Power machine with an operator input device with haptic feedback, method and system for controlling such a power machine

Abstract

A power machine (400) can include a frame (120), a power source (120), one or more drive actuators (426) that drive tractive elements (140) of the power machine (400), one or more workgroup actuators (439) the execute work functions of the power machine (400), an operator input device (460) that can include an operator interface (462) and a servo motor that can be arranged to apply motive force to the operator interface (462), and an electronic control system (490) that can be in communication with the operator input device (460) and the actuators (426, 439). The electronic control system (490) can be configured to control one or more of the actuators (426, 439) in response to receiving command signals from the operator input device (460) in response to operator inputs at the operator interface (462) and can control the one or more servo motors to provide haptic feedback to an operator at the operator input device (460).

Description

POWER MACHINE WITH AN OPERATOR INPUT DEVICE WITH HAPTIC FEEDBACK, METHOD AND SYSTEM FOR CONTROLLING SUCH A POWER MACHINECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 63 / 635,231, filed April 17, 2024, the entire contents of which is incorporated herein by reference.BACKGROUND

[0002] This disclosure is directed toward power machines. More particularly, the present disclosure is directed to operator input devices for power machines that are used by an operator for control of operations of the power machine. Power machines, for the purposes of this disclosure, include any type of machine that generates power to accomplish a particular task or a variety of tasks. One type of power machine is a work vehicle. Work vehicles are generally self-propelled vehicles that have a work device, such as a lift arm (although some work vehicles can have other work devices) that can be manipulated to perform a work function. Work vehicles include loaders, excavators, utility vehicles, tractors including compact tractors, and trenchers, to name a few examples. Other types of power machines can include mini-loaders (e.g., mini track loaders) and mowers.

[0003] Different types of power machines, including skid-steer loaders, compact track loaders, excavators and the like can include one or more operator input devices that can receive operator commands from an operator to control various operations of the power machine. Some operator input devices can include an operator interface that can be configured to be physically manipulated by an operator and movement of such operator interface can correspond to an operator command. In some such operator input devices, a varying degree of movement of the operator interface by an operator can correspond to varying operator command values for a particular operation of the power machine.

[0004] The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.SUMMARY

[0005] Examples according to this disclosure can provide an operator input device for a power machine that can be configured to provide haptic feedback to an operator. For example, in some cases, an operator input device can be configured to provide haptic feedback to anoperator interface thereof based on an operator command or an operating condition of the power machine.

[0006] Some examples of the disclosure provide a power machine that can include a frame, a power source supported by the frame, actuators supported by the frame and powered by the power source that can include one or more drive actuators configured to drive one or more tractive elements of the power machine and one or more workgroup actuators configured to execute one or more work functions of the power machine, an operator input device that can include an operator interface and that can be configured to provide command signals in response to operator inputs at the operator interface, and an electronic control system that can be in communication with the operator input device and the actuators. The operator input device can further include one or more servo motors that can be arranged to apply motive force to the operator interface. The electronic control system can be configured to control one or more of the actuators in response to receiving the command signals, and control the one or more servo motors to provide haptic feedback to an operator at the operator input device.

[0007] In some examples, the operator interface may be one or more of a joystick, a pedal, a lever, or a steering wheel.

[0008] In some examples, the power machine may further include a sensor system that can be in communication with the electronic control system and can be configured to sense operating conditions for the power machine. In some such examples, the electronic control system can be further configured to provide the haptic feedback based on one or more of the sensed operating conditions.

[0009] In some examples, the haptic feedback can be one or more of a vector type feedback, or a vibration type feedback. In some such examples, the haptic feedback can include the vector type feedback with the one or more servo motors applying force to the operator interface in a feedback direction that is opposite an input direction of a present operator input at the operator interface. In some such examples, the operator interface can be a joystick handle and the input direction can correspond to a movement of the joystick handle away from a neutral position and the feedback direction can be toward the neutral position.

[0010] In some examples, the haptic feedback can include a first return force as the operator interface is moved from a neutral position toward a first distance from the neutral position and a second return force, that is different than the first return force, as the operator interface is moved from the first distance toward a second distance from the neutral position that is larger than the first distance. In some such examples, the first return force can be greater than thesecond return force. In some such examples, the haptic feedback can further include a third return force as the operator interface is moved from the second distance toward a third distance from the neutral position that is larger than the second distance, and the third return force can be greater than the second return force. In some such examples, the third distance can be a maximum distance from the neutral position for operational movement of the operator interface. In some such examples, the third feedback force can increase with a distance of the operator interface from the neutral position.

[0011] In some examples, the haptic feedback can include a detent feedback force that can hold the operator interface at a detent distance from a neutral position. In some such examples, the detent distance can be a predetermined distance that can be set by the operator. In some such examples, the detent distance can correspond to a float function of a lift arm of the power machine.

[0012] In some examples, controlling the one or more servo motors to provide the haptic feedback can include determining a velocity of movement of the operator interface and determining the haptic feedback based on the velocity.

[0013] In some examples, controlling the one or more servo motors to provide the haptic feedback can include determining one or more force values for a present operation of one or more of the power source or the actuators of the power machine and determining the haptic feedback for the operator inputs based on the one or more force values. In some such examples, the one or more force values can correspond to one or more of a power source force value corresponding to a loading of the power source, a tractive force value corresponding to a loading of the one or more drive actuators, or a workgroup force value corresponding to a loading of the one or more workgroup actuators. In some such examples, the haptic feedback can include a first force in a first direction that is determined based on one of the power source, tractive, or workgroup force values, and a second force in a second direction that is determined based on a different one of the power source, tractive, or workgroup force values.

[0014] In some examples, the power machine can further include a second operator input device that includes a second operator interface and is configured to provide second command signals in response to operator inputs at the second operator interface, and the haptic feedback can include forces on the operator interface corresponding to movement of the second operator interface. In some such examples, the operator interface can be a first joystick handle and the second operator interface can be a second joystick handle, the movement of the second operatorinterface can be a movement in a first direction, and the forces on the operator interface can move the first joystick in the first direction.

[0015] Some examples of the disclosure provide a method of controlling a power machine that can include receiving an operator input at an operator interface of an operator input device that is configured to provide command signals for operation of one or more of a power source of the power machine, a drive actuator of the power machine, or a workgroup actuator of the power machine. The method can further include, in response to the operator input, controlling one or more servo motors of the operator input device to apply haptic feedback at the operator interface.

[0016] Some examples of the disclosure provide a system of controlling a power machine. The system may include actuators supported by a frame of the power machine and powered by a power source of the power machine, including one or more drive actuators configured to drive one or more tractive elements of the power machine, and one or more workgroup actuators configured to execute one or more work functions of the power machine. The system may include an operator input device that may include an operator interface and is configured to provide command signals in response to operator inputs at the operator interface, the operator input device further including one or more servo motors arranged to apply motive force to the operator interface. The system may include an electronic control system in communication with the operator input device and the actuators. The electronic control system may be configured to: control one or more of the actuators in response to receiving the command signals; and control the one or more servo motors of the power machine to provide haptic feedback to an operator at the operator input device.

[0017] This Summary and the Abstract are provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor are they intended to be used as an aid in determining the scope of the claimed subject matter.DRAWINGS

[0018] The following drawings are provided to help illustrate various features of nonlimiting examples of the disclosure and are not intended to limit the scope of the disclosure or exclude alternative implementations.

[0019] FIG. l is a block diagram illustrating functional systems of a representative power machine on which examples of the present disclosure can be advantageously practiced.

[0020] FIGS. 2 and 3 illustrate axonometric views of a representative power machine in the form of a skid-steer loader of the type on which the disclosed examples can be practiced.

[0021] FIG. 4 is a block diagram illustrating example components of a power system of a power machine, including a power machine configured as the skid-steer loader illustrated in FIGS. 2 and 3.

[0022] FIG. 5 is a block diagram illustrating examples components of a power system of a power machine, including a power machine configured as the skid-steer loader illustrated in FIGS. 2 and 3.

[0023] FIG. 6 is a block diagram illustrating example components of a power system of a power machine, including a power machine configured as the skid-steer loader illustrated in FIGS. 2 and 3.

[0024] FIG. 7 is side view of an example operator input device of the power machine of FIG. 6.

[0025] FIG. 8 schematically illustrates another example operator input device of the power machine of FIG. 6.

[0026] FIG. 9 is a schematic representation of a method for operating operator input devices of power machines, including a power machine as illustrated in FIG. 6, according to examples of the present disclosure.

[0027] FIG. 10 is a partly schematic top view of the operator input device of FIG. 7.

[0028] FIG. 11 is a schematic representation of a method for operating a power machine, including a power machine as illustrated in FIG. 6, according to examples of the present disclosure.

