Complex Attachment Interface for Multi-Axis Tool Trajectory Control
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Solution Overview
Problem
Existing control systems for self-propelled work vehicles struggle to effectively manage the additional degrees of freedom provided by complex attachments, such as tilt/swivel assemblies, without requiring modifications to the vehicle's control system.
Innovation Solution
A system and method that integrates a complex attachment with minimal additional features to the work vehicle and its control system, enabling control of the additional movements through a machine control system that determines desired velocities and sends commands to the complex attachment to manage the working tool's trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complex attachments with additional degrees of freedom are added to work vehicles, then the versatility and functionality of the work vehicle is improved, but the control system complexity increases
Solution Approach 1:
The control system is segmented into two independent parts: the existing work vehicle control system that manages the base vehicle operations, and a separate attachment control system that manages the complex attachment with additional degrees of freedom. This segmentation allows the attachment to be controlled independently without modifying the original control system architecture.
Solution Approach 2:
A communication interface acts as an intermediary between the work vehicle control system and the attachment control system. This interface enables data exchange and coordination between the two systems, allowing the attachment to receive commands and provide feedback without requiring integration into the vehicle's core control system.
2Adaptability or versatility
If complex attachments are integrated into existing work vehicles, then the adaptability is improved, but the ease of manufacture deteriorates
Solution Approach 1:
The attachment control system is designed with universal interfaces and communication protocols that can be applied to different work vehicle platforms. This universal design allows the same attachment to be manufactured and installed on various vehicle types without requiring custom integration work for each platform.
Solution Approach 2:
The system allows for dynamic configuration where the attachment can be added or removed without permanent modifications to the vehicle. The control system dynamically adapts to the presence or absence of the attachment, enabling flexible manufacturing and deployment strategies.
3Measurement precision
If additional control functions are added to manage complex attachment movements, then the measurement precision and control accuracy are improved, but the device complexity increases
Solution Approach 1:
The attachment control system incorporates feedback mechanisms that receive data from sensors on the attachment and the work vehicle. This feedback is processed to determine the actual position and orientation of the attachment, and control commands are adjusted to achieve the desired trajectory with high precision.
Solution Approach 2:
The system replaces complex mechanical control linkages with electronic control and software-based trajectory calculation. The control accuracy is achieved through computational algorithms that calculate the required actuator movements based on the desired end-effector trajectory, rather than through mechanical gear trains or linkages.
Data Source
AI summary
A system and method control the movements of a working tool attached to a work implement of a self-propelled work vehicle via a complex attachment, wherein the complex attachment provides at least one additional freedom of movement for the working tool. A machine control system within the work vehicle determines a trajectory for a point-of-interest for the working tool. The machine control system generates a set of first velocities to enable the machine control system to control the movements of components of the work implement and generates a set of second velocities for the movements of the working tool. The set of second velocities are sent to the complex attachment to cause the complex attachment to control the movements of the working tool with respect to the work implement. The at least one additional freedom of movement can include rotation and tilting of the working tool.