Active force/vibration feedback control method and apparatus for a movable machine

• US 10,316,492 B2
• Filed: 07/30/2015
• Issued: 06/11/2019
• Est. Priority Date: 07/31/2014
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Kassen, Gary R., Wu, Duqiang, Singh, Aditya, Melchinger, Uli, Gulati, Navneet, Dean, Patrick T.
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/500,815
• Publication Number:
  US 20170218600A1
• Time in Patent Office: 1,412 Days
• Field of Search: 701 50
• CPC Class Codes: A01B 71/02 Setting or adjusting mechanisms
• CPC Class Codes: B60K 2026/029 Joystick type control devices for acceleration
• CPC Class Codes: B60K 26/021 with means for providing feel, e.g. by changing pedal force characteristics
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: E02F 3/3414 the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: G05B 11/01 electric
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015

Abstract

A movable machine including a chassis, a tool coupled to the chassis, an operator control carried by the chassis and a controller. The controller is communicatively coupled to the operator control. The controller being configured to send a force feedback and/or a vibration feedback to the operator control thereby conveying information to the operator. The information is not related to a load encountered by the tool.

Claims

1. A movable machine, comprising:

a chassis;

a work implement coupled to said chassis;

an operator control carried by said chassis, said operator control being configured to control an operation of said work implement; and

a controller communicatively coupled to said operator control, said controller configured to send at least one of a force feedback or a vibration feedback to said operator control thereby conveying information to an operator, said information not being related to a load encountered by the work implement.

2. The movable machine as claimed in claim 1, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon to at least one of a steering change, a speed of the machine, a power limit of the machine being approached, a detection of rough terrain, detection of a shake bucket command, a detection of a control lock, a fault code, an operator preference selection, a communication message for the operator, or a detected obstacle.

3. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the detected obstacle being detected in at least one of to a side of the machine or behind the machine.

4. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the communication message for the operator, the communication message being an alert from a communication device.

5. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon said preference selection, said preference selection including a selection of a type of feedback the operator would want to experience when a selected event is detected by said controller.

6. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the fault code being sent to the controller.

7. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the detection of said control lock.

8. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the detection of said shake bucket command.

9. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the detection of rough terrain which the machine is traversing or is about to traverse.

10. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the power limit of the machine is being approached.

11. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon the speed of the machine.

12. The movable machine as claimed in claim 2, wherein at least one of said force feedback or said vibration feedback is altered by said controller dependent upon a steering change of the machine.

13. The movable machine as claimed in claim 1, wherein at least one of said force feedback or said vibration feedback to said operator control is in a form of at least one of an increasing stiffness of said control, a decreased stiffness of said control, a preventing of movement of the control, a shaking of the control, a variable frequency movement of the control, or a fixed frequency movement of the control.

14. The movable machine as claimed in claim 1, wherein the work implement comprises at least one of a bucket, a blade, or a boom.

15. A force feedback method for an operator control of a movable machine, the machine having a chassis, a work implement coupled to the chassis, and the operator control carried by the chassis, the operator control being configured to control an operation of the work implement, the method comprising:

receiving, with a controller coupled to the operator control, an input from the operator control associated with the operation of the work implement; and

sending, using the controller, a force feedback to the operator control thereby conveying information to an operator, said information not being related to a load encountered by the work implement.

16. The method of claim 15, further comprising the step of altering at least one of said force feedback or said vibration feedback dependent upon to at least one of a steering change, a speed of the machine, a power limit of the machine being approached, a detection of rough terrain, detection of a shake bucket command, a detection of a control lock, a fault code, an operator preference selection, a communication message for the operator, or a detected obstacle.

17. The method of claim 16, wherein at least one of said force feedback or said vibration feedback is altered dependent upon the detected obstacle being detected in at least one of to a side of the machine or behind the machine.

18. The method of claim 16, wherein at least one of said force feedback or said vibration feedback is altered dependent upon the communication message for the operator, the communication message being an alert from a communication device.

19. The method of claim 16, wherein at least one of said force feedback or said vibration feedback is altered dependent upon said preference selection, said preference selection including a selection of a type of feedback the operator would want to experience when a selected event is detected by said controller.

20. The method of claim 15, wherein the work implement comprises at least one of a bucket, a blade, or a boom.