Selectable Operating Modes for Machine Operator Input Devices

A machine supports multiple selectable operating modes for operator input devices. An operator input device and associated input sensor convert physical operator actions into operator input control signals. A force feedback device, associated with the operator input device, exerts a resistive force based upon force feedback signals issued by the programmed controller. A machine subsystem includes an actuator configured to change an operational state of the machine according to machine control commands issued by the programmed controller based upon the operator input control signals. An operator input device configuration unit receives directions for specifying an operator input device configuration definition. The operator input device configuration definition specifies a mapping between the operator input control signals and the machine control commands. The operator input device configuration definition specifies at least an operator input device mode, and a force feedback mode based at least in part upon the operator input device mode.

DETAILED DESCRIPTION

This disclosure relates to systems and methods that may be used to provide a highly customizable operator input interface for controlling a work machine and is associated controllable subsystems (e.g., vehicle propulsion, vehicle steering, implement actuation, etc.). The disclosure that follows uses an example of a wheel loader including hydraulically actuated steering and shovel subsystems.

FIG. 1illustrates an exemplary machine10. The machine10may be a mobile machine that performs some type of operation associated with an industry such as mining, construction, farming, or any other industry, at a worksite. For example, the machine10may be an earth moving machine such as wheel loader, a haul truck, a backhoe, a lift truck, or any other operation-performing machine. The machine10may include a power source12, a traction device14, an operator station16, and a steering system17.

Power source12may be an engine, for example, a diesel engine, a gasoline engine, a gaseous fuel power engine such as a natural gas engine, or any other type of engine otherwise known in the art. The power source12may alternatively embody a non-combustion source of power, such as a fuel cell, a power storage device, an electric motor, or other similar mechanisms. The power source12may be connected to the traction device14, thereby propelling the machine10.

The traction device14may include wheels located on each side of the machine10(only one side shown). Alternatively, the traction device14may include tracks, belts, or other known fraction devices. Any of the wheels on the machine10may be driven and/or steered, e.g., by use of an operator input device, discussed below.

The operator station16may include operator input devices that receive input from a machine operator indicative of a desired steering maneuver or other machine action. Specifically, operator station16may include operator input devices20. Examples of the operator input devices20include: steering wheels, single or multi-axis joysticks, flywheels, and other known operator physical input devices. The operator input devices20may be in communication with, part of, and/or otherwise associated with a steering system17.

The steering system17may also include a steering mechanism18, which may include one or more hydraulic cylinders22located on each side of the machine10that function in cooperation with a centrally-located articulated axis24. To affect steering, one of the hydraulic cylinders22, located on one side of the machine10, may extend. Simultaneously, the other one of the hydraulic cylinders22, located on the opposite side of the machine10, retracts. The complementary operation of the hydraulic cylinders causes a forward end of the machine10to pivot about a centrally-located articulated axis24relative to a back end of the machine10. Alternatively, the steering mechanism18may include a greater or lesser number of the hydraulic cylinders22, and/or a different configuration of the one or more hydraulic cylinders22may be implemented. In some embodiments, the one or more hydraulic cylinders22may be implemented to have a direct connection to the traction device14of the machine10. In other embodiments, the one or more hydraulic cylinder22may be connected to a steering linkage47(seeFIG. 2) that transmits movement of the one or more hydraulic cylinders22to the front wheels, such that the front wheels turn relative to a body of machine10. The steering linkage47may include a combination of rods and levers configured to translate the movement of the hydraulic cylinders22to the turning of the traction device14.

The extension and retraction of the one or more hydraulic cylinders22may be achieved by creating an imbalance of force on a piston assembly disposed within a tube of each one of the one or more hydraulic cylinders22. Specifically, each of the one or more hydraulic cylinders22may include a first chamber and a second chamber separated by the piston assembly. The piston assembly may include two opposing hydraulic surfaces, one associated with each of the first and second chambers. The first and second chambers may be complementarily supplied with a pressurized fluid and drained of the pressurized fluid to create an imbalance of force on the opposite surfaces that causes the piston to axially displace within the tube.

