System and method for controlling industrial machinery

Abstract

It assists in the operation of work machines equipped with a tilt rotator. [Solution] The measurement value acquisition unit acquires measurement values ​​from multiple sensors. The attitude calculation unit calculates the attitude of the attachment relative to the vehicle body based on the measurement values. The intervention control unit determines a virtual rotation axis based on the calculated attitude of the attachment. The operation signal acquisition unit acquires an operation signal from the operation device to operate the support unit. Based on the calculated attitude of the attachment and the operation amount indicated by the operation signal to operate the support unit, the intervention control unit generates a control signal for a tilt rotator to rotate the attachment around the virtual axis rotation so that the axial direction of the virtual rotation axis in the global coordinate system is maintained and the cutting edge of the attachment approaches parallel to the design plane. The output unit outputs the generated control signal.

Claims

1. A system for controlling a work machine comprising a support portion movably supported on the vehicle body, a tilt rotator attached to the tip of the support portion, and an attachment having a cutting edge and rotatably supported around three axes that intersect each other in different planes with respect to the support portion via the tilt rotator, Equipped with a processor, The aforementioned processor, By acquiring measured values ​​from multiple sensors, Based on the measured values, the orientation of the attachment relative to the vehicle body is calculated. Based on the calculated orientation of the attachment, the virtual axis of rotation is determined. An operating signal for operating the support part is obtained from the operating device. Based on the calculated orientation of the attachment and the amount of operation indicated by the operation signal for operating the support, a control signal for the tilt rotator is generated to rotate the attachment around the virtual rotation axis so as to maintain the axial direction of the virtual rotation axis in the global coordinate system and so as to bring the design plane and the cutting edge of the attachment closer to parallel. Output the generated control signal. system.

2. The aforementioned work machine includes a base that supports the vehicle body so that it can rotate, The aforementioned processor, An operating signal for rotating the vehicle body relative to the base is obtained from the aforementioned operating device, Based on the calculated orientation of the attachment and the amount of operation indicated by the operation signal for turning the vehicle body, a control signal for the tilt rotator is generated to rotate the attachment around the virtual rotation axis, such that the axial direction of the virtual rotation axis in the global coordinate system is maintained and the cutting edge of the attachment approaches parallel to the design plane. The system according to claim 1.

3. The virtual axis of rotation is an axis that extends in the direction in which the cutting edge of the attachment faces. The system according to claim 1 or claim 2.

4. The processor outputs a control signal for the tilt rotator when the distance between the design surface and the cutting edge of the attachment is less than or equal to an intervention threshold. The system according to any one of claims 1 to 3.

5. When the processor receives an operation signal from the operating device to operate the tilt rotator, it does not output a control signal for the tilt rotator that it has generated, but instead outputs a control signal based on the input operation signal. The system according to any one of claims 1 to 4.

6. The aforementioned virtual rotation axis is different from the joint axis of the tilt rotator. The system according to any one of claims 1 to 5.

7. A method for controlling a work machine comprising a support portion movably supported on a vehicle body, a tilt rotator supported at the tip of the support portion, and an attachment having a cutting edge and rotatably supported around three axes that intersect each other in different planes with respect to the support portion via the tilt rotator, Steps include acquiring measured values ​​from multiple sensors, A step of calculating the attitude of the attachment relative to the vehicle body based on the measured values, The steps include determining a virtual axis of rotation based on the calculated orientation of the attachment, The steps include obtaining an operation signal from the operating device to operate the work machine, The steps include generating a control signal for the tilt rotator to rotate the attachment around the virtual rotation axis, based on the calculated orientation of the attachment and the amount of operation indicated by the operation signal for operating the support, such that the axial direction of the virtual rotation axis in the global coordinate system is maintained and the cutting edge of the attachment approaches parallel to the design plane; The steps include controlling the tilt rotator according to the generated control signal and A method for providing this.

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