[0029] FIG. 12 is a schematic side view of example first and second operator input devices of a power machine, including a power machine as illustrated in FIG. 6.DETAILED DESCRIPTION

[0030] The concepts disclosed in this discussion are described and illustrated by referring to exemplary configurations. These concepts, however, are not limited in their application to the details of construction and the arrangement of components in the illustrative examples and are capable of being practiced or being carried out in various other ways. The terminology in this document is used for the purpose of description and should not be regarded as limiting. Words such as “including,” “comprising,” and “having” and variations thereof as used herein are meant to encompass the items listed thereafter, equivalents thereof, as well as additional items.

[0031] Conventional operator input devices of power machines may be configured to provide command signals either mechanically (e.g., hydraulically or otherwise) or electronically (e.g., via input signals received by separate control devices) Electronic operator input devices can provide improved control over hydraulic pilot-valve devices in some cases, but may not exhibit appropriate sensitivity to operator commands (e.g., may exhibit too much sensitivity to small movements). In some cases, conventional electronic operator input devices may also limit implementation of operator commands in various ways (e.g., via filtering of input commands relative to high-speed or high-load operations of the power machine).

[0032] Examples of the present disclosure can address these and other issues, for example, by providing an improved operator input device for power machines and corresponding control systems and methods. Generally, operator input devices of the disclosed technology can be configured to provide haptic feedback to an operator at the operator input device, in some cases with varying force depending on particular input movements or positioning of an input device.

[0033] In some examples, the haptic feedback can be a vector type feedback with force applied in a feedback direction that is opposite an input direction of movement of the operator interface. In other words, for example, servo motors can be controlled to provide a spring-like (or other) resistance to movement of a joystick or other input device. Such haptic feedback, for example, can help to prevent inadvertent movement of the operator interface by requiring more force to be applied to the operator interface to move from a neutral position. Moreover, in some examples, varying levels of force can be applied as the operator interface is moved further away from a neutral position or otherwise positioned (e.g., to provide a response with varying effective spring constants, damping, etc.). Thus, for example, some configurations can provide increased affinity to operator intent, as well as increased stability and improved operator feedback for input command movements (e.g., during operations at higher speeds or with higher loading).

[0034] These concepts can be practiced on various power machines, as will be described below. Before any examples are disclosed, a representative power machine on which the examples can be practiced is illustrated in diagram form in FIG. 1 and one example of such a power machine is illustrated in FIGS. 2 and 3 and described below. For the sake of brevity, only one power machine is illustrated and discussed as being a representative power machine. However, as mentioned above, the examples below can be practiced on any of a number of power machines, including power machines of different types from the representative power machine shown in FIGS. 2 and 3. Power machines, for the purposes of this discussion, includea frame, at least one work element, and a power source that can provide power to the work element to accomplish a work task. One type of power machine is a self-propelled work vehicle. Self-propelled work vehicles are a class of power machines that include a frame, work element, and a power source that can provide power to the work element. At least one of the work elements is a motive system for moving the power machine under power.

[0035] FIG. 1 is a block diagram that illustrates the basic systems of a power machine 100, which can be any of a number of different types of power machines, upon which the examples discussed below can be advantageously incorporated. The block diagram of FIG. 1 identifies various systems on power machine 100 and the relationship between various components and systems. As mentioned above, at the most basic level, power machines for the purposes of this discussion include a frame, a power source, and a work element. The power machine 100 has a frame 110, a power source 120, and a work element 130. Because power machine 100 shown in FIG. 1 is a self-propelled work vehicle, it also has tractive elements 140, which are themselves work elements provided to move the power machine over a support surface and an operator station 150 that provides an operating position for controlling the work elements of the power machine. A control system 160 is provided to interact with the other systems to perform various work tasks at least in part in response to control signals provided by an operator.

[0036] Certain work vehicles have work elements that can perform a dedicated task. For example, some work vehicles have a lift arm to which an implement such as a bucket is attached such as by a pinning arrangement. The work element, i.e., the lift arm can be manipulated to position the implement to perform the task. The implement, in some instances can be positioned relative to the work element, such as by rotating a bucket relative to a lift arm, to further position the implement. Under normal operation of such a work vehicle, the bucket is intended to be attached and under use. Such work vehicles may be able to accept other implements by disassembling the implement / work element combination and reassembling another implement in place of the original bucket. Other work vehicles, however, are intended to be used with a wide variety of implements and have an implement interface such as implement interface 170 shown in FIG. 1. At its most basic, implement interface 170 is a connection mechanism between the frame 110 or a work element 130 and an implement, which can be as simple as a connection point for attaching an implement directly to the frame 110 or a work element 130 or more complex, as discussed below.

[0037] On some power machines, implement interface 170 can include an implement carrier, which is a physical structure movably attached to a work element. The implement carrier has engagement features and locking features to accept and secure any of a number of different implements to the work element. One characteristic of such an implement carrier is that once an implement is attached to it, it is fixed to the implement (i.e. not movable with respect to the implement) and when the implement carrier is moved with respect to the work element, the implement moves with the implement carrier. The term implement carrier as used herein is not merely a pivotal connection point, but rather a dedicated device specifically intended to accept and be secured to various different implements. The implement carrier itself is mountable to a work element 130 such as a lift arm or the frame 110. Implement interface 170 can also include one or more power sources for providing power to one or more work elements on an implement. Some power machines can have a plurality of work element with implement interfaces, each of which may, but need not, have an implement carrier for receiving implements. Some other power machines can have a work element with a plurality of implement interfaces so that a single work element can accept a plurality of implements simultaneously. Each of these implement interfaces can, but need not, have an implement carrier.

[0038] Frame 110 includes a physical structure that can support various other components that are attached thereto or positioned thereon. The frame 110 can include any number of individual components. Some power machines have frames that are rigid. That is, no part of the frame is movable with respect to another part of the frame. Other power machines have at least one portion that can move with respect to another portion of the frame. For example, excavators can have an upper frame portion that rotates with respect to a lower frame portion. Other work vehicles have articulated frames such that one portion of the frame pivots with respect to another portion for accomplishing steering functions.

[0039] Frame 110 supports the power source 120, which is configured to provide power to one or more work elements 130 including the one or more tractive elements 140, as well as, in some instances, providing power for use by an attached implement via implement interface 170. Power from the power source 120 can be provided directly to any of the work elements 130, tractive elements 140, and implement interface 170. Alternatively, power from the power source 120 can be provided to a control system 160, which in turn selectively provides power to the elements that capable of using it to perform a work function. Power sources for power machines typically include an engine such as an internal combustion engine and a powerconversion system such as a mechanical transmission or a hydraulic system that is configured to convert the output from an engine into a form of power that is usable by a work element. Other types of power sources can be incorporated into power machines, including electrical sources or a combination of power sources, known generally as hybrid power sources.

[0040] FIG. 1 shows a single work element designated as work element 130, but various power machines can have any number of work elements. Work elements are typically attached to the frame of the power machine and movable with respect to the frame when performing a work task. For example, the power machine can be a mower with a mower deck or other mower component as a work element, which may be movable with respect to the frame of the mower. In addition, tractive elements 140 are a special case of work element in that their work function is generally to move the power machine 100 over a support surface. Tractive elements 140 are shown separate from the work element 130 because many power machines have additional work elements besides tractive elements, although that is not always the case. Power machines can have any number of tractive elements, some or all of which can receive power from the power source 120 to propel the power machine 100. Tractive elements can be, for example, track assemblies, wheels attached to an axle, and the like. Tractive elements can be mounted to the frame such that movement of the tractive element is limited to rotation about an axle (so that steering is accomplished by a skidding action) or, alternatively, pivotally mounted to the frame to accomplish steering by pivoting the tractive element with respect to the frame.

[0041] Power machine 100 includes an operator station 150 that includes an operating position from which an operator can control operation of the power machine. In some power machines, the operator station 150 is defined by an enclosed or partially enclosed cab. Some power machines on which the disclosed examples may be practiced may not have a cab or an operator compartment of the type described above. For example, a walk behind loader may not have a cab or an operator compartment, but rather an operating position that serves as an operator station from which the power machine is properly operated. More broadly, power machines other than work vehicles may have operator stations that are not necessarily similar to the operating positions and operator compartments referenced above. Further, some power machines such as power machine 100 and others, whether or not they have operator compartments or operator positions, may be capable of being operated remotely (i.e., from a remotely located operator station) instead of or in addition to an operator station adjacent or on the power machine. This can include applications where at least some of the operator- controlled functions of the power machine can be operated from an operating positionassociated with an implement that is coupled to the power machine. Alternatively, with some power machines, a remote-control device can be provided (i.e., remote from both of the power machine and any implement to which is it coupled) that is capable of controlling at least some of the operator-controlled functions on the power machine.