As illustrated inFIG. 2, the steering system17may also include a hydraulic circuit26configured to selectively supply fluid to and drain from the hydraulic cylinders22, thereby steering the machine10. The hydraulic circuit26may include a source28of pressurized fluid, a tank30, a steering control valve32, and a control subsystem34. In various embodiments, the hydraulic circuit26may include additional or different components than those illustrated inFIG. 2and listed above, such as, for example, accumulators, check valves, pressure relief or makeup valves, pressure compensating elements, restrictive orifices, and other hydraulic components known in the art.

The source28may produce a flow of pressurized fluid and include a variable displacement pump, a fixed displacement pump, a variable flow pump, and/or any other source of pressurized fluid known in the art. The source28may be drivably connected to a motor36, such as an electric motor or an internal combustion engine. AlthoughFIG. 2illustrates the source28as being dedicated to supplying pressurized fluid to only hydraulic circuit26, the source28may alternatively supply pressurized fluid to additional machine hydraulic circuits.

The tank30may embody a reservoir configured to hold a supply of fluid. The fluid in the tank30may include, for example, engine lubrication oil, transmission lubrication oil, separate hydraulic oil, or any other fluid known in the art. The source28may draw fluid from and return fluid to the tank30. In various embodiments, the source28may be connected to multiple separate fluid tanks.

The steering control valve32may be connected to the source28via a supply line38, and to the tank30via a drain line40to control actuation of the hydraulic cylinders22. The steering control valve32may include at least one valve element that functions to meter pressurized fluid to one of the first and second chambers within each of the hydraulic cylinders22, and to simultaneously allow fluid from the other of the first and second chambers to drain to the tank30. In one example, the valve element of the steering control valve32may be a solenoid valve that mechanically opens and closes based on an electric signal controlled by a controller48. In another example, the steering control valve32may be a hydraulic pilot-actuated valve. In a further example, the steering control valve32may move between a first position at which fluid is allowed to flow into one of the first and second chambers while allowing the fluid to drain from the other of the first and second chambers of the hydraulic cylinders22to the tank30, a second position at which the flow directions are reversed, and a third position (neutral) at which fluid flow is blocked from both of the first and second chambers of the hydraulic cylinders22. The location of the valve element between the first, second, and third positions may determine a flow rate of the pressurized fluid into and out of the associated first and second chambers of the hydraulic cylinders22and a corresponding steering velocity/angle rate of change (i.e., the time derivative of a steering angle) of the steering mechanism18.

The control subsystem34may include components in communication with the steering system17, the operator station16, and/or the traction device14of the machine10. In particular, the control subsystem34may include one or more steering input sensors42associated with operator input devices20including, for example, a steering wheel20a, a left-side joystick20band/or a right-side joystick20c, a travel speed sensor43associated with the traction device14, cylinder sensors44associated with the hydraulic cylinders22, and/or articulation angle sensors46associated with the steering mechanism18, and a controller48in communication with one or more of these sensors.

