Re-locatable operator station

A re-locatable operator station device designed to be used to control walk-behind or stationary machinery and to be repositioned by an operator while maintaining a constant orientation with respect to the machinery. This means that the X and Y axis of the operating station remains the same as the X and Y axis of the vehicle. Such re-locatable operator station is being suitable for use on machinery such as pallet trucks, long load transporters, aircraft engine handling devices, scissors lifts, and other industrial machinery, especially omni or multi-directional machinery or vehicles, as well as with fixed machines in applications places where the operator cannot or does not remain in a single location or is better served at another location.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

BACKGROUND OF THE INVENTION

The present invention relates generally to the field of operator controls for remotely controlled vehicles, and more particularly to a controller designed to be used to control walk-behind, stationary, or ride-on machinery such as pallet trucks, long load transporters, aircraft engine handling devices, scissors lifts, especially omni or multi-directional vehicles or machinery and other industrial machinery.

Walk-behind, remote controlled, and other machines have used various means to convey operator commands to the machine. Some machines have been constructed with either tethered or wireless controls. A tethered control will generally consist of an enclosure to be held by or strapped to an operator. The control enclosure will typically have a “dead man” or enable switch or button, a joy stick or other velocity command input device, mission hardware control input devices such as buttons, toggle switches, one, two, or three axis joy sticks, six-axis force input devices such as a “space ball” or other devices to control embarked machinery and systems, and perhaps an emergency stop button.

Tethered systems are always at risk of the vehicle running over the tether or fouling it on other obstructions. The tether may become entangled in one of the wheels or other moving component and broken, necessitating the machine to be taken out of service.

Tethered systems have the disadvantage that the tethers are relatively delicate and can become damaged by personnel stepping on them, or chafed from being dragged on the ground. Strain relief is another issue, and continual flexing can cause the interconnecting wiring to fatigue and break, potentially resulting in loss of control.

Wireless control systems have also been developed where the operator is equipped with a command input device that is held by the operator while in use. The wireless command input device can also be suspended from a belt or suspenders. Industrial wireless systems can function in most industrial environments, but are not able to function in some military electromagnetic environments, in particular where radars or other high power electromagnetic radiating devices are in use. Wireless systems also emit radio frequency (RF) energy that can interfere with weapons and communication systems in a military environment.

Both tethered and wireless systems have the disadvantage of not conveying the machine's motion directly to the operator via tactile feedback. This is most detrimental when making small, precise motions in constricted environments where an error could damage delicate equipment or injure nearby personnel. An operator that has tactile feel for the machine's motion will be less likely to cause damage in such situations.

Machines controlled via tethered or wireless links can be turned in a direction wherein the front of the machine differs in orientation from the face of the operator, and in such an orientation the operator may become confused and inadvertently command the machine in a direction different from that desired, causing frustration or accidents. This refers, more specifically, to the X and Y axis of the operating station remaining the same as the X and Y axis of the vehicle. In emergency situations this potential for operator confusion or disorientation relative to the front of the machine and hence the direction of travel can be particularly dangerous, since an operator's initial instinctive reaction may be different than that needed to avoid a collision or bystander.

Many industrial and military machines have been equipped with a rigid operator interface. In some cases, as in a commercial powered pallet handler device, the operator interface may take the form of a “T” shaped handle with finger operated paddle controls. The paddle controls may be used to convey velocity commands and or lift and tilt or other commands as appropriate.

Sometimes such operator interfaces are arranged to rotate with the steered wheels, and in some cases, the operator's physical input is used as the steering actuation force. For example, the US Navy MHU191 weapons handler dolly is equipped with an extendable handle that is linked to the front wheels. An operator will rotate the handle about the front of the vehicle to the desired direction to turn and then either push or pull on the handle or other part of the payload or dolly to move it in that direction. Centering the MHU191 dolly handle will cause the MHU191 dolly to move in a straight path when pushed. In another example, a electrically powered pallet jack can have a “T” shaped handle that is connected to powered wheels which are further arranged to support one end of the machine. In order to change the machine's direction of travel, the operator manually rotates the “T” handle about the powered wheels, thereby orienting them into the desired direction.

The aforementioned arrangements have the disadvantage that the operator's juxtaposition to the machine is fixed. That is, the operator must be located centrally behind the machine while traveling a straight path, or to the side of the machine facing the inside of the turn while traveling on a curved path. The operator is not able to, for instance, view the side of the machine facing the outside of a turn, or to walk from a vantage point far to one side of the machine while traveling in a straight path.

Therefore, there exists a need for an operator interface that provides tactile feedback to the operator. There also exists a need for a walk behind machine operator interface that permits the operator to walk from different vantage points while the machine is in motion and under control. There also is a need for an operator interface that provides tactile feedback and that can be relocated all while maintaining a constant rotational geometry about the vertical axis.

SUMMARY OF THE INVENTION

The invention provides a re-locatable or moveable operator station device designed to be used to control walk-behind or stationary machinery and to be able to be repositioned by an operator while maintaining a constant orientation with respect to the front or face of the machinery. This refers to the X and Y axis of the operating station remaining the same as the X and Y axis of the vehicle.