[0042] FIGS. 2 and 3 illustrate a loader 200, which is one particular example of a power machine of the type illustrated in FIG 1 where the examples discussed below can be advantageously employed. Loader 200 is a skid-steer loader, which is a loader that has tractive elements (in this case, four wheels) that are mounted to the frame of the loader via rigid axles. Here the phrase “rigid axles” refers to the fact that the loader 200 does not have any tractive elements that can be rotated or steered to help the loader accomplish a turn. Instead, a skidsteer loader has a drive system that independently powers one or more tractive elements on each side of the loader so that by providing differing tractive signals to each side, the machine will tend to skid over a support surface. These varying signals can even include powering tractive element(s) on one side of the loader to move the loader in a forward direction and powering tractive element(s) on another side of the loader to mode the loader in a reverse direction so that the loader will turn about a radius centered within the footprint of the loader itself. The term “skid-steer” has traditionally referred to loaders that have skid steering as described above with wheels as tractive elements. However, it should be noted that many track loaders also accomplish turns via skidding and are technically skid-steer loaders, even though they do not have wheels. For the purposes of this discussion, unless noted otherwise, the term skid-steer should not be seen as limiting the scope of the discussion to those loaders with wheels as tractive elements. Correspondingly, although some example power machines discussed herein are presented as skid-steer power machines, some examples disclosed herein can be implemented on a variety of other power machines. For example, some implementations can be implemented on compact loaders or compact excavators that do not accomplish turns via skidding.

[0043] Loader 200 is one particular example of the power machine 100 illustrated broadly in FIG. 1 and discussed above. To that end, features of loader 200 described below include reference numbers that are generally similar to those used in FIG. 1. For example, loader 200 is described as having a frame 210, just as power machine 100 has a frame 110. Loader 200 is described herein to provide a reference for understanding one environment on which the examples described below related to track assemblies and mounting elements for mounting the track assemblies to a power machine may be practiced. The loader 200 should not be consideredlimiting especially as to the description of features that loader 200 may have described herein that are not essential to the disclosed examples and thus may or may not be included in power machines other than loader 200 upon which the examples disclosed below may be advantageously practiced. Unless specifically noted otherwise, examples disclosed below can be practiced on a variety of power machines, with the loader 200 being only one of those power machines. For example, some or all of the concepts discussed below can be practiced on many other types of work vehicles such as various other loaders, excavators, trenchers, and dozers, to name but a few examples.

[0044] Loader 200 includes frame 210 that supports a power system 220, which is capable of generating or otherwise providing power for operating various functions on the power machine. Power system 220 is shown in block diagram form in FIG. 2 but is located within the frame 210. Frame 210 also supports a work element in the form of a lift arm assembly 230 that is powered by the power system 220 and that can perform various work tasks. As loader 200 is a work vehicle, frame 210 also supports a traction system 240, which is also powered by power system 220 and can propel the power machine over a support surface. The lift arm assembly 230 in turn supports an implement interface 270, which includes an implement carrier 272 that can receive and secure various implements to the loader 200 for performing various work tasks and an implement power interface 274, to which an implement can be coupled for selectively providing power to an implement that might be connected to the loader. The implement power interface 274 can provide sources of hydraulic or electric power or both. The loader 200 includes a cab 250 that defines an operator station 255 from which an operator can manipulate various operator input devices 260 to cause the power machine to perform various work functions. Cab 250 can be pivoted back about an axis that extends through mounts 254 to provide access to power system components as needed for maintenance and repair.

[0045] The operator station 255 includes an operator seat 258 and a plurality of operator input devices 260 that an operator can manipulate to control various machine functions. Operator input devices 260 can include buttons, switches, levers (e.g., joysticks), sliders, pedals and the like that can be stand-alone devices such as hand operated levers or foot pedals or can be incorporated into hand grips or display panels, including programmable input devices. Actuation of operator input devices 260 can generate signals in the form of electrical signals, hydraulic signals, or mechanical signals. Signals generated in response to operator input devices 260 are provided to various components on the loader 200 for controlling various functions on the loader 200. The functions that can be controlled via operator input devices 260on loader 200 include operation of the tractive elements 219 (e.g., as powered by drive actuators 226, 326 as shown in FIGS. 4 and 5), of the lift arm assembly 230 (e.g., by actuation of workgroup actuators 229, 339 as shown in FIGS. 4 and 5), of the implement carrier 272, and other attachments (e.g., via signals provided to any implement that may be operably coupled to the loader 200).

[0046] Loaders can include human-machine interfaces including display devices that are provided in the cab 250 to give indications of information relatable to the operation of the power machines in a form that can be sensed by an operator, such as, for example audible or visual indications. Audible indications can be made in the form of buzzers, bells, and the like or via verbal communication. Visual indications can be made in the form of graphs, lights, icons, gauges, alphanumeric characters, and the like. Displays can provide dedicated indications, such as warning lights or gauges, or dynamic to provide programmable information, including programmable display devices such as monitors of various sizes and capabilities. Display devices can provide diagnostic information, troubleshooting information, instructional information, and various other types of information that assists an operator with operation of the power machine or an implement coupled to the power machine. Other information that may be useful for an operator can also be provided. Other power machines, such walk behind loaders may not have a cab nor an operator compartment, nor a seat. The operator position on such loaders is generally defined relative to a position where an operator is best suited to manipulate operator input devices.

[0047] Various power machines that can include or interacting with the examples discussed below can have various different frame components that support various work elements. The elements of frame 210 discussed herein are provided for illustrative purposes and frame 210 is not the only type of frame that a power machine on which the examples can be practiced can employ. Frame 210 of loader 200 includes an undercarriage or lower portion 211 of the frame and a mainframe or upper portion 212 of the frame that is supported by the undercarriage. The mainframe 212 of loader 200, in some examples is attached to the undercarriage 211 such as with fasteners or by welding the undercarriage to the mainframe. Alternatively, the mainframe and undercarriage can be integrally formed. Mainframe 212 includes a pair of upright portions 214A and 214B located on either side and toward the rear of the mainframe that support lift arm assembly 230 and to which the lift arm assembly 230 is pivotally attached. The lift arm assembly 230 is illustratively pinned to each of the upright portions 214A and 214B. The combination of mounting features on the upright portions 214A and 214B and the lift armassembly 230 and mounting hardware (including pins used to pin the lift arm assembly 230 to the mainframe 212) are collectively referred to as joints 216A, 216B (one is located on each of the upright portions 214) for the purposes of this discussion. Joints 216A, 216B are aligned along an axis 218 so that the lift arm assembly 230 is capable of pivoting, as discussed below, with respect to the frame 210 about axis 218. Other power machines may not include upright portions on either side of the frame or may not have a lift arm assembly that is mountable to upright portions on either side and toward the rear of the frame. For example, some power machines may have a single arm, mounted to a single side of the power machine or to a front or rear end of the power machine. Other machines can have a plurality of work elements, including a plurality of lift arms, each of which is mounted to the machine in its own configuration. Frame 210 also supports a pair of tractive elements in the form of wheels 219A, 219B, 219C, 219D on either side of the loader 200.

[0048] The lift arm assembly 230 shown in FIGS. 2 and 3 is one example of many different types of lift arm assemblies that can be attached to a power machine such as loader 200 or other power machines on which examples of the present discussion can be practiced. The lift arm assembly 230 is what is known as a vertical lift arm, meaning that the lift arm assembly 230 is moveable (i.e., the lift arm assembly can be raised and lowered) under control of the loader 200 with respect to the frame 210 along a lift path 237 that forms a generally vertical path. Other lift arm assemblies can have different geometries and can be coupled to the frame of a loader in various ways to provide lift paths that differ from the radial path of lift arm assembly 230. For example, some lift paths on other loaders provide a radial lift path. Other lift arm assemblies can have an extendable or telescoping portion. Other power machines can have a plurality of lift arm assemblies attached to their frames, with each lift arm assembly being independent of the other(s). Unless specifically stated otherwise, none of the inventive concepts set forth in this discussion are limited by the type or number of lift arm assemblies that are coupled to a particular power machine.

[0049] The lift arm assembly 230 has a pair of lift arms 234 that are disposed on opposing sides of the frame 210. A first end 232A of each of the lift arms 234 is pivotally coupled to the power machine at one of joints 216A, 216B and a second end 232B of each of the lift arms is positioned forward of the frame 210 when in a lowered position as shown in FIG. 2. Joints 216A, 216B are located toward a rear of the loader 200 so that the lift arms extend along the sides of the frame 210. The lift path 237 is defined by the path of travel of the second end 232Bof the lift arms 234 as the lift arm assembly 230 is moved between a minimum and maximum height.

[0050] Each of the lift arms 234 has a first portion 234A that is pivotally coupled to the frame 210 at one of the joints 216A, 216B and a second portion 234B that extends from its connection to the first portion 234A to the second ends 232B of the lift arms 234. The lift arms 234 are each coupled to a cross member 236 that is attached to the first portions 234A. Cross member 236 provides increased structural stability to the lift arm assembly 230. A pair of actuators 238, which on loader 200 are hydraulic cylinders configured to receive pressurized fluid from power system 220, are pivotally coupled to both the frame 210 and the lift arms 234 at pivotable joints 238 A, 238B, respectively, on either side of the loader 200. The actuators 238 are sometimes referred to individually and collectively as lift cylinders. Actuation (i.e., extension and retraction) of the actuators 238 cause the lift arm assembly 230 to pivot about joints 216A, 216B and thereby be raised and lowered along a fixed path illustrated by arrow 237. Each of a pair of control links 217 are pivotally mounted to the frame 210 and one of the lift arms 234 on either side of the frame 210. The control links 217 help to define the fixed lift path of the lift arm assembly 230.