In the illustrative drive-by-wire operator input arrangement, input sensors42a,42b, and42cmay monitor operation of the associated operator input devices20a,20band20c(respectively) and generate corresponding signals indicative of an input operation parameter. In general, the input operation parameter may be any parameter related to the operation of a corresponding one of the operator input devices20a,20band20c, such as the position, displacement, angular velocity, angular acceleration, torque, pressure, and/or other known parameters of the operator input devices20a,20band20c. For example, the input sensor42afor the steering wheel20amay embody a position sensor configured to monitor a displacement angle of the steering wheel20a. In response, the input sensor42agenerates a corresponding displacement signal. The monitored displacement angle value derived from a signal provided by the input sensor42amay be differentiated with respect to time to calculate an angular velocity for the steering wheel20a. Alternatively, the input sensor42amay embody a velocity determination circuitry configured to monitor angular velocity of the steering wheel20aand generate a corresponding signal. In this configuration, the angular velocity rendered by the input sensor42amay be integrated to determine an incremental position of the steering wheel20a, which may then be used to calculate displacement angle of the steering wheel20a. For the steering wheel20a, the displacement angle may be the angular measurement of the steering wheel displacement around a center axis of rotation. For the left-side joystick20band the right-side joystick20c, positioned on either the left or right side of the operator, the displacement angle may be the tilt angle of the joystick relative to a neutral perpendicular axis extending through the joystick base. Additional aspects of the control subsystem34, relating to configuration of relationships between the operator input devices20and machine actions (e.g., steering the machine10, lifting/lowering and rotating a scoop shovel) are described further herein below with reference to an operator input device configuration unit70andFIG. 3.

The travel speed sensor43may be, for example, a magnetic pickup-type sensor. The travel speed sensor43may be associated with the traction device14and/or another drive train component of the machine10, and may sense a rotation speed thereof and produce a corresponding speed signal. Alternatively, the travel speed sensor43may embody a laser sensor, a radar sensor, or other types of speed sensing devices, which may or may not be associated with a rotating component.

The cylinder sensor44may be associated with the one or more hydraulic cylinders22to produce a signal indicative of a steering operation parameter of the hydraulic cylinders22, as the hydraulic cylinders22extend and retract with the supply of hydraulic fluid. In general, steering operation parameters may be any parameter related to the operation of the steering mechanism18, such as the position, displacement, angular velocity, angular acceleration, torque, pressure, and/or other known parameters of components of the steering mechanism18, such as the hydraulic cylinders22, the centrally-located articulated axis24, and/or the steering linkage47. For example, the cylinder sensor44may produce a signal indicative of the position of extension/retraction, velocity of extension/retraction, acceleration of extension/retraction, and/or a pressure of the hydraulic cylinders22. The articulation angle sensor46may be associated with the steering mechanism18to produce a signal indicative of a steering operation parameter that may include displacement, angular velocity, and/or angular acceleration of the angle between the front end of the machine10and the back end of the machine10, in the situation where the steering mechanism18includes the centrally-located articulated axis24. In such example, the articulation angle sensor46may be proximal to the centrally-located articulated axis24about which the front end and back end swivel. Alternatively, if the hydraulic cylinders22are connected such that only the front wheels are articulated, the articulation angle sensor46may be disposed proximal to the pivot joint about which the traction device14is steered. In such example, the articulation angle sensor46may determine a displacement, angular velocity, and/or angular acceleration of the angle between the traction device14and a travel direction of the machine10, or between the traction device14and a central axis of the machine10. In other embodiments, the articulation angle sensor46may determine a steering operation parameter, such as displacement, angular velocity, and/or angular acceleration, of an articulation angle of the steering linkage47.

The controller48may include a single microprocessor or multiple microprocessors that may control an operation of the hydraulic circuit26. Numerous commercially available microprocessors can be configured to perform the functions of the controller48, and the controller48could readily embody a general machine microprocessor capable of controlling numerous machine functions. The controller48may include a memory, a secondary storage device, a processor, and any other components for running an application. The memory may include one or more storage devices configured to store information used by the controller48to perform certain functions related to embodiments described herein. The secondary storage device may include a volatile, non-volatile, magnetic, semiconductor, tape, optical, removable, non-removable, and/or other types of storage device and/or computer-readable medium. The secondary storage may store programs and/or other information, such as information related to processing data received from one or more sensors, as discussed in greater detail below. Various other circuits may be associated with the controller48, such as power supply circuitry, signal conditional circuitry, solenoid driver circuitry, and other types of circuitry. The controller48is also configured to store various definitions (e.g., tables, graphs, characterizing equations, etc.) relating to the various configurations of the operator input devices20facilitated by the operator input device configuration unit70discussed further herein below.

