Complex Attachment Control for Multi-Axis Work Vehicle Tools
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Solution Overview
Problem
Existing control systems for self-propelled work vehicles struggle to 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 control system, allowing the machine control system to determine trajectories and generate velocities for the working tool, while the complex attachment controls its movements based on these velocities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a complex attachment with additional degrees of freedom (tilt/swivel assembly) is added to the work implement, then the operational capabilities and