[0051] Some lift arms, most notably lift arms on excavators but also possible on loaders, may have portions that are controllable to pivot with respect to another segment instead of moving in concert (i.e., along a pre-determined path) as is the case in the lift arm assembly 230 shown in FIG. 2. Some power machines have lift arm assemblies with a single lift arm, such as is known in excavators or even some loaders and other power machines. Other power machines can have a plurality of lift arm assemblies, each being independent of the other(s).

[0052] An implement interface 270 is provided proximal to the second ends 232B of the lift arms 234. The implement interface 270 includes an implement carrier 272 that is capable of accepting and securing a variety of different implements to the lift arm 230. Such implements have a complementary machine interface that is configured to be engaged with the implement carrier 272. The implement carrier 272 is pivotally mounted at the second ends 232B of the lift arms 234. Implement carrier actuators 235 are operably coupled to the lift arm assembly 230 and to the implement carrier 272 and are operable to rotate the implement carrier 272 with respect to the lift arm assembly 230. Implement carrier actuators 235 are illustratively hydraulic cylinders and often known as tilt cylinders.

[0053] The implement interface 270 also includes the implement power interface 274 available for connection to an implement on the lift arm assembly 230. The implement powerinterface 274 includes pressurized hydraulic fluid port to which an implement can be removably coupled. The pressurized hydraulic fluid port selectively provides access to pressurized hydraulic fluid to be provided from the power machine to the implement for powering one or more functions or actuators on an implement. The implement power interface 274 can also include an electrical power interface for providing electrical signals to power electrical actuators on an implement or communicate with electronic controllers (e g., of the power machine or on the implement). The implement power interface 274 also exemplarily includes electrical conduits that are in communication with a data bus on the loader 200 to allow communication between a controller or other electronic devices on an implement and electronic devices on the loader 200. Although the implement power interface 274 of machine 200 is discussed as being on the lift arm assembly 230, in other examples, the implement power interface 274 can be located on other parts of the power machine 200 or other power machines.

[0054] Frame 210 supports and generally encloses the power system 220 so that the various components of the power system 220 are not visible in FIGS. 2 and 3. FIG. 4 includes, among other things, a diagram of various components of the power system 220. Power system 220 includes one or more power sources 222 that are capable of generating or storing power for use on various machine functions. On loader 200, the power system 220 includes an internal combustion engine. Other power machines can include electric generators, rechargeable batteries, various other power sources or any combination of power sources that can provide power for given power machine components. The power system 220 also includes a power conversion system 224, which is operably coupled to the power source 222. Power conversion system 224 is, in turn, coupled to one or more drive actuators 226, which can perform drive functions of the power machine. Power conversion systems in various power machines can include various components, including mechanical transmissions, hydraulic systems, and the like. The power conversion system 224 of loader 200 includes a pair of hydrostatic drive pumps 224A, 224B, which are selectively controllable to provide a power signal to drive motors 226A, 226B. The drive motors 226 A, 226B in turn are each operably coupled to axles, with drive motor 226A being coupled to two axles 228A, 228B and drive motor 226B being coupled to two axles 228C, 228D. The axles 228A, 228B, 228C, 228D are in turn coupled to tractive elements 219A, 219B, 219C, 219D, respectively. The drive pumps 224A, 224B can be mechanically, hydraulic, or electrically coupled to operator input devices to receive actuation signals for controlling the drive pumps.

[0055] The arrangement of drive pumps, motors, and axles in loader 200 is but one example of an arrangement of these components. As discussed above, loader 200 is a skid-steer loader and thus tractive elements on each side of the power machine are controlled together via the output of a single hydraulic pump, either through a single drive motor as in loader 200 or with individual drive motors. Various other configurations and combinations of hydraulic drive pumps and motors can be employed as may be advantageous.

[0056] The power conversion system 224 of loader 200 also includes a hydraulic implement pump 224C, which is also operably coupled to both the power source 222 and a work actuator circuit 242. Work actuator circuit 242 is configured to control actuation of one or more workgroup actuators 239 (e.g., tilt cylinders 235 and lift cylinders 238) to perform a work function of the power machine, as well as control logic to control actuation thereof. The control logic selectively allows, in response to operator inputs, for actuation of the lift cylinders 238 or tilt cylinders 235. In some machines, the work actuator circuit 242 also includes control logic to selectively provide a pressurized hydraulic fluid to an implement operatively attached to the machine. The control logic of loader 200 can include an open center, three-spool valve in a series arrangement. For example, the spools can be arranged to give priority to the lift cylinders, 238 then the tilt cylinders 235, and then pressurized fluid to an attached implement.

[0057] As briefly mentioned herein, some power machines may utilize powers sources within a power system other than an internal combustion engine (e.g., the power source 222 of the power system 220 of the loader 200 as illustrated in FIG. 4) to provide power for various power machine components of the power machine. In this regard, FIG. 5 illustrates another example power system 320 of a power machine according to examples of the present disclosure, which can be implemented on the loader 200 in some cases (e.g., as an alternate configuration of the power system 220). To that end, features of the power system 320 described below include reference numbers that are generally similar to those used in FIG. 4. For example, power system 320 has a power source 322, just as the power system 220 has the power source 222.

[0058] In some aspects, however, the power system 320 differs from the power system 220. In particular, the power source 322 of power system 320 is an electrical power source (e.g., a rechargeable battery) and the drive actuators 326 are electrically operated by electrical power provided by the power source 322. In the illustrated example, drive actuators 326 include first and second drive motors 326A, 326B, in contrast to the hydraulically operated drive motors 226 A, 226B of the power system 220. In some cases, drive actuators 326 of the powersystem 320 may include four drive motors that are independently powered by the power source 322.

[0059] The drive motors 326A, 326B are each operably coupled to axles, with first drive motor 326A being coupled to first and second axles 328A, 328B and second drive motor 326B being coupled to third and fourth axles 328C, 328D. The axles 328A, 328B, 328C, 328D can in turn be coupled to tractive elements (such as, e.g., the wheels 219A, 219B, 219C, 219D in FIGS. 2 and 3). In some examples, different numbers of motors or axle assemblies can be provided. Similarly, a particular drive motor (e.g., the drive motor 326A) can in some cases be coupled only to a single corresponding axle assembly (e.g., the axle 328A).

[0060] With continued reference to FIG. 5, the power conversion system 324 of power system 320 can include a hydraulic implement pump 324C (or other hydraulic pump) that is electrically powered by the power source 322 (e g., via an associated electrical motor). In the illustrated example, the hydraulic implement pump 324C is operably coupled to a work actuator circuit 342 to provide pressurized hydraulic fluid to one or more workgroup actuators 339 (such as, e.g., tilt cylinders 235 in FIG. 2 and lift cylinders 238 in FIG. 3). In some cases, however, workgroup actuators 339 can be electrically powered actuators that can be powered directly by the power source 322 instead of the by the hydraulic implement pump 324C.

[0061] In some cases, the drive motors 326A, 326B can be electrically coupled to one or more operator input devices (such as, e.g., operation input devices 260 in FIG. 2) that can control operation of the drive motors 326A, 326B. Similarly, in some cases, the implement pump 324C (or electrically powered implement actuators) can be electrically coupled to the one or more operator input devices that can also control operation of the implement pump 324C. For example, a controller (not shown) of the power machine can be in electrical communication with the power source 322, the drive motors 326A, 326B, and the implement pump 324C to receive signals from the operator input devices and to control the drive motors 326A, 326B and the implement pump 324C based on the received signals.

[0062] In some cases, the power source 322 of power system 320 can include a plurality of power sources (e.g., a plurality of batteries or battery assemblies). For example, in some power machines, a first power source (e.g., a first battery assembly) can be arranged to power the first and second drive motors 326A, 326B and a second power source (e.g., a second battery assembly) can be provided to power the implement pump 324C or the workgroup actuators 339 (such as, e.g., tilt cylinders 235 in FIG. 2 and lift cylinders 238 in FIG. 3).

[0063] The description of the power machine 100 and the loader 200, as well as the power systems 220, 320, above is provided for illustrative purposes, to provide illustrative environments on which the examples discussed below can be practiced. While the examples discussed can be practiced on a power machine, such as is generally described by the power machine 100 shown in the block diagram of FIG. 1, and more particularly on a loader, such as track loader 200, unless otherwise noted or recited, the concepts discussed below are not intended to be limited in their application to the environments specifically described above.