The controller48may be in communication with the various components of the control subsystem34and the steering system17. In particular, the controller48may be in communication with the input sensors42a,42b, and42c(for the steering wheel20aand joysticks20band20c), the travel speed sensor43, the cylinder sensor44, the articulation angle sensor46, the steering control valve32, and/or the electric motor36via communication lines50,51,52,54,56, and58, respectively. The controller48may receive the steering angular displacement signal, the cylinder displacement signal, and/or the articulation angular displacement signal, as well as regulate the operation of the control steering valve32and/or the electric motor36in response to received signals.

For example, in response to a travel speed of the machine10and/or a steering wheel position monitored via the input sensor42a, the controller48may reference (based upon a current input device configuration that may be selected via the configuration unit70) a map stored in the memory thereof to determine a corresponding articulation angle of the centrally-located articulation axis24and/or the steering linkage47. To achieve this corresponding articulation angle, the controller48may send signals to the steering control valve32and/or the electric motor36to control the amount and or rate of flow of hydraulic fluid that is supplied to and drained from the hydraulic cylinders22. The reference map may include a collection of data in the form of tables, graphs, and/or equations. The reference map may define various types of relationships between one or more input operation parameters of operator input devices20and one or more operation parameters associated with the machine10, including steering operation parameters of the steering mechanism18.

A number of reference maps may be maintained by the controller48. Such reference maps may be associated with various types of configurable relationships between the operator input devices20and one or more machine actions (e.g. changing steering angle). For example, the controller48may control the speed and/or position of the steering mechanism18based on the speed and/or displacement angle of the steering wheel20a, as measured by the steering input sensor42a.

In particular, it may be possible for one of the operator input devices20to operate under a position input velocity control (PIVC) relationship, wherein the speed of steering and/or the gain associated with the steering mechanism18may be related to a displacement of the operator input devices20a,20band20c, as measured by one of the input sensors42a,42band42c, respectively. In some situations, the steering velocity may also be related to the travel velocity of the machine10, as measured by the travel speed sensor43, in addition to the displacement of the particular one of the operator input devices20currently configured to control steering of the machine10.

Another possibility may be for one of the operator input devices20to operate under a position input position control (PIPC) relationship, wherein a displacement of the steering mechanism18may be related and/or proportional to the displacement of one of the operator input devices20, as well as the travel velocity of the machine10.

Yet another possibility, generally not applicable to the joystick input devices20band20c, may be for operation of the steering wheel20aunder a velocity input velocity control (VIVC) relationship, wherein a steering velocity associated with the steering mechanism18may be related to the rotational velocity of the steering wheel20a, and a gain may be associated with (e.g. inversely proportional to) the travel speed of the machine10.

In various embodiments, in addition to the above mapping between operator input actions and corresponding actions relating to operation of the machine10, the controller48may also provide electronic commands to cause a specified degree of force feedback by one of the operator input devices20a,20band20c. Force feedback exerted for one of the operator input devices20may be a linear force and/or torque. Such force feedback may be controllably generated, for example, on the steering wheel20aby a force feedback device60a. The force feedback device60afor the steering wheel20amay be, for example, inside a housing proximal to the steering wheel20a. Similar controllably exerted force feedback is provided for the left-side joystick20band the right-side joystick20cby force feedback devices60band60c, respectively. The force feedback devices60a,60band60cmay include, for example, a powered actuator, such as an electric motor, drivingly connected to the operator input devices20a,20band20c, respectively.