The re-locatable operator station is suitable for use on machinery such as pallet trucks, long or short load transporters, military munitions handlers, aircraft engine handling devices, scissors lifts, and other industrial machinery, as well as with fixed machines in applications where the operator cannot remain in a single location or is better served by being permitted to relocate without losing orientation with respect to the front or face of the machine. This is especially prevalent with the use of omni or multi-directional vehicles or machinery.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

A re-locatable operator station comprises one or more stages of fixed or extendable length that couple an operator interface to the vehicle being operated. Each of the various stages is connected to the next by a hinged joint that enables a limited range of motion. The hinged joints between each stage exhibit a reluctance to movement, such as provided by friction bearings, such that the stages will remain in a fixed orientation during normal walk behind operation, but the operator is able to relocate or reorient the operator interface when desired by applying force to the interface.

The operator interface includes controller devices that may be arranged so as to present to an operator all of the man-machine interfaces, which are the devices necessary to enable a human operator to monitor and control all vehicle functions. Such man-machine interfaces may include controller devices such as any suitable means of receiving an operator's input, including switches, paddles, buttons, touch screens, hand-, finger-, or wrist-actuated single- or multi-axis joy sticks that create command signals in proportion to an operator's manual displacement or force applied; voice recognition microphones, or other input devices. The man-machine interfaces on the operator interface may also contain machine status indicators or feedback devices that communicate to the operator the machine's status, such as power source condition, machine status, visible or audible cautions or warnings. These may take the form of gages, digital readouts, liquid crystal displays, light emitting diodes, lamps, cathode ray tube displays, vibration or force-feedback mechanisms included in a controller device (e.g., as a joy stick with force-feedback capability) or other means to convey data or information to the operator.

The operator interface may be held or positioned by the supporting structure at an appropriate height for the operator. The height may be adjustable within the range of typical operator statures, or within a range of operator positions. The operator interface may be held at a convenient angle to the horizontal that is appropriate to minimize the likelihood of a repetitive motion injury.

The operator interface supporting structure may also be configured and arranged so that it can be lowered. A linkage may be arranged between the supporting structure and the operator interface such that the operator interface will rotate towards the vertical as it is lowered, thereby preserving the spatial orientation or angular relationship between the operator's hands and the interface. The ability to temporarily lower the operator interface enables operation of the machine underneath obstructions that would preclude use of a machine with a fixed-height operator's interface. This mode of operation may be used only temporarily and infrequently, and it is recognized that continued use of the machine with the operator interface lowered near the ground is unlikely in most applications of the present invention.

Referring toFIGS. 1A and 1B, a wheeled vehicle comprises a chassis104, at least three wheels101rotateably connected to the chassis and arranged to support the same. Each wheel101is connected to a drive train shown inFIG. 1Bcomprising a drive shaft200, a support bearing202, a motor204, a speed reducer203, which may be a gear train or a belt and pulley assembly, and electronic controls205. Electrical energy to power the vehicle drive and mission hardware is supplied by a suitable source of power206, such as a battery, fuel cell, fossil fuel powered electrical generator, hybrid power supply module as disclosed in U.S. patent application Ser. No. 09/827,173, or any combination thereof. If employed on the vehicle, a brake assembly201may also be part of the drive train or may be applied to one or more of the wheels directly.

Mission hardware103is supported by the chassis104and could include a raiseable payload platform, forklift mechanism, scissors lift, weapons loader, aircraft engine handling system, specialty load handling device, sensor package, fire fighting equipment, or inspection device. The mission hardware103may also include the mechanical, hydraulic and/or electrical actuator systems necessary to lift, lower and position a payload platform or positioner.

The re-locatable operator station100comprises three main components: the horizontal linkage assembly102, the vertical linkage assembly107, and the operator control station108. Also included within the re-locatable operator station100are electrical cables109that electronically couple the operator station108to the vehicle104and/or to the electronic controls205therein. Such electrical cables109may be threaded at least partially through the structures that make up the horizontal and vertical linkages102,107. The horizontal linkage assembly102is connected to one side of the vehicle chassis104in a suitable manner such as by being bolted to a flange or bracket as shown. The vertical linkage assembly107is connected at or near to the outboard end of the horizontal linkage assembly102. The operator control station108in turn is connected to the top of the vertical linkage assembly107. The re-locatable operator station comprising horizontal linkage assembly102, vertical linkage assembly107, and operator station108is arranged such that an operator can walk along with the vehicle chassis104while controlling its drive system and mission hardware103. In an alternative embodiment of the present invention, the vertical linkage assembly107is connected to the vehicle chassis104and the horizontal linkage assembly102is connected at one end to the top of the vertical linkage assembly107and at the end to the operator control station108. References to horizontal herein mean substantially horizontal with respect to a ground surface such as a floor, roadway, pedestal or any surface on which the operator and/or the machine or vehicle may stand. References to vertical linkage assemblies and vertical links herein mean a linkage that is capable of being oriented other than horizontally. However, as explained herein, a vertical linkage assembly may be positioned at any angle with respect to a ground surface ranging from substantially horizontal to vertical (i.e., perpendicular to horizontal). Thus, a vertical linkage assembly may be capable of being positioned substantially horizontally with respect to a ground surface.

