi-
`ation, in which case a radioactive source is provided
`at the end of the biased portion of the stick 1, while the
`transducers are elements sensitive to radioactive
`radiation.
`In an alternative embodiment a coding element
`has been provided in the printed circuit board in each
`
`5
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`of the positions which the swingable stick may
`engage. By means of the signals reflected from the
`point of the swingable stick (the displacable portion 6)
`the encoder element is able to ascertain whether the
`swingable stick is in a certain position or not. By
`means of reflexions from the point of the joystick it is
`thus possible to determine if this is present or not and
`this is done by means of a encoder element contain-
`ing both a transmitter and a receiver. The encoder ele-
`10 ment may for instance work by means of ultrasound,
`thermal energy, radiowaves from the UHF range and
`upwards, radioactive radiation or light, the whole
`spectre. Alternatively, the encoder element may be
`influenced by a field distortion or a capacity change
`and thereby provide information on whether the
`swingable stick is in a certain position or not.
`The joystick may for instance be used to control
`the following functions:
`1. Unfolding of the individual boom sections
`2. Raising and lowering of the boom
`3. Boom slanting control
`4. Foam amount regulation
`The joystick controls the above functions via a
`local network. All data are transmitted via a screened
`cable with only one inner conductor. Interface of the
`type RS232C may be used for instance in connection
`with hydraulic valves, pressure gauges etc.
`
`20
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`25
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`30 Claims
`
`1. Contactless joystick comprising a stick (1) swing-
`able about a ball-and-socket joint (2), said stick
`comprising an upper portion and a lower portion
`(6) displacable relative to the upper portion, an
`elastic spring connected to the upper portion and
`the lower portion and biasing the lower portion
`(6), field generating means, such as magnetizing
`means mounted at the end of the lower portion (6)
`and a number of transducers, such as hall effect
`switches (U8-U14) mounted on a subjacent plate
`(10), where the lower biased portion (6) of the
`stick (1) is adapted to engage indentations in
`positions corresponding to the positions of the
`transducers, characterised in that the hall effect
`switches (U8-U14) are connected to a micro pro-
`cessor (11) adapted to periodically scan whether
`one of the hall effect switches short-circuits.
`
`2. A joystick as claimed in claim 1, characterised by
`the distance between the magnetizing means (8)
`and the hall effect switch to be activated being
`about 1 mm.
`
`3. A joystick as claimed in claim 1 or 2, character-
`ised in that the nine hall effect switches (U8-U14)
`have been arranged on the subjacent plate (10).
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`Ex. 1006 Page 0005
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`4. A joystick as claimed in claim 1, characterised in
`that the upper part of the stick (1) has a locking
`groove (9) for the spring (7).
`
`5. A joystick as claimed in the claims 1-4, character-
`ised in that the scanning of the position of the
`joystick takes place by the supply voltage being
`supplied to each of the hall effect switches (U8-
`U14) one at a time from the micro processor (11)
`through some pins (PB1-PB7).
`
`6. A joystick as claimed in claim 5, characterised in
`that the activation of the individual hall effect
`switch (U8-U14) lasts for 1 msec.
`
`7. A joystick as claimed in claim 1, characterised in
`that the field generating means are radiation emit-
`ting means, while the transducers are radiation
`sensitive means.
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`Ex. 1006 Page 0006
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`Ex. 1006 Page 0007
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`Ex. 1006 Page 0007
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`Ex. 1006 Page 0012
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`Ex. 1006 Page 0012
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`

`

`EP 0 501 906 Al
`
`European Patent
`
`Office
`
`EUROPEAN SEARCH REPORT
`
`Application Number
`
`DOCUMENTS CONSIDERED TO BE RELEVANT
`Citation of document with indication, whim appropriate,
`of relevant passages
`
`Category
`
`Relevant
`to dein
`
`CLASSIFICATION OF THE
`APPLICATION out. a.5 )
`
`EP
`
`92 61 0012
`
`A
`
`A
`
`US-A-4 489 303 (THOMAS B. MARTIN) 18 December
`1984
`* abstract *
`* column 3, line 33 - line 39 *
`
`IBM TECHNICAL DISCLOSURE BULLETIN.
`vol. 23, no. 8, January 1981, NEW YORK US
`pages 3831 - 3834;
`J.E,FOX: 'Scanned Capacitive Joy Stick Cursor
`Control'
`* page 3833, paragraph 3 *
`
`1
`
`GO6K11/18
`GO6K11/20
`
`TECHNICAL FIELDS
`SEARCHED (Int. CI.5 )
`
`006K
`GO6F
`
`The present search report has been drawn up for all claims
`
`Place of were►
`THE HAGUE
`
`Data of empietria et tba mar&
`26 MAY 1992
`
`Kummer
`CIARELLI N,
`
`CATEGORY OF CITED DOCUMENTS
`
`X : particularly relevant if taken alone
`: particularly relevant if combined with another
`document of the same category
`A : technological background
`0 : non-written disclosure
`P : intermediate document
`
`O
`
`re
`
`T : theory or prindple underlying the invention
`E : earlier patent document, but published on, or
`after the filing date
`D : document dted in the application
`L document dted for other reasons
`
`& : member of the same patent family, corresponding
`document
`
`13
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`Ex. 1006 Page 0013
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