The controller48may control the force feedback device60abased on an error in an operation parameter of the steering mechanism18. For example, the controller48may control a force exerted by the force feedback device60afor the steering wheel20abased on an error between a desired position of the steering mechanism18and an actual position of the steering mechanism18. Furthermore, the controller48may control the force feedback device60abased on an input operation parameter of the input sensor42afor the steering wheel20a. In one embodiment in which the steering system17is operated using a PIPC relationship, a given position of the steering wheel20a, determined based on the input sensor42a, may correspond with a desired position of the steering mechanism18. However, an actual position of the steering mechanism18may not be the same as the desired position of the steering mechanism18due to, for example, the effect that irregularities in the road on which machine10is driving may have on the position of steering mechanism18. Based on the error between the actual position of steering mechanism18and the desired position of the steering mechanism determined by input device20, controller48may control force the feedback devices60to provide force feedback to operator input device20.

In some embodiments, the amount of force feedback may be proportional to the error between the actual steering operation parameter of steering mechanism18and the desired steering operation parameter of the steering mechanism18. For example, the amount of force feedback exerted by the force feedback device60aon the steering wheel20amay be proportional to the error between the actual position of steering mechanism18and the desired position of the steering mechanism18. This force may simulate a resistance force that is transmitted from a steering mechanism to an operator input device in conventional mechanical steering systems. Force feedback may therefore provide the operator using the steering wheel20awith tactile feedback regarding road conditions of a road, and/or machine performance on which the machine10is operating, despite the lack of a mechanical connection between the steering mechanism18and the steering wheel20a.

The controller48may also selectively activate a force feedback device such that force feedback is not always applied to an operator input device. For example, when a steering operation parameter of the steering mechanism18changes, but the operator of the machine10has not indicated a desired change via a change in input operation parameter of the steering wheel20a, the controller48may control the force feedback device60ato not exert a feedback force on the steering wheel20a. In a further example, when a position of the steering mechanism18changes, but the operator has not changed the position of the steering wheel20a, the controller48may control the force feedback device60ato not exert a corresponding feedback force on the steering wheel20a. In doing so, the controller48may prevent, for example, transmitting a kickback force from the steering mechanism18to the operator via the steering wheel20awhen the machine10suddenly comes into contact with an obstruction, obstacle, protrusion, and/or depression in the road.

The control subsystem34, and in particular the controller48, is provided with a high degree of operator-designated configurability with regard to relationships between operator actions on the operator input devices20a,20band20cand resulting actions carried out by mechanical subsystems of the machine10. Such relationships may be implemented via mapping supported by the controller48for the machine10comprising multiple electro-hydraulically controlled subsystems for carrying out various machine actions including: steering, forward-reverse movement, and lifting/lowering and rotating a scoop/shovel implement. At least some aspects of such relationships may be configured automatically within the controller48based upon sensed inputs relating to the status of the machine10. Alternatively, or additionally, the relationships may be specified via the operator input device configuration unit70.

Each subsystem may be operated in a variety of configurable operator input device modes including: PIPC, PIVC and VIVC. In particular, the steering wheel20amay be configured to operate in PIPC, PIVC and VIVC modes. The left-side joystick20band the right-side joystick20cmay be operated in the PIPC and PIVC, but not the VIVC mode.

Moreover, each of the different operator input device modes (PIPC, PIVC and VIVC) may be associated with a distinct force feedback definition. Turning briefly toFIGS. 3A,3B and3C, a set of exemplary force feedback relationships are graphically depicted. Turning toFIG. 3A, an exemplary relationship is depicted for force feedback while one of the operator input devices20operates in a PIPC mode. In the illustrative example ofFIG. 3A, the degree of counter force exerted by, for example, the force feedback device60aon the steering wheel20aincreases as the position error increases. As noted above, the position error is based upon a comparison between a desired (steering) position and an actual steering position as currently registered by the controller48. The shape of the force curve depicted inFIG. 3Ais merely exemplary, and the small force at zero position error represents a holding force on the input device. Upon release of the input device, it would remain in place with the holding force of the force feedback device.