Referring toFIG. 2, a vehicle, comprising a chassis104supported by wheels101and equipped with mission hardware103as described in the preceding paragraph, is equipped with the re-locatable operator station100. The range in locations105from which an operator106can position the operator control station108and control the vehicle is depicted. The embodiment of this invention shown inFIG. 2permits the operator control station108to remain in the same orientation with respect to the vehicle chassis104, no matter where it is positioned within the permissible range. This feature of the illustrated embodiment may be particularly important when the vehicle104being controlled is an omni-directional machine (i.e., the wheels101comprise omni-wheels such as disclosed in U.S. Pat. Nos. 3,876,255 or 6,340,065) since this will help to ensure that the operator does not become disoriented.

FIG. 3AandFIG. 3Bshow details of the horizontal linkage102of the re-locatable operator station100presented inFIG. 1AandFIG. 2. The horizontal linkage102is composed of two or more sets of four bar links21,25,33,36that form parallelograms when viewed from above as illustrated inFIGS. 2 and 3B. Bracket38is connected to the host vehicle chassis104shown inFIG. 1A, by suitable attachment structure including, for example, welds, bolts, screws, pins, quick disconnect assemblies, clevis connections, or adhesives. The connection between bracket38and chassis104should have sufficient strength and stiffness to support the rest of the re-locatable operator station100, including all forces imparted by the operator while controlling the machine and repositioning the operator interface108. An upper pivot20and lower pivot37protrude vertically from the bracket38. Two approximately equal length links21,36are rotateably connected to pivots20and37. More preferably, the two links21,36are of equal length. An upper link21is connected to pivot20and a lower link is connected to the lower pivot37. The pivots20and37may each be equipped with anti-friction elements (not shown) that could take the form of tapered roller bearings, angular contact ball bearings, full complement rod end ball bearings, or sliding contact bearings formed of plastic such as delrin, reinforced plastic such as glass filled nylon, metals such as bronze, or Teflon® coated or impregnated bushings. The anti-friction elements serve to permit easy rotation of both upper21and lower36links about vertical axes centered on pivots20and37, respectively. Alternatively, pivots20and37(as well as some or all pivots described herein) may be equipped with a friction element that is capable of preventing or limiting rotation about the pivot when subjected to a rotational force below a set threshold and permitting rotation about the pivot when subjected to a rotational force at or above that threshold. The friction elements may be adjustable, such as by a thread-actuated clamp that permits adjusting the force applied between two breaking surfaces, so that the rotation-force threshold can be adjusted within some range. Such friction elements may be set to hold the operator station in a fixed orientation until the operator applies sufficient force to the operator station to overcome the friction threshold and thereby reposition the operator station to a new orientation.

The outboard ends of links21and36are rotateably connected to an intermediate bracket23on vertically oriented pivots22and35, respectively. Pivots35and22are separated by a distance D1. As described above for pivots20and37, pivots22and35may be fitted with anti-friction elements (not shown), such as those listed above, to enable low friction rotation of links21and36about pivots22and35. Intermediate bracket23is fitted with physical stops40and41that constrain the total permissible rotation of links21and36about pivots22and35to less than approximately 180 degrees. More preferably, the total permissible rotation of links21and36about pivots22and35is less than 180 degrees.

Pivots35and22are separated by a horizontal distance D2equivalent (within reasonable tolerances) to the horizontal distance D1separating pivots20and37. As such, when links21and36are assembled to brackets38and23by way of pivots20,37,22, and35, brackets38and23are constrained to remain parallel to each other, but permitted to rotate relative to one another within the 180 degree constraint described above.

The outboard end of intermediate bracket23is fitted with two vertically oriented pivots34,24mounted below (pivot34) and above (pivot24) the bracket23. Two links25,33of approximately equivalent length are rotateably connected to pivots24and34. More preferably, the two links25,33are of equal length. Similar to the other pivots described above, pivots34and24may be fitted with antifriction elements (not shown), such as those listed above. One link33is connected to the lower pivot34and the other link25is connected to the upper pivot24. Intermediate bracket23is fitted with physical stops40and41that constrain the rotation of links25and33to a maximum rotation about their pivots24and34to less than 180 degrees. More preferably, the maximum rotation of links25,33about pivots24,34is less than 180 degrees. Pivots24and34are separated by a distance D3.

An outboard bracket27is fitted with two pivots32,26, one protruding from the bottom (pivot32) and one from the top (pivot26). The outboard end of link25is rotateably connected to the upper pivot26and the outboard end of link33is rotateably connected to the lower pivot32. Alternatively, link25could be coupled to lower pivots on brackets23and26, if link33is coupled to upper pivots on brackets23and26. The horizontal separation distance D4between pivots26and32on the outboard bracket27is equal (within reasonable tolerances) to the horizontal separation distance D3between pivots24and34on the intermediate bracket23. As such, when links25and33are assembled to brackets23and27by way of pivots24,34,26, and32, brackets23and27are constrained to remain parallel to each other, but permitted to rotate relative to one another within the less than 180 degree constraint described above.