[0064] As briefly mentioned above, a power machine can be configured such that a power system thereof is controllable via manipulation of one or more operator input devices by an operator. For example, an operator can manually (i.e., by hand or foot) move an operator interface of a joystick, pedal, or other similar input device that provides electronic command signals based on movement thereof. A control system (e.g., general purpose hub controller) can then receive the electronic command signals and, in response, coordinate execution of various corresponding functions of the power machine (e.g., by directly or indirectly controlling operation of a hydraulic pump or motor, or by directly or indirectly controlling operation of an electric motor).

[0065] Turning now to FIG. 6, another example power machine 400 is illustrated according to examples of the present disclosure. Power machine 400 of FIG. 6 is another particular example of the power machine or loader 200 illustrated broadly in FIGS. 2-5 and discussed above. To that end, features of power machine 400 described below include reference numbers that are generally similar to those used in FIGS. 2-5. For example, power machine 400 is described as having a power system 420, just as loader 200 has the power system 220 (or 320), and the power system 420 may in some cases be configured as a particular implementation of the power systems 220, 320. Unless otherwise indicated, discussion above of the loader 200 also generally applies to the power machine 400.

[0066] Still referring to FIG. 6, an electronic control system 490 of the power machine 400 is in electrical communication with an operator input device 460 and one or more actuators of the power system 420. More specifically, the electronic control system 490 is configured to receive command signals from the operator input device 460 and control drive actuators 426 and workgroup actuators 439 of the power system 420 based on the received command signals. The drive actuators 426, for example, can include the pumps 224A, 224B or the motors 226A, 226B of FIG. 4, or can include the drive motors 326A, 326B of FIG. 5. The workgroup actuators 439, for example, can include the hydraulic cylinders 225, 228 of FIG. 4 (e.g.,controlled via control of the work actuator circuit 242), can include the workgroup actuators 339 of FIG. 5 (e.g., controlled via control of the work actuator circuit 342), or other workgroup actuators (e.g., electronic actuators for movement of a lift arm, implement, or other workgroup element).

[0067] In some cases, the electronic control system 490 can include one or more electronic controllers (not shown) that can be configured to directly control one or more of the drive actuators 426 or one or more of the workgroup actuators 439. In some configurations, a particular controller (e g., a hub controller) may control the actuators 426, 439 indirectly. For example, a drive or workgroup controller may, provide command signals to one or more corresponding motor controllers (e.g., a velocity command), and the motor controllers may then control delivery of current to the corresponding one or more motors to directly control operation thereof (e g., for movement to a target position).

[0068] In some cases, the power machine 400 can further include a sensor system 492 (indicated as a dashed box in FIG. 6) in electrical communication with the electronic control system 490. The sensor system 492 can include one or more sensors that can be configured to sense one or more operating conditions for the power machine 400 and provide corresponding signals to a controller of the electronic control system 490. In some cases, similar signals can be received from the actuators 426, 439 (e.g., signals indicating current draw, which may correspond to actuator load).

[0069] In some cases, the power machine 400 can include a plurality of operator input devices that can independently (or collectively) control one or more functions of the power machine 400. For example, the power machine 400 can include a first operator input device that can be configured to control the drive actuators 426 and a second operator input device that can be configured to control the workgroup actuators 439.

[0070] Relatedly, in some cases, the power machine 400 can include a plurality of operator input devices that are configured to independently control one or more particular actuators or subgroups of actuators of the drive actuators 426 or the workgroup actuators 439. For example, the power machine 400 can include a first operator input device and a second operator device. The first operator input device can be configured to control one or more of the drive actuators 439 (e.g., the first drive pump 224A or the first drive motor 226A of power system 220 of FIG. 4 or the first drive motor 326A of power system 320 of FIG. 5). In contrast, for example, the second operator input device can be configured to control one or more second drive actuators 439 (e.g., the second drive pump 224B or the second drive motor 226B of the power systemthe one or more first drive actuators.

[0071] Referring still to FIG. 6, the operator input device 460 generally includes an operator interface 462 that can be manipulated by an operator, and the command signals provided by the operator input device 460 to the electronic control system 490 can correspond to movements of the operator interface 462 by the operator. As such, the operator input device 460 can be one of various input devices known in the art, such as, e.g., a joystick, a pedal, a level, a steering wheel, or the like. In general, movement of the operator interface 462 of such an operator input device 460 relative to (e g., from) a neutral position by an operator can result in the operator input device 460 providing the command signal to the electronic control system 490.

[0072] In some examples, the power machine 400 (e.g., the electronic control system 490, specifically) can be configured to provide haptic feedback to an operator via the operator interface 462. For example, in some cases, the operator input device 460 can include one or more actuators, such as, e.g., one or more servo motors, that are arranged to controllably provide various forces on the operator interface 462. Accordingly, via control of such actuators, an operator can be provided with haptic feedback while operating the operator interface 462.

[0073] In some cases, the electronic control system 490 can be configured to provide the haptic feedback at the operator input device 460 based on one or more sensed operating conditions of the power machine 400 from the sensor system 492 (see FIG. 6). For example, as further detailed below, different feedback can be provided to implement spring or damping responses on operator movements, to provide detents for particular positions or positional ranges, to provide information to an operator regarding loading (e.g., of an actuator or power source), to match or otherwise respond to movement of other operator interfaces, and otherwise fine-tune operator control (e.g., during high-speed or high-load operations).

[0074] FIG. 7 illustrates an example configuration of the operator input device 460 having the operator interface 462 configured as a joystick handle. In the illustrated example, the operator interface (e g., joystick handle) 462 is pivotally mounted to a joystick base 463, so that the operator interface 462 is pivotally moveable by an operator relative to the joystick base 463. The joystick base 463, in turn, can be fixedly attached in various ways within an operator station of the power machine 400.

[0075] More specifically, the operator interface (e.g., joystick handle) 462 is moveable relative to a neutral axis 466 corresponding to a neutral position (as shown in FIG. 7), i.e., theposition of operator interface 462 when no force is applied to joystick handle. Depending on the input force from an operator, the operator interface 462 can be moved to any of a plurality of input positions relative to the neutral axis 466 (e g., with one or two degrees of freedom), with each position corresponding to a respective command signal. As also generally noted above, particular positions of the joystick handle can thus correspond to particular commands for operation of any one or more of the drive actuators 426 or the workgroup actuators 439 (or other relevant actuators).

[0076] In some examples, a joystick handle can include one or more secondary operator interfaces 465. For example, a button or toggle can be provided to be manipulated by the operator, in addition to bulk movement of the joystick handle, to provide secondary command signals corresponding to movement of one or more actuators. In some cases, the secondary operator interface(s) 465 can also provide commands for operation of one or more of the workgroup actuators 439 or the drive actuators 426, can be used to switch between operating modes (e.g., particular mapping of operator inputs to particular machine functions), etc.

[0077] In the illustrated example, the operator input device 460 further includes one or more servo motors 464 operably connected to the operator interface 462 (e.g., at the joystick base 463) to apply motive force to the operator interface 462. In particular, the electronic control system 490 (see FIG. 6) can thus control the servo motor(s) 464 to provide haptic feedback to the operator at the operator interface 462 of the operator input device 460 as shown in FIG. 7.

[0078] Generally, one or more of a variety of types of haptic feedback can be provided at the operator input device 460. For example, in some cases, the haptic feedback can be a vector type feedback (i.e., a feedback that applies force in a single direction), a vibration type feedback (i.e., an oscillating force), or a combination of both.

[0079] In some examples, the operator input device 460 can include a plurality of servo motors. For example, in some cases, the operator input device 460 can include a first servo motor arranged to provide a first haptic feedback (e.g., in a first feedback direction) and a second servo motor arranged to second haptic feedback (e.g., in a second feedback direction). Thus, for example, haptic feedback can in some cases be tailored to the configuration of a particular input device (e.g., with one-direction feedback for input devices with one degree of freedom, two-direction feedback for input devices with two degrees of freedom, etc ).

[0080] An operator input device of a power machine can provide haptic feedback to an operator while being configured differently than the operator input device 460 of FIG. 7. Forexample, other joysticks can be used in other implementations. Similarly, FIG. 8 illustrates another example configuration of the operator input device 460 with the operator interface 462 configured as a pedal. In the illustrated example, the operator interface 462 (e.g., the pedal) is pivotally mounted to a pedal pivot 563 such that the operator interface 462 is pivotally moveable by an operator relative to the pedal pivot 563. More specifically, the operator interface 462 can be pivotally moveable about a neutral axis 566 corresponding to a neutral position (i.e., the position of pedal when no force is applied to pedal) to one of a plurality of input positions or angles 570 that correspond to a plurality of command signals. In different examples, a pedal can be pivoted in opposing directions from neutral, or can be pivoted only in a single direction from neutral.

[0081] In the illustrated example, the operator input device 460 further includes a servo motor 564 at the pedal pivot 563 that is controllable by the electronic control system 490 (see FIG. 6) to apply motive force to the operator interface 462 (e.g., the pedal). In particular, the electronic control system 490 (see FIG. 6) can thus control the servo motor 564 to provide haptic feedback to the operator at the operator interface 462 of the operator input device 460 as illustrated in FIG. 8. For example, the servo motors 564 may provide a feedback force toward the neutral position as the pedal is pivoted away from the neutral position.