Turning toFIG. 3B, an exemplary relationship is depicted for force feedback while one of the operator input devices20operates in a PIVC mode. In the illustrative example ofFIG. 3B, the degree of counterforce exerted by, for example, the force feedback device60aon the steering wheel20aincreases as the displacement from a neutral position (e.g. machine10is not turning) increases. As noted above, as the steering wheel or joystick is moved farther from a neutral position, the velocity of the controlled subsystem increases and the counterforce exerted by the force feedback device increases. The shape of the force curve depicted inFIG. 3Bis merely exemplary, and the small force at zero position error represents a holding force on the input device. Further, upon release of the input device, the force feedback device will return the input device to its neutral (centered) position.

Turning toFIG. 3C, an exemplary relationship is depicted for force feedback while one of the operator input devices20operates in a VIVC mode. In the illustrative example ofFIG. 3C, the degree of counterforce exerted by, for example, the force feedback device60aon the steering wheel20aincreases as the rotational velocity of the steering wheel20aincreases (commanding an associated subsystem of the machine10to perform a requested action faster). The shape of the force curve depicted inFIG. 3Cis merely exemplary, and the small force at zero position error represents a holding force on the input device. Further, upon release of the input device, it will remain in place and be held in position by the holding force of force feedback device.

With continued reference toFIG. 2, configuring the operator input device, facilitated by configuration selections that may be submitted by a user via the operator input device configuration unit70includes: (1) designating one of the operator input devices20a,20band20cto control a particular machine subsystem (e.g., steering wheels, lifting/lowering and rotating a scoop shovel), (2) mapping physical manipulation of the operator input devices20a,20b, and20cto the designated machine subsystem, and (3) specifying a force feedback mode of operation exerted on the operator input devices20a,20band20cby the force feedback devices60a,60band60c.

The system described herein permits designating a joystick control for controlling movement of the machine10. While operating the machine10on a road, a steering system associated with the side-to-side (x axis) movement of the joystick control is designated to operate in a PIPC mode when the machine10is operated on a road. Moreover, the controller48automatically selects a PIPC-based force feedback mode (seeFIG. 3A) for the joystick. Later, while the machine10is operating in a work mode (i.e. scooping and moving material) the steering system associated with the side-to-side (x-axis) movement of the joystick control is designated to operate in a PIVC mode. Moreover, the controller48automatically selects a PIVC-based force feedback mode (seeFIG. 3B) for the joystick.

The system described herein permits designating a steering wheel control for controlling movement of the machine10. Similar selectable relationship mapping options are supported for the steering wheel20aused to control the steering mechanism18for the machine10. However, in the case of selection of the steering wheel20afor controlling steering on the machine10, the VIVC relationship between the steering wheel20aand the steering mechanism18is also potentially selectable. In such case, the controller48may automatically select the force feedback definition (seeFIG. 3C) corresponding to the VIVC operating mode for the steering wheel20ain response to selection of the VIVC mode of operating the steering wheel20a.

The operator input device configuration unit70may comprise any of a wide variety of interface types. The configuration unit70may be a set of physical switches enabling/disabling particular operational modes. Alternatively, the configuration unit70may be a graphical user interface incorporating a touch-screen interface and configured, among other things, to present a series of hierarchically linked displays. The hierarchically displays list configuration options at each level as well as links to adjacent decision levels. Thus, the configuration unit70may be used to completely designate relationships between particular operator input devices and corresponding subsystems of the machine10. The form and function of the configuration unit70varies substantially in accordance with various implementations. The configurations could also be limited by controller48in any manner, such as in accordance with configuration limitations specified by an original equipment manufacturer.

Turning toFIG. 4, a schematic drawing depicts the controller48as well as components of the machine10that may be communicatively coupled to the controller48to facilitate configuring, based on operator input device configuration parameter values provided from the operator input device configuration unit70, operator input device configuration definitions400. The operator input device configuration definitions400specify relationships (carried out by the controller48) between the operator input devices20and associated operator input device sensors42(that provide operator input control signals), and subsystems405of the machine10. The configuration definitions400also specify a force feedback mode that causes the controller48to issue force feedback signals to the operator input force feedback devices60based, in part, upon observed operational parameter values of corresponding (physically coupled) operator input devices20. In the illustrative example, the definitions400include: a steering wheel configuration definition400a, a left-side joystick configuration definition400b, and a right-side joystick configuration definition400c.