When the aforementioned links21and36are simultaneously connected to appropriate pivots on brackets38and23, the outboard bracket27is constrained to be parallel to the inboard bracket38. The inboard bracket38is rigidly affixed to the host vehicle chassis104(seeFIG. 1), therefore the outboard bracket27can be relocated relative to the vehicle chassis104but is constrained in height, yaw, pitch or roll relative to the chassis104.

The pivots20and37must be of sufficient strength to support the entire re-locatable operator station100system of brackets, linkages, and pivots. Forces that must be resisted include the weight of the links, operator control station, any force applied by the operator, and forces caused by contact with the operating environment. Since the links21and36are parallel to each other, both shear and moment produced by the aforementioned loads must be resisted by the pivots20and37. The above described antifriction features (not shown) and incorporated into the pivots20and37must resist the same weight and moments.

The two stage linkage mechanism for the re-locatable operator station100described above is only one example embodiment of the invention. It will be clear to those skilled in the relevant art that the two stage re-locatable operator station described above can be extended to three or more stages by simply adding more intermediate brackets and links in the manner and configurations described above.

FIG. 4shows a detailed depiction of the vertical linkage. The outboard bracket27is fitted with two horizontally oriented pivots6and8. Pivots6and8have their centerlines parallel to the plane formed by the two vertical pivots26and32, and are also integral with the outboard bracket27. Pivots6and8are parallel and separated from each other by distance D5made up of a horizontal distance component D6and a vertical distance component D7as shown inFIG. 4B. Links5and3are rotateably connected to pivots6and8. In a preferred embodiment, links5and3are of equivalent length.

An operator control station1is fitted with pivots2and16as shown inFIG. 4A. The centerlines of pivots2and16are parallel to each other. Pivots2and16are separated by a distance D8that is smaller than the distance D5that separates pivots6and8. Links5and3are rotateably connected to pivots2and16and as such form a linkage that enables the operator control station1to be rotated about the outboard bracket27over a range of positions, from just past vertical, position17, to partially lowered, positions10and11, to fully lowered, position12. The arrangements of pivots6,8,2and16are such that the operator control station1rotates in a direction opposite to that of the linkage over the range of motion from positions17to12. This opposite rotation causes the operator control station1to be presented at an ergonomically convenient angle to the operator throughout the range of motion of the vertical linkage.

In one or more embodiments of the invention, a third linkage, link4, is rotateably connected to link5and to link3with pivots18and7. In one or more embodiments, link4is connected to link5at rotateable connection point18intermediate between the pivots6and2. Link4may be variable in length, such as concentric tubes of different diameter fitted one inside the other, and fitted with an operator controlled locking mechanism13. When the link4locking mechanism13is engaged, thereby fixing the length of link4, rotation of the operator station1about pivots6and8is prevented, thereby fixing its height and angle to the vertical. When the link4locking mechanism13is released, thereby allowing link4to vary in length, the operator control station1can be raised or lowered by the application of manual force to raise the operator control station1to position17, or to lower it to position12or anywhere in between. The locking mechanism13may be any form of latch, clamp or pin assembly, such as a sleeve-and-set screw assembly as shown inFIG. 4.

In another preferred embodiment, link5is fitted with a band or disk brake (not shown). Such a brake would consist of rotating elements rigidly connected to link5or link3or both link5and3and static elements rigidly connected to the outboard bracket13in the area of the pivot. Alternatively, the static elements could be positioned on the link5,3and the rotating elements on the bracket13. Such static and rotating elements of a brake assembly are well known to those skilled in the art. In a preferred embodiment, the brake would have a spring loaded braking feature with a manually actuated release. The release would be actuated by the operator when he or she desires to alter the height of the operator control station1.

In another embodiment, link5or link3is fitted with a rack and pawl mechanism (not shown) that would comprise a sector of a solid round disk centered on pivot6or8with teeth formed into its periphery. The sector would be rigidly connected to link5if centered on pivot6and link3if centered on pivot8, and would rotate with the respective link. A spring loaded pawl is rotateably connected to the outboard bracket13that is arranged to engage the teeth in the solid disk. Alternatively, the spring loaded pawl could be connected to the link5,3and the sector connected to the bracket13. A release mechanism may take the form of a foot or hand actuated lever that will temporarily move the pawl clear of the teeth and enable the operator control station1to be repositioned. In this embodiment, the operator control station1can be positioned at any one of several discrete heights commensurate with the gear teeth pitch and number.

In any of the foregoing embodiments, the links5and3are arranged to rotate about their respective pivots and are rigidly prevented from rotating about any other axis, such as by a cylindrical pivot assembly. As such, forces applied at the operator control1in a direction normal to the plane of rotation created by rotating links3and5about pivots6and8are transmitted to the outboard bracket13with little deflection of the vertical linkage107.