[0082] Some examples of the present disclosure can include a method for operating an operator input device of a power machine, such as, e.g., either of the configurations of the operator input device 460 of FIGS. 7 and 8. As one example, FIG. 9 illustrates a method 600 for operating an operator input device of a power machine, as can be implemented using one or more control devices (e.g., general or specific purpose electronic computing devices), such as, e.g., the electronic control system 490 of FIG. 6. The method 600 may be implemented on a variety of power machines and control systems, although particular examples below may relate to configurations of the power machine 400 in particular.

[0083] At block 610 of the illustrated method 600, the method can include determining one or more operational parameters of the power machine. For example, as variously described above, the one or more operational parameters of the power machine can include one or both of an operator input at the operator input device or any other present parameter of the power machine. In some cases, the power machine can include a sensor system and an electronic control system of the power machine can be configured to determine the one or more operational parameters of the power machine based on signals received from one or more sensors of the sensor system. For example, referring to the power machine 400 illustrated inFIG. 6, the electronic control system 490 can receive signals from one or more of the actuators 426, 439 and determine loading on the actuators 426, 439. In some cases, the electronic control system 490 can receive signals from the sensor system 492 and determine one or more operational parameters of the power machine 400 based on the signals received from the sensor system 492.

[0084] In some examples, the one or more operational parameters of the power machine that can be determined at block 610 can correspond to one or more force values for a present operation of a power source or one or more actuators of the power machine (e.g., actual torque or other force, or other operational parameters that correlate to actual force, including sensed current draw at a motor, sensed pressure or speed of a hydraulic pump or motor, etc.). For example, in some cases, force values can be power source force values corresponding to loading of a power source of a power machine (e.g., power source 222, 322 of FIGS. 5 and 6, respectively), tractive force values corresponding to loading of one or more drive actuators (e.g., drive actuators 226, 326, 426 of FIGS. 4-6, respectively), or workgroup force values corresponding to loading of or more workgroup actuators (e g., workgroup actuators 239, 339, 439 of FIGS. 4-6, respectively).

[0085] The method 600 can further include, at block 620, determining a haptic feedback based one or more operational parameters (e.g., as determined at block 610). As appropriate, the method 600 can then include, at block 630, applying the haptic feedback (e.g., as determined in block 620) to an operator input device. For example, referring to the power machine 400 and the operator input device illustrated in FIGS. 6 and 7, respectively, the electronic control system 490 can cause the servo motor(s) 464 of the operator input device 460 to provide haptic feedback to an operator at the operator interface 462 based on one or more determined operational parameters (e.g., based on signals received from the sensor system 492).

[0086] As discussed above, various types of haptic feedback are possible, including vector feedback and vibrational feedback, and feedback with varying force profiles or relative to different degrees of freedom. In this regard, for example, the haptic feedback can be determined, at block 620, as a first force in a first direction that is determined based on operator input (e.g., as determined based on position of a joystick handle or other operator interface). Or the haptic feedback can be determined based on another operating parameter relating to loading of a power source, a drive actuator or a workgroup actuator, or as a second, different force in a second, different direction that is determined based on different (or the same) aspectsof the operator input or different (or the same) other operating parameters. For example, some haptic feedback can be determined based on loading of a power source, of a drive actuator or of a workgroup actuator, as indicated by current draw, hydraulic pressure, rotational speed, or other factors (e.g., as variously indicated by the sensor system 492 of FIG. 6).

[0087] In this regard, operators can be informed about the current operating state of a power machine through haptic feedback at a joystick or other interface, and can correspondingly choose to modulate their commands accordingly. For example, increases in force magnitude of vector feedback may thus be used to give operators tactile indications of increased load on an engine (e.g., in response to tractive commands) or of increased load on a lift arm (e.g., as an operator pushes into a pile, or positively commands movement of a workgroup). Similar feedback may also indicate hydrostatic transmission load (e.g., based on measured pressure, speed, or displacement), environmental factors (e.g., proximity to sensed objects or particular operational areas), or other information.

[0088] As briefly mentioned above, in some cases, a haptic feedback provided at an operator input device can be a vector type feedback. In some examples, vector feedback can be provided based on displacement of an operator interface (e.g., a joystick handle, a pedal, etc.) from neutral, relative to one or multiple degrees of freedom.

[0089] In this regard, for one particular example, FIG. 10 is a top view of the operator input device 460 of FIG. 7, and schematically illustrates details relative to a vector type feedback applied to the operator interface 462 configured as a joystick handle (e.g., as shown in FIG. 7). Although an operator interface configured as a joystick may provide particular advantages in some cases, the discussion below also generally applies to other operator interfaces (e.g., pedals also configured to move in one or more degrees of freedom relative to a neutral position, a steering wheel configured to rotate in one of two rotational directions from a neutral position, etc.).

[0090] As shown in FIG. 10, the operator interface (e.g., the joystick handle) 462 is pivotally moveable in one of a plurality of input directions 470 away from the neutral position (i.e., corresponding to the neutral axis 466). More generally, that is, the operator interface 462 may be pivotable relative to the neutral axis 466 along two degrees of rotational freedom or virtually locatable (to provide a corresponding command) at any location in a two-dimensional space about the neutral axis 466 (e.g., with each point defined by a corresponding x-y or radiusangle coordinate relative to neutral).

[0091] In the illustrated example, the operator interface 462 is moveable 360 degrees about the neutral axis 466 such that the plurality of input directions 470 can be in any of 360 degrees relative to the neutral axis 466. In other examples, an operator interface of an operator input device can be otherwise moveable from a neutral position (e.g., rotatable) and such movement from neutral corresponds to a plurality of input directions or positions.

[0092] In response to movement of the operator interface (e g., the joystick handle) 462 in the one of the plurality of input directions 470 by an operator, the electronic control system 490 (see FIG. 6) can control the servo motor(s) 464 (see FIG. 7) of the operator input device 460 to apply force to the operator interface 462 in a corresponding one of a plurality of feedback directions 472 (e.g., that is directed opposite the respective input direction 470, as variously shown). In other words, in some examples, the feedback direction 472 can be generally toward the neutral position.

[0093] Generally, force provided by the servo motor(s) 464 can be varied based on position, velocity, or other aspects of a movement of the operator interface 462. Thus, for example, forces can be applied to the operator interface 462 to emulate the effect of a spring system that resists movement of the operator interface 462 away from neutral (e.g., relative to one or two rotational axes, with or without damping, etc.).

[0094] In some cases, a vector type feedback force can be configured to vary with varying distances of movement of the operator interface away from the neutral position. For example, referring still to FIG. 10, the electronic control system 490 can be configured to cause the servo motor(s) 464 to apply a first return force as the operator interface 462 is moved between the neutral position and a first input distance 474A from the neutral position. Further, the servo motor(s) can be caused to apply a second return force that is different than the first return force as the operator interface 462 is moved between the first input distance 474A and a second input distance 474B from the neutral position that is larger than the first input distance 474A. In some cases, the first input distance 474A corresponds to a first angle of the operator interface 462 relative to the neutral axis 466 and the second input distance 474B can correspond to a second angle of the operator interface 462 relative to the neutral axis 466, different than the first angle.

[0095] Generally, the first return force can differ from the second return force in various aspects. For example, in some cases, the first return force can correspond to a different force magnitude than the second return force (e.g., the first return force can be generally greater than the second return force, or vice versa). As another example, in some cases, the first return force can correspond to a different feedback function than the second return force (e.g., the first andsecond return forces can have different gain terms associated with the position of the operator interface 462). For example, the first and second return forces can be associated with different spring constants, damping terms, or other feedback factors that may return different patterns of forces for a given movement (or position) of the operator interface 462.

[0096] In some examples, the electronic control system 490 can be further configured to cause the servo motor(s) 464 to apply a third return force as the operator interface 462 is moved between the second input distance 474B and a third input distance 474C from the neutral position that is larger than the second input distance 474B. In some such cases, the third return force can be generally greater than the second return force and less than the first return force (e.g., via virtual application of a larger spring constant, or other factor).

[0097] Use of different return forces depending on input (e.g., joystick handle) position can provide various benefits. For example, inclusion of a zone with relatively large response forces for relatively large input movements (e.g., as discussed for the third return force, above) can require an operator to apply greater force in the input direction 470 as the operator interface 462 is moved to command of higher operational speeds of actuators 426, 439 of the power machine 400. Correspondingly, inputs that command such force can be more readily implemented as actuator commands, as compared to conventional systems (e.g., which may be commonly over-filtered to prevent inadvertent high-speed operation). In this regard, in some cases, the third input distance 474C can be a maximum distance from the neutral position for operational movement of the operator interface 462.