The operator input device configuration definitions400are created based upon operator input device configuration definition templates410that may be stored on a memory storage and retrieval device420. By way of example, the operator input device configuration definition templates410include a set of data structures and/or computer-executable instructions identified by a combination of: operator input device type, machine subsystem (controlled machine element—e.g., steering subsystem), and operator input device mode. Thus, a first configuration definition template is provided for a first configuration combination including: a joystick, steering subsystem, and PIPC mode. A second configuration template is provided for a second configuration combination including: a joystick, steering subsystem and PIVC mode. The manner of defining configurations through the use of templates is merely exemplary, and the specification of configured operator input device configuration definitions may be accomplished in a wide variety of ways in accordance with various implementations of the machine10supporting multiple selectable operating modes for operator input devices.

Turning toFIG. 5a flow chart summarizes steps of an exemplary method for selectively configuring the functionality of a variety of operator input devices, such as for example the steering wheel20a, the left-side joystick20band the right-side joystick20cof the machine10depicted inFIG. 2.FIG. 5will be discussed in the following section to further illustrate the disclosed system and its operation.

INDUSTRIAL APPLICABILITY

The disclosed system may be applicable to any machine, such as machine10, where is it desirable to support selective configuration of particular ones of multiple operator input device modes and related force feedback modes. The described system may address this need through the use of methods described herein. The methods may be performed by the controller48. Operation of system described herein above will now be explained with respect toFIG. 5.

Initially, during step500, a relationship is specified between one of the operator input devices20and a corresponding operator-controlled subsystem of the machine10. By way of example, an operator causes the configuration unit70to provide a listing of subsystems (e.g., steering) of the machine10that may be configured to be operated by a designated one of multiple available operator input devices (e.g., operator input devices20a,20band20c). In response to a user selecting one of the listed subsystems, such as the steering subsystem, causes the configuration unit70to display a listing of the operator input devices that may be potentially designated to control the selected subsystem. By way of example, the configuration unit70may identify the steering wheel20a, the left-side joystick20band the right-side joystick20cas potentially selectable operator input devices for the steering subsystem. The user completes designation of the relationship by selecting one of the listed operator input devices.

Thereafter, during step510, a mapping definition is designated, from a set of available definitions maintained on the controller48(seeFIG. 4), between operator actions on the selected operator input device and resulting control instructions issued by the controller48to the subsystem selected during step500. The mapping definition, in accordance with the disclosure herein, may be generally characterized by PIPC, PIVC and VIVC modes of operation. However, additional details (e.g., gain, delay, filtering, etc.) defining the mapped relationships between the paired operator input device and machine subsystem are also specified to configure the operation of the controller48when processing input from the operator input device to render control signals to the affected machine subsystem.

Thereafter, during step520, a force feedback characteristic is designated for controlling a force feedback device for the selected operator input device (e.g., force feedback device60bfor left-side joystick20b). The general feedback mode is generally specified automatically in accordance with a previously designated operator input device mode (e.g., PIPC, PIVC and VIVC). However, a particular customized feedback response can be designated including the magnitude of the force, the slope/shape of the parameter-force response curve, filtering, etc.

After a user confirms the relationship definition established by the steps500,510and520, control passes to step530wherein the controller48executes the designated/confirmed relationship.

The industrial applicability of the system described herein should be readily appreciated from the foregoing discussion. The present disclosure may be included as part of a work machine such as an off-road machine of which a wheel loader is a particular example.

The systems described above can be adapted to a large variety of machines and tasks. For example, other types of industrial machines, such as backhoe loaders, compactors, feller bunchers, forest machines, industrial loaders, skid steer loaders, wheel loaders and many other machines can benefit from the system described.