A detailed view of the operator control station108is presented inFIG. 5. The operator control station108comprises an enclosure29housing linkages, electronics and wiring not shown. The side of the control station108enclosure29facing the operator is equipped with appropriate indicator and control devices, such as an energy status indicator53, an on/off switch54, an emergency stop button52, mission hardware controls55, and vehicle motion controls50,51. Handles28,30may be rigidly fixed to the sides of the control station enclosure29and arranged to permit simultaneous operation of vehicle motion controls50,51.

An energy status indicator53may convey the battery charge level, in the case of a battery-powered machine, or a fuel level, in the case of a fossil fuel-powered machine. In one embodiment, the energy status indicator53will have a warning feature to advise the operator that the energy level is below some predetermined threshold.

The on/off switch54is used to switch the machine from off to standby, to fully operational status. The on/off switch54may comprise a keyed multi position rotary switch. In another embodiment the on/off switch54comprises a rotary switch. In yet another embodiment the on/off switch54comprises a push button switch.

The emergency stop button52is arranged to stop the vehicle by disconnecting all power from the drive wheels101and mission hardware (103inFIG. 1) and setting all wheel brakes201. The emergency stop button52may be a mushroom shaped button that is configured to latch in the depressed position after being actuated and requiring that the operator twist the button to release it in order to restore machine function.

Mission hardware controls55may consist of a two-axis joy stick arranged to accept proportional control inputs from the operator. In another embodiment of the invention, the mission hardware controls take the form of two or more joy sticks and several discrete switches.

In an embodiment, thumb actuated joy sticks51and50are used to convey velocity and steering commands to the vehicle, respectively. In another embodiment, joy sticks50and51convey velocity and steering commands to the vehicle, respectively. In still another embodiment, either joy stick can be arranged to accept both velocity and steering commands to permit one handed operation.

In another embodiment, the vehicle may be an omni-directional machine employing omni-directional wheels such as disclosed in U.S. Pat. Nos. 6,340,065, 3,876,255, and/or 5,374,879. In such an embodiment, vehicle motion controls50and51consist of thumb actuated joy sticks. Vehicle motion control thumb actuated joy stick50is arranged to accept longitudinal and transverse velocity commands from the operator, while vehicle motion control thumb actuated joy stick51accepts vehicle yaw rate commands from the operator. Using both the two vehicle motion control thumb actuated joy sticks50,51the operator has complete control of the vehicle's motion. The vehicle motion control thumb actuated joy stick50is located in such a manner that the operator can grasp the handle28with four fingers of his or her right hand while the thumb rests comfortably on the joy stick50. Similarly, joy stick51is located in such a manner that the operator can grasp the handle30with four fingers of his or her left hand while the thumb rests comfortably on the joy stick51. In this way, the operator receives continuous tactile feed back on the vehicle's orientation and velocity. This arrangement also enables the operator to reposition the re-locatable operator station mechanism102by exerting a horizontal force on the handles30and28while simultaneously maintaining control over the vehicle via the vehicle motion control thumb actuated joy sticks50and51. Thus, it is possible to seamlessly operate the vehicle while simultaneously altering the position of the operator control station108with respect to the vehicle chassis104.

In another embodiment of the invention, the operator inputs yaw and longitudinal velocity commands, which are conveyed to the machine's central controller (not shown), via thumb operated joy stick50and transverse velocity commands via thumb operated joy stick51. In this configuration, an operator is able to maneuver the vehicle with only one hand, having control of yaw rate and longitudinal velocity via thumb operated joy stick50, and can transit in reverse with just his or her right hand grasping handle

actuating thumb actuated joy stick50, thus enabling the operator to face away from the vehicle and walk forward while the vehicle is operated in reverse. Having one hand firmly grasping the handle28will provide continuous tactile feedback to the operator on the machine's motion.

Referring toFIG. 1, the control station108is linked electrically to the vehicle chassis104via wiring109that is run from the operator control station enclosure29, down the vertical linkage assembly107, along or inside the horizontal linkage assembly102, and into the vehicle chassis interior104. Operator commands pass from the control station108via the above described wiring109to the central controller (not shown) within the vehicle chassis104, and electrical power and feedback data from the vehicle central controller (not shown) pass via the above described wiring109to the control station108to operate displays such as the energy status indicator53. In another embodiment, the control station108is linked to the vehicle control computer via a wireless link. The wireless link may be any suitable form of wireless communication link comprising a transmitter and receiver means of communicating information and a modem, including well known data links, such as a radio frequency (e.g., two-way radio) link, an infrared link, and/or an ultrasonic link. In such an embodiment the control station108is powered by a rechargeable battery (not shown).

Another embodiment of the horizontal linkage assembly102portion of the invention is presented inFIG. 6AandFIG. 6B. This embodiment comprises a set of two four-bar link assemblies that form parallelograms when viewed from above. This embodiment of the re-locatable operator station is connected to the host vehicle70with clevis connections50and69which couple to the horizontal linkage assembly102. Clevis50and69may be connected to the host vehicle70using suitable structure such as welds, bolts, screws, or adhesives, or may be integrally cast into the host vehicle70structure. The connection between clevis50and69and the host vehicle chassis70has sufficient strength and stiffness to support the rest of the re-locatable operator station100, including all forces imparted by the operator while controlling the machine.