[0098] As another example, inclusion of a zone with relatively large response forces for relatively small input movements (e.g., as discussed for the first return force, above) can require an operator to apply greater force to initially move the operator interface 462 from neutral. Correspondingly, inadvertent commands to actuators 426, 439 due to minute accidental movements of the operator interface 462 can be efficiently avoided.

[0099] More generally, in some cases, a haptic feedback can include a feedback force that holds an operator interface at a distance from the neutral position. For example, with continued reference to FIG. 10, the electronic control system 490 can be configured to cause the servo motor(s) 464 to apply a detent feedback force to the operator interface 462 to hold the operator interface 462 at a detent position 476 relative to the neutral position.

[0100] In some examples, the detent position 476 of the operator interface 462 can be a predetermined distance or can be at a position that can be set by an operator. In some examples, the detent position 476 can correspond to a float function of a lift arm of the power machine(e.g., for hydraulic actuators of the lift arm, opening both ends of the actuator such that the actuator holds some force but permits movement of the lift arm if the lift arm contacts an object). In some examples, movement of the operator interface 462 from the detent position 476 can require a predetermined level of force on the operator interface 462 by the operator. In some examples, as also discussed above, a detent position may correspond to a neutral position of the operator interface 462.

[0101] In some cases, the electronic control system 490 can be configured to determine a velocity of movement of the operator interface 462 from the neutral position and to determine the haptic feedback based on the determined velocity of movement of the operator interface 462. For example, in some such cases, the electronic control system 490 can be configured to apply a first return force corresponding to a first velocity of movement of the operator interface 462 and a second return force corresponding a second velocity of movement of the operator interface 462 (e.g., as summed together into a single applied force).

[0102] As described above, varying haptic feedback can be provided based on varying movements of an operator interface (e.g., relative to a neutral position). In this regard, FIG. 11 illustrates a process 700 for operating an operator input device of a power machine, as can be implemented using one or more computing or other control devices, such as, e.g., the electronic control system 490 of FIG. 6.

[0103] The process 700 can start at step 710 and can include, at block 720, determining movement of an operator interface of an operator input device in an input direction. For example, referring to the operator input device 460 of FIGS. 7 and 10, block 720 of process 700 can include determining, via the electronic control system 490 (see FIG. 6), movement of the operator interface (e.g., the joystick handle) 462 in one of the input directions 470 from the neutral position. In some cases, determining movement of an operator input device may include determining that the operator interface is in a fixed position (i.e., has no registered movement).

[0104] Once movement of the operator interface is determined (e.g., at block 720, block 730 of process 700 can include determining whether a degree of movement of the operator interface is within a first range, a second range, or a third range of movement. For example, referring again to the operator input device 460 of FIGS. 7 and 10, block 720 of process 700 can include determining, via the electronic control system 490 (see FIG. 6), whether a degree of movement of the operator interface 462 is within a first range of movement (e.g., between the neutral position and the first input distance 474A), a second range of movement (e.g.,between the first input distance 474A and the second input distance 474B), or a third range of movement (e.g., between the second input distance 474B and the third input distance 474C).

[0105] With continued reference to FIG. 11, if the degree of movement of the operator interface is determined to be within the first range of movement (e.g., at block 730), process 700 can apply a first force in a feedback direction to the operator interface of the operator input device, at block 740, and then return back to block 720 In some examples, referring again to the operator input device 460 ofFIGS. 7 and 10, block 730 of process 700 can include applying, via control of the servo motor(s) 464 by the electronic control system 490, the first feedback force to the operator interface 462 in the feedback direction 472 (i.e., toward the neutral position) while the operator interface 462 is within the first range of movement.

[0106] Referring still to FIG. 11, if the degree of movement of the operator interface is determined to be within the second range of movement, process 700 can provide a control signal corresponding to movement of an actuator of the power machine, at block 750, and apply the first force in the feedback direction to the operator interface of the operator input device, at block 760. On the other hand, if the degree of movement of the operator interface is determined to be within the third range of movement, process 700 can provide a control signal corresponding to movement of the actuator of the power machine, at block 770, and apply the second force in the feedback direction to the operator interface of the operator input device, at block 780.

[0107] For example, referring again to the operator input device 460 of FIGS. 7 and 10, block 750 or block 770 of process 700 can include providing, via the electronic control system 490, a control signal corresponding to movement of one or more actuators 426, 439 (see FIG. 6) of the power machine 400 (see FIG. 6) based on movement of the operator interface 462 within the second or third ranges of movement. Further, block 760 or block 780 of process 700 can include applying, via control of the servo motor(s) 464 by the electronic control system 490, the first feedback force to the operator interface 462 in the feedback direction 472 (i.e., toward the neutral position) while the operator interface 462 is within the second range of movement or the second feedback force, which can be greater than the first feedback force, to the operator interface 462 in the feedback direction 472 while the operator interface 462 is within the third range of movement.

[0108] In some examples, process 700 can be particularly beneficial to prevent inadvertent movement of an operator interface of an operator input device as providing command signals to one or more actuators of a power machine. For example, the application of the first force inthe feedback direction to the operator interface while the operator interface is within the first range of movement, as in block 740, can require additional, intentional movement of the operator interface by the operator (e.g., to be within the second or third ranges of movement) before a control signal is provided that causes corresponding movement of the one or more actuators of the power machine (e.g., as in block 750 or block 770). In other words, if additional movement of the operator interface is not provided by the operator to move the operator interface to be within at least the second range of movement, then no control signal is provided to cause movement of the actuators. Further, for other movements, actuator commands can be implemented along with varying haptic feedback for operator inputs within the second and third ranges of movements.

[0109] In some cases, a power machine can include two or more operator input devices and at least one of the operator input devices can provide haptic feedback to an operator based on one of the other operator input devices. For example, FIG. 12 illustrates a first operator input device 460A with a first operator interface 462A (e.g., a first joystick handle) and a second operator input device 460B with a second operator interface 462B (e.g., a second joystick handle) for the power machine 400. In some examples, the operator interfaces 462A, 462B can be configured similarly as shown for the operator input device 460 of FIGS. 7 and 10, although other configurations are possible. In the illustrated example, the first operator input device 460A is configured to provide first command signals in response to operator inputs at the first operator interface 462A and the second operator input device 460B is configured to provide second command signals in response to operator inputs at the second operator interface 462B.

[0110] With continued reference to FIG. 12, the electronic control system 490 (see FIG. 6) can be configured to provide haptic feedback that includes forces on the first operator interface 462A that correspond to movement of the second operator interface 462B by the operator relative to a neutral position of the second operator interface 462B. In other words, the first operator interface 462A can be moved to provide haptic feedback in response to movement of the second operator interface 462B (and vice versa). In some cases, the electronic control system 490 can be configured to provide forces to the first operator interface 462A that cause the first operator interface 462A to move in a first direction when the second operator interface 462B is moved in the first direction by the operator. In other words, the first operator interface 462A can be configured to automatically follow, via the servo motor(s) 464 (see FIG. 7), movements of the second operator interface 462B by the operator (e.g., with one-to-one distance correspondence, or otherwise). Such a configuration, among other benefits, maysimplify straight-travel driving during operation of a skid-steer power machine under traditional H-pattem dual joystick control.

[0111] In some examples, devices or systems disclosed herein can be utilized or configured for operation using methods embodying aspects of the disclosed technology. Correspondingly, description herein of particular features, capabilities, or intended purposes of a device or system is generally intended to inherently include disclosure of a method of using such features for the intended purposes, a method of implementing such capabilities, and a method of configuring disclosed (or otherwise known) components to support these purposes or capabilities. Similarly, unless otherwise indicated or limited, discussion herein of any method of manufacturing or using a particular device or system, including configuring the device or system for operation, is intended to inherently include disclosure, as examples of the disclosed technology, of the utilized features and implemented capabilities of such device or system.

[0112] In some examples, aspects of the present disclosure, including computerized implementations of methods according to the disclosure, can be implemented as a system, method, apparatus, or article of manufacture using standard programming or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a processor device (e.g., a serial or parallel general purpose or specialized processor chip, a single- or multi-core chip, a microprocessor, a field programmable gate array, any variety of combinations of a control unit, arithmetic logic unit, and processor register, and so on), a computer (e.g., a processor device operatively coupled to a memory), or another electronically operated controller to implement aspects detailed herein. Accordingly, for example, examples of the disclosed technology can be implemented as a set of instructions, tangibly embodied on a non-transitory computer-readable media, such that a processor device can implement the instructions based upon reading the instructions from the computer-readable media. Some examples of the disclosed technology can include (or utilize) a control device such as an automation device, a special purpose or general purpose computer including various computer hardware, software, firmware, and so on, consistent with the discussion below. As specific examples, a control device can include a processor, a microcontroller, a field-programmable gate array, a programmable logic controller, logic gates etc., and other typical components that are known in the art for implementation of appropriate functionality (e.g., memory, communication systems, power sources, user interfaces and other inputs, etc.).

