Forest Machine Boom Tip Control on Uneven Terrain
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Solution Overview
Problem
Controlling the boom of a forest work machine is challenging when the machine is in motion, especially in uneven terrain, leading to increased risk of damage from the boom hitting the ground or the object due to unintentional vertical movement of the tool relative to the ground.
Innovation Solution
A method and control system that utilize coordinate systems to determine the attitude and movement of boom parts, converting control commands into actuator measures to maintain the boom tip's desired position and direction, even when the machine is moving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the forest work machine moves faster to increase productivity, then the work intensity is improved, but the risk of the boom hitting the ground or the object increases due to unintentional vertical movement of the tool
Solution Approach 1:
The control system continuously monitors the actual position of the boom tip and compares it with the desired target position. Based on this feedback, the system automatically adjusts the actuator commands to compensate for unintentional vertical movements caused by machine motion, thereby maintaining reliable boom control while allowing high-speed operation
Solution Approach 2:
The patent replaces traditional mechanical boom control with an electronic control system that uses coordinate transformations and digital signal processing. The control unit calculates the required actuator commands based on the relationship between machine coordinate system and work environment coordinate system, substituting mechanical feedback mechanisms with electronic computation and control
2Adaptability or versatility
If the forest work machine operates in uneven terrain to access harder-to-reach work areas, then the versatility is improved, but the boom experiences unintentional tilting and swinging that increases the difficulty of grabbing objects
Solution Approach 1:
The control system dynamically adjusts the boom control commands in real-time based on the machine's current position, orientation, and motion state. The coordinate transformation matrix is continuously updated to reflect the changing relationship between the machine coordinate system and the work environment, allowing the boom to maintain stable control despite dynamic terrain conditions
Solution Approach 2:
The patent introduces an intermediary coordinate transformation system that mediates between the machine's actual motion and the desired boom tip position. This intermediary layer of calculation and transformation allows the control system to compensate for terrain-induced movements and maintain accurate boom positioning without requiring mechanical modifications to the boom structure
Data Source
AI summary
A method and a control system for controlling a boom of a forest work machine by tip control. In the method and the control system, a coordinate system of the forest work machine, a coordinate system of a work environment of the forest work machine and dependence between said coordinate systems are determined. As a response to a control command for controlling a tip of the boom of the forest work machine in motion to a target position or for keeping it in the target position in the coordinate system of the work environment, the attitude and/or state of motion of boom parts of the boom in the coordinate system of the forest work machine is determined and said control command of the tip of the boom of the forest work machine in motion is converted at least into at least one control measure of at least one actuator of the boom based on the determined attitude and/or the state of motion of the boom parts of the boom and on the dependence between the coordinate systems.