Links52and67are of approximately equal length and are connected to clevis50and69with pivots51and68. Pivots51and68may each be equipped with anti-friction elements (not shown) that could take the form of tapered roller bearings, angular contact ball bearings, full complement rod end ball bearings, or sliding contact bearings formed of plastic such as delrin, reinforced plastic such as glass filled nylon, metals such as bronze, or Teflon® coated or impregnated bushings. The anti-friction element serves to permit easy rotation of both upper52and lower67links about vertical axes centered on pivots51and68respectively.

The outboard ends of links52and67are rotateably connected to the intermediate bracket53on vertically oriented pivots54and66respectively. As described above for pivots51and68, pivots54and66may be fitted with anti-friction elements (not shown), such as those listed above, to enable low friction rotation of links52and67about pivots54and66, respectively circulating.

The relative positions and configurations of host vehicle70, pivots51and68, and links52and67is such that the total rotation of links52and67is constrained to a total of approximately 180 degrees, or plus or minus approximately 90 degrees to either side of the clevis50and69mounting location.

Pivots51and68are separated by a horizontal distance D9that is equal (within reasonable tolerances) to the horizontal distance D10separating pivots54and66. As such, when links52and67are assembled to clevis50and69and intermediate bracket53by way of pivots51,68,54, and66, intermediate bracket53is constrained to remain parallel to the plane in which pivots51and68lie, but is permitted to rotate relative to one another within the 180 degree constraint described above. Pivots54,56may comprise posts extending from bracket53, pins that pass through bracket53(either rigidly attached to or freely rotating within bracket53), posts extending from one or more of the links52,56,62,67into a receiving hole in bracket53, or a similar suitable structure.

Links56and62are rotateably connected to intermediate bracket53pivots54and66and to the outboard bracket59at pivots57and61. As described above for pivots51and68, pivots54and66may be fitted with anti friction elements (not shown) to enable low friction rotation of links56and62about pivots54and66respectively.

The horizontal linkage102will include physical stops to prevent motion of the assembly beyond desired ranges. For example, in one embodiment, link56is fitted with a physical stop71that will prevent clockwise rotation (when viewed from above) of the centerline of link56about pivot54beyond a line connecting pivots54and66. Likewise, link62is fitted with a physical stop72that prevents anticlockwise rotation (when viewed from above) of the centerline of link62beyond a line connecting pivots54and66. The total range of motion of the links56and62is thereby constrained to a total of approximately 180 degrees, or approximately 90 degrees to either side of the intermediate bracket53.

Intermediate bracket pivots54and66are separated by a horizontal distance D10approximately equal to the horizontal distance D11separating outboard bracket pivots57and61. More preferably, the two horizontal distances are equal. As such, when links56and62are assembled to intermediate bracket53and outboard bracket59by way of pivots54,66,57, and61, outboard bracket59is constrained to remain parallel to the plane in which pivots54and66lie, but is permitted to rotate relative to one another within the aforementioned 180 degree constraint.

As one can see from the foregoing discussion, outboard bracket59is constrained to be parallel to the plane described by pivots51and68. Clevis50and69are rigidly affixed to the host vehicle70chassis, therefore the outboard bracket59can be relocated relative to the vehicle70chassis but is constrained in height, yaw, pitch and roll directions relative to the chassis.

The clevis50and69and associated pivots51and68should be of sufficient strength to support the entire re-locatable operator station system of brackets, linkages, and pivots. Forces that must be resisted include the weight of the links, operator control station, any force applied by the operator, and forces caused by contact with the operating environment. Since the links52and67are parallel to each other, both shear and moment produced by the aforementioned loads are resisted by the pivots51and68.

FIG. 7AandFIG. 7Bdepicts another embodiment of the invention that differs in the way the horizontal linkage assembly125connects to the host vehicle117and in how the horizontal linkage assembly125is supported. In this embodiment, the horizontal linkage assembly125couples to and interfaces with the host vehicle117via a hinged bracket assembly126. The hinged bracket assembly comprises a bracket116that is connected to the host vehicle117via bolts, welds, adhesives, or other appropriate means (not shown). Bracket116is fitted with clevis114that engages the inboard bracket110by way of round pin115and clevis113. This arrangement enables the entire horizontal linkage125to rotate about a horizontal axis coincident with the centerline of round pin115. Links21and36are rotatably connected to inboard bracket110at vertically oriented pivots111and112.

The rest of the horizontal linkage assembly125is similar to the aforementioned descriptions of the horizontal linkage assembly, with the exception of the outboard bracket118. The outboard bracket118is fitted with a mounting interface119arranged to accept a caster wheel assembly124. The caster wheel assembly124consists of a vertical bearing120that enables the wheel123to flag about a vertical axis centered on the bearing120. The lower part of the bearing120is connected to the wheel123by suitable bracketry121and axle122. As the operator maneuvers the host machine117, the caster wheel124will automatically orient itself to follow its motion.

