Control excavation accessories along a path or track

Abstract

An industrial machine comprising a component configured to control one or more actuators of the component configured to generate a first signal corresponding to a first desired movement of the component and a second signal corresponding to the component An input device for a second signal of desired motion, and a controller. The controller is configured to: receive a first signal; determine a first target vector; determine a first set of control signals relating to a first desired motion; provide the first set of control signals to one or more an actuator. The controller is further configured to receive a second signal; determine a second target vector; determine a second set of control signals based on the first target vector and the second target vector, the second set of control signals relating to a second desired motion; and providing said second set of control signals to said one or more actuators.

Description

technical field [0001] The present invention relates to controlling digging accessories along a path or track. Background technique [0002] Industrial machines, such as electric excavator shovels, are controlled by an operator who issues motion-referenced commands to the "joints" of the industrial machine. Lift actuators, digging actuators, and swing actuators can be considered as the main moving "joints" of industrial machinery. In order for a component of an industrial machine (eg, an end effector of an industrial machine or an excavation accessory, such as including a bucket, bucket edge, etc.) to follow a specific path or track, an operator must apply specific and precise commands to these joints. Performing some maneuvers accurately and precisely, such as maintaining a level line, can be very difficult for the operator. For example, the more precise control is required of an industrial machine's digging attachment, the more difficult it is for an operator to provide ...

AI Technical Summary

Problems solved by technology

This approach cannot be used in industrial machinery where motor capabilities do not have the same type of elevated and scaled control (e.g. motor size compared to machine size)

Therefore, the type of control scheme used in the manufacture of robots does not translate to and cannot be applied to industrial machinery (e.g. excavation shovels, cable shovels, etc.)

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