[0113] The term “article of manufacture” as used herein is intended to encompass a computer program accessible from any computer-readable device, carrier (e.g., non-transitorysignals), or media (e.g., non-transitory media). For example, computer-readable media can include but are not limited to magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips, and so on), optical disks (e g , compact disk (CD), digital versatile disk (DVD), and so on), smart cards, and flash memory devices (e.g., card, stick, and so on). Additionally, it should be appreciated that a carrier wave can be employed to carry computer-readable electronic data such as those used in transmitting and receiving electronic mail or in accessing a network such as the Internet or a local area network (LAN). Those skilled in the art will recognize that many modifications may be made to these configurations without departing from the scope or spirit of the claimed subject matter.

[0114] Certain operations of methods according to the present disclosure, or of systems executing those methods, may be represented schematically in the figures or otherwise discussed herein. Unless otherwise specified or limited, representation in the figures of particular operations in particular spatial order may not necessarily require those operations to be executed in a particular sequence corresponding to the particular spatial order. Correspondingly, certain operations represented in the figures, or otherwise disclosed herein, can be executed in different orders than are expressly illustrated or described, as appropriate for particular examples of the disclosed technology. Further, in some examples, certain operations can be executed in parallel, including by dedicated parallel processing devices, or separate computing devices configured to interoperate as part of a large system.

[0115] As used herein in the context of computer implementation, unless otherwise specified or limited, the terms “component,” “system,” “module,” “block,” and the like are intended to encompass part or all of computer-related systems that include hardware, software, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a processor device, a process being executed (or executable) by a processor device, an object, an executable, a thread of execution, a computer program, or a computer. By way of illustration, both an application running on a computer and the computer can be a component. One or more components (or system, module, and so on) may reside within a process or thread of execution, may be localized on one computer, may be distributed between two or more computers or other processor devices, or may be included within another component (or system, module, and so on).

[0116] Also as used herein, unless otherwise limited or defined, “or” indicates a nonexclusive list of components or operations that can be present in any variety of combinations, rather than an exclusive list of components that can be present only as alternatives to eachother. For example, a list of “A, B, or C” indicates options of: A; B; C; A and B; A and C; B and C; and A, B, and C. Correspondingly, the term “or” as used herein is intended to indicate exclusive alternatives only when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.” For example, a list of “one of A, B, or C” indicates options of: A, but not B and C; B, but not A and C; and C, but not A and B. A list preceded by “one or more” (and variations thereon) and including “or” to separate listed elements indicates options of one or more of any or all of the listed elements. For example, the phrases “one or more of A, B, or C” and “at least one of A, B, or C” indicate options of: one or more A; one or more B; one or more C; one or more A and one or more B; one or more B and one or more C; one or more A and one or more C; and one or more of A, one or more of B, and one or more of C. Similarly, a list preceded by “a plurality of’ (and variations thereon) and including “or” to separate listed elements indicates options of multiple instances of any or all of the listed elements. For example, the phrases “a plurality of A, B, or C” and “two or more of A, B, or C” indicate options of: A and B; B and C; A and C; and A, B, and C.

[0117] Although the present disclosure has been described by referring preferred examples, workers skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the discussion.

Claims

WHAT IS CLAIMED IS:

1. A power machine (400), comprising: a frame (110); a power source (120) supported by the frame (110); actuators (426, 439) supported by the frame (110) and powered by the power source (120), including one or more drive actuators (426) configured to drive one or more tractive elements (140) of the power machine (400), and one or more workgroup actuators (439) configured to execute one or more work functions of the power machine (400); an operator input device (460) that includes an operator interface (462) and is configured to provide command signals in response to operator inputs at the operator interface (462), the operator input device (460) further including one or more servo motors arranged to apply motive force to the operator interface (462); and an electronic control system (490) in communication with the operator input device (460) and the actuators, the electronic control system (490) being configured to: control one or more of the actuators (426, 439) in response to receiving the command signals; and control the one or more servo motors to provide haptic feedback to an operator at the operator input device (460).

2. The power machine (400) of claim 1, wherein the operator interface (462) is one or more of a joystick, a pedal, a lever, or a steering wheel.

3. The power machine (400) of any of claim 1 or claim 2, further comprising: a sensor system (492) in communication with the electronic control system (490) and configured to sense operating conditions for the power machine (400); wherein the electronic control system (490) is further configured to provide the haptic feedback based on one or more of the sensed operating conditions.

4. The power machine (400) of any of the preceding claims, wherein the haptic feedback is one or more of a vector type feedback, or a vibration type feedback.B2023-0059-W01 | 169402.00392QB\95845663 15. The power machine (400) of claim 4, wherein the haptic feedback includes the vector type feedback, including the one or more servo motors applying force to the operator interface (462) in a feedback direction that is opposite an input direction of a present operator input at the operator interface (462), and optionally, or preferably: wherein the operator interface (462) is a joystick handle and the input direction corresponds to a movement of the joystick handle away from a neutral position; and wherein the feedback direction is toward the neutral position.

6. The power machine (400) of claim 1, wherein the haptic feedback includes: a first return force as the operator interface (462) is moved from a neutral position toward a first distance from the neutral position; and a second return force, that is different than the first return force, as the operator interface (462) is moved from the first distance toward a second distance from the neutral position that is larger than the first distance.

7. The power machine (400) of claim 6, wherein the first return force is greater than the second return force.

8. The power machine (400) of claim 6, wherein the haptic feedback further includes a third return force as the operator interface (462) is moved from the second distance toward a third distance from the neutral position that is larger than the second distance; and wherein the third return force is greater than the second return force, and optionally or preferably, at least one of: wherein the third distance is a maximum distance from the neutral position for operational movement of the operator interface (462); or wherein the third feedback force increases with a distance of the operator interface (462) from the neutral position.B2023-0059-W01 | 169402.00392QB195845663 19. The power machine (400) of claim 1, wherein the haptic feedback includes a detent feedback force that holds the operator interface (462) at a detent distance from a neutral position, and optionally or preferably: wherein the detent distance is a predetermined distance that is set by the operator; or wherein the detent distance corresponds to a float function of a lift arm of the power machine (400).

10. The power machine (400) of claim 1, wherein controlling the one or more servo motors to provide the haptic feedback includes: determining a velocity of movement of the operator interface (462); and determining the haptic feedback based on the velocity.

11. The power machine (400) of any of the preceding claims, wherein controlling the one or more servo motors to provide the haptic feedback includes: determining one or more force values for a present operation of one or more of the power source (120) or the actuators of the power machine; and determining the haptic feedback for the operator inputs based on the one or more force values.

12. The power machine (400) of claim 1 1, wherein the one or more force values correspond to one or more of: a power source (120) force value corresponding to a loading of the power source (120); a tractive force value corresponding to a loading of the one or more drive actuators (426); or a workgroup force value corresponding to a loading of the one or more workgroup actuators (439); and optionally or preferably, wherein the haptic feedback includes:B2023-0059-W01 | 169402.00392QB\95845663 1a first force in a first direction that is determined based on one of the power source (120), tractive, or workgroup force values; and a second force in a second direction that is determined based on a different one of the power source (120), tractive, or workgroup force values.

13. The power machine (400) of any of the preceding claims, further comprising: a second operator input device (460) that includes a second operator interface (462) and is configured to provide second command signals in response to operator inputs at the second operator interface (462); and wherein the haptic feedback includes forces on the operator interface (462) corresponding to movement of the second operator interface (462), and optionally or preferably: wherein the operator interface (462) is a first joystick handle, and the second operator interface (462) is a second joystick handle; wherein the movement of the second operator interface (462) is a movement in a first direction; and wherein the forces on the operator interface (462) move the first joystick in the first direction.

14. A method of controlling a power machine (400), the method comprising: receiving an operator input at an operator interface (462) of an operator input device (460) that is configured to provide command signals for operation of one or more of a power source (120) of the power machine (400), a drive actuator (426) of the power machine (400), or a workgroup actuator (439) of the power machine (400); and in response to the operator input, controlling one or more servo motors of the operator input device (460) to apply haptic feedback at the operator interface (462).

15. A system of controlling a power machine (400), the system comprising: actuators (426, 439) supported by a frame (110) of the power machine (400) and powered by a power source (120) of the power machine (400), including one or more drive actuators (426) configured to drive one or more tractive elements (140) of the power machine (400), andB2023-0059-W01 | 169402.00392QB\95845663 1one or more workgroup actuators (439) configured to execute one or more work functions of the power machine (400); an operator input device (460) that includes an operator interface (462) and is configured to provide command signals in response to operator inputs at the operator interface (462), the operator input device (460) further including one or more servo motors arranged to apply motive force to the operator interface (462); and an electronic control system (490) in communication with the operator input device (460) and the actuators (426, 439), the electronic control system (490) being configured to: control one or more of the actuators (426, 439) in response to receiving the command signals; and control the one or more servo motors of the power machine (400) to provide haptic feedback to an operator at the operator input device (460).B2023-0059-W01 | 169402.00392QB195845663 1

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