The horizontal linkage assembly125is supported and constrained in longitudinal, lateral, and vertical directions at the inboard end by the above described hinged bracket assembly126. This hinge assembly126also supports and constrains the inboard bracket110in yaw and roll. The horizontal linkage assembly125is permitted to pitch up or down about pin115. The outboard bracket118is supported by the caster wheel124which rests on the running surface118.

When the host machine117is operated over an uneven surface118, the operator interface will remain at a constant height over the surface where the caster wheel124makes contact. This embodiment enables a vehicle117to transition from level surfaces to an incline while the operator interface horizontal linkage assembly125is fully extended without binding or dragging on the running surface. This embodiment of the invention also enables the invention to remain at a constant height above a surface118when transitioning from an incline to level or declined running surface.

Now referring toFIG. 8, the re-locatable operator station is shown employed on an aircraft jet engine handler. This figure shows a jet engine150supported by brackets151that interface with parallel rails152. The parallel rails152are in turn supported by a lifting mechanism153. The lifting mechanism is connected to a chassis154. Power to lift and lower the engine150via the lifting mechanism153can be provided manually, by battery powered hydraulics, or by other suitable means. The chassis154is depicted as being supported over the running surface by four omni-directional wheels155.

The re-locatable operator station horizontal linkage assembly117157is shown as being mounted to the side of the engine handler chassis114154. In another embodiment, the re-locatable operator station horizontal linkage assembly117157is mounted to the front or rear of the chassis1154or to a side. The vertical linkage assembly158is mounted to the outboard end of the horizontal linkage assembly157. The operator control station159is in turn mounted on top of the vertical linkage assembly158. In this configuration, an operator can maneuver the engine handler laterally to position it underneath an aircraft (not shown) for engine installation or removal. The ability to relocate the operator station enables the operator to get a close-up view of one or another end of the assembly as it is being maneuvered, while receiving intuitive and tactile feedback on the machine's orientation, longitudinal and transverse velocity, and yaw rate. The operator's station can be relocated when maneuvering amongst the aircraft's landing gear, weapons, sensor pods, or fuel tanks. The vertical linkage assembly158can be lowered to pass beneath the aircraft.

Now referring toFIG. 9, the re-locatable operator station is shown employed to control an aerial work platform. This embodiment comprises a mobile aerial work platform chassis80supported by wheels81. The horizontal linkage82is connected to the aerial work platform's chassis80by suitable structure such as bolts, welds, adhesives, or other means (not shown). The vertical linkage assembly85is connected to the horizontal linkage assembly82as described above. The operator control station83is mounted atop the vertical linkage assembly85as described earlier. In use, an operator (not shown) would be able to move the operator control station83to a position directly behind the chassis80while maneuvering through a narrow passageway. The operator could then relocate the operator control station83to the left of the chassis80by simply applying manual force. The operator can then view the work platform84from the side, which would be beneficial when positioning the platform near an overhead obstruction. Alternatively, the operator can collapse the horizontal linkage and thereby position the operator control station83directly behind the chassis80to present a minimum footprint while maneuvering or during storage.

Now referring toFIGS. 10A and 10B, the re-locatable operator station is employed to control an omni-directional long load transporter. The transporter chassis91is supported by four omni-directional wheels92, inFIG. 10B. Each omni-directional wheel92is similar to those disclosed in U.S. Pat. Nos. 6,340,065, 3,876,255, and/or 5,374,879. In each case, the omni-directional wheel92comprises a frame rotateably connected to the chassis91. The frame supports free spinning rollers which contact the running surface. Each omni-directional wheel92is driven by machinery (not shown) in such a manner as to enable the entire vehicle to move in any direction desired by and under the operator's control. The horizontal linkage93is connected to the long load transporter chassis91by suitable structure, such as bolts, welds, adhesives, or other means (not shown). The vertical linkage assembly94is connected to the horizontal linkage assembly93as described above. The operator control station95is mounted atop the vertical linkage as described above. In this embodiment, an operator can position himself behind and in line with the chassis91and long load90. When transporting a shorter load, the operator can partially collapse the horizontal linkage assembly93such that the overall length is minimized. When negotiating around blind corners, an operator can position the controls to the outside of the turn by simply pushing the operator station95to the desired position. The operator can then position himself to view the machine and its payload90around the blind corner while simultaneously maneuvering the machine. The operator control station95will remain in the same orientation in yaw, and the operator's intuitive understanding of the relationship between velocity commands and vehicle motion is unchanged. The operator maintains his grip on the operator control and so all machine motion is conveyed to the operator via tactile feedback.FIG. 10Aillustrates an alternative embodiment of the long load transporter where the wheels96are conventional wheels that are steerable.

Now referring toFIG. 11, the above described omni-directional long load transporter, comprising a chassis91, omni-directional wheels92, and payload90, is shown being maneuvered under an overhead obstruction97. In this case, the horizontal linkage93is arranged to place the operator control station95behind and in line with the payload90. The vertical linkage assembly94has been lowered by the operator to pass beneath the obstruction97. One can see from this depiction that the operator control station could similarly be lowered to pass beneath the payload90when and if such is necessary.

FIG. 12contains an embodiment of the invention used in a ride-on machine. In this embodiment the host machine140chassis142is supported by one or more wheels141and powered by machinery (not shown). The chassis provides a riding platform147and supports mission hardware143. The mission hardware143could take the form of material handling mechanisms such as lift forks, robotic arms, grippers, scissors lift, large roll handling, die or forge manipulator, or spool handling; construction devices such as a front loading shovel, back hoe, steam roller, auger, pile driver, directional drill, hammer drill, penetrometer, or jackhammer; military equipment such as a mine flail, obstacle breeching device, cannon, mortar, or flamethrower; or agricultural equipment such as combine, plough, rake, or tiller. The mission hardware143may require that the operator (not shown) be able to alternately view its function from either side of the machine140. The horizontal linkage assembly144is affixed to the chassis142. The vertical linkage assembly145is connected to the horizontal linkage144. The operator control station146is affixed to the top of the vertical linkage assembly145.

In this embodiment, an operator (not shown) can control a ride on machine140, such as by standing on a platform147, while simultaneously retaining the ability to move from one side of the machine140to the other. The ability to move about on platform147by repositioning the operator station146enables an operator to visually observe the operation of the mission hardware143while maintaining control over the machine140and mission hardware143.

This embodiment shows only a single stage horizontal linkage assembly144. A person skilled in the arts associated with this patent will see that a single stage horizontal linkage assembly will function similarly to the aforementioned two stage linkage assemblies, except that the outboard bracket will be constrained to a semi circular arc centered on the inboard bracket. However, it is envisioned that ride-on vehicle applications may also employ two- and three-stage horizontal linkage assemblies if suitable for the vehicle's mission.

FIG. 13illustrates an embodiment of the invention used to support an operator's control station for a tracked machine130. In this embodiment. the host machine130chassis132is supported by one or more tracks131and powered by machinery (not shown). The chassis further supports mission hardware133. Mission hardware133could take the form of material handling mechanisms such as lift forks, robotic arms, grippers, scissors lift, large roll handling, die or forge manipulator, or spool handling; construction devices such as a front loading shovel, back hoe, steam roller, auger, pile driver, directional drill, hammer drill, penetrometer, or jackhammer; military equipment such as a mine flail, obstacle breeching device, cannon, mortar, or flamethrower; or agricultural equipment such as a combine, plough, rake, or tiller. The mission hardware133may require that the operator (not shown) be able to alternately view its function from either side of the tracked machine130. The horizontal linkage assembly134is affixed to the chassis132. The vertical linkage assembly135is connected to the horizontal linkage assembly134. The operator control station136is affixed to the top of the vertical linkage assembly135.

In this embodiment, an operator (not shown) can control a walk behind tracked machine130while simultaneously retaining the ability to move from one side of the machine130to the other to visually observe the operation of the mission hardware133, all the while maintaining control over the machine130and mission hardware133.

The stages and operator interface are configured to enable relocation by the operator at will by simply applying manual force to the operator interface. In operation, the operator will normally walk behind the machine being controlled. The operator will have a clear view of the machine, payload, and any mission hardware, but will be able to view the far side. Without the benefit of the present invention, a machine operator may require a second person to serve as a spotter to assist in guiding the machine through a constricted passageway or in close proximity to other marked machines or fixed obstacles. The present invention enables the operator to rapidly and simply move to other locations around the vehicle while remaining in direct physical contact with the machine. Unique features of the present invention also enable an operator to move about a functioning machine as described above while maintaining an azimuthally similar relationship between the operator interface and the machine's centerline. This may be an important benefit when controlling a vehicle that is capable of omni-directional motion.

The various embodiments of the present invention described herein enable an operator to readily and continually reposition the operator's interface location with respect to the vehicle. This enables walk-behind operation from different vantage points that permit viewing the vehicle and its payload as it is maneuvered. This is of particular use when maneuvering in constrained spaces while handling large objects with protruding features that can be damaged by slight contact with obstacles.

Another advantage of the present invention is the enabled ability to operate a machine in a walk behind manner with the operator receiving tactile feedback on the machine's longitudinal, transverse, and rotational motion.

Another advantage of the present invention is the reduction in risk to the operator of being inadvertently pinned and injured between the operator interface and an obstruction while backing up, since the linkage will retract easily with only slight force.

Another advantage of the present invention is the ability to raise the operator interface to differing heights to permit operators of different statures to operate a walk behind machine with correct ergonomics.

Yet another advantage of the present invention is the ability to lower the operator interface to enable a machine, payload, and operator to be driven underneath obstructions, while the interface is arranged to preserve the best possible ergonomics while doing so.

Still another advantage of the present invention is the ability to collapse the operator interface into a small length, and so reduce the floor space required for storing the machine to a minimum.

Another advantage of the invention is the ability to extend or reposition the operator interface to accommodate long or otherwise oversized loads that extend beyond the vehicle's perimeter.

While various embodiments of the present invention have been described above and in the drawings, it should be understood that they have been presented only as examples, and not as limitations. The breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.