Intelligent Boom Control via Virtual Joystick
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Solution Overview
Problem
The complexity of boom movement in forestry machinery, such as feller bunchers, makes precise control of end effectors difficult due to varying boom geometry and speed, requiring significant operator skill and practice.
Innovation Solution
A control system with a user interface, controller, and sensors that allow for intuitive velocity input commands to manage the movement of end effectors, converting these inputs into actuator commands to achieve desired movements of the end effector, including a first and second kinematic mode for different operational scenarios.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional control systems with multiple pivoting booms and actuators are used, then the end effector can be moved to various positions, but the control complexity increases significantly requiring operator skill and practice
Solution Approach 1:
A virtual joystick is introduced as an intermediary control interface between the operator and the complex boom-actuator system. The virtual joystick translates simple directional inputs into coordinated actuator commands through software algorithms, eliminating the need for operators to understand the complex relationships between multiple boom pivots and actuators while maintaining full positioning capability
Solution Approach 2:
The patent replaces the direct mechanical control linkage with a software-based virtual joystick system. Instead of requiring physical coordination of multiple control levers for each actuator, the virtual joystick uses computational algorithms to automatically calculate and execute the coordinated movement of all actuators based on simple directional input from the operator
2Adaptability or versatility
If multiple actuators control multiple booms to move the end effector, then positioning flexibility is achieved, but the relationship between actuator movement and end effector movement becomes complex due to changing geometry
Solution Approach 1:
The system continuously monitors the actual positions of all booms and actuators through sensors and feeds this information back to the control algorithm. The virtual joystick uses this real-time feedback to dynamically adjust actuator commands and compensate for changing geometric relationships, ensuring accurate end effector positioning regardless of boom configuration
Solution Approach 2:
The control system is designed to be fully dynamic, continuously recalculating the relationships between virtual joystick input and actuator commands based on current boom positions. As the booms move and geometry changes, the software automatically adapts the control transformations to maintain accurate and intuitive operator control throughout the entire range of motion
3Adaptability or versatility
If boom speed varies dramatically based on location with respect to the vehicle, then the boom can reach different positions, but accurate control becomes difficult due to unexpected acceleration or deceleration
Solution Approach 1:
The virtual joystick system incorporates real-time feedback from position sensors on all booms to monitor actual movement and speed. When the system detects that natural boom geometry is causing unexpected acceleration or deceleration, the feedback loop allows the software to compensate by adjusting actuator commands to maintain smooth, predictable, and accurate control response throughout the entire range of motion
Data Source
AI summary
A work vehicle includes a pin connected to a stick boom at a location remote from a hoist boom. The pin has an envelope throughout which the pin is moveable by the hoist boom and the stick boom. A controller can receive a first signal from a hoist boom sensor, receive a second signal from a stick boom sensor, and receive input from a user interface. The controller can inhibit movement of the pin to at least one portion of the envelope, thereby permitting movement throughout a movement envelope, the movement envelope being smaller than the envelope. The controller can operate in a first operation mode when the pin is spaced from a perimeter of the movement envelope and can operate in a second operation mode when the pin is proximate the perimeter of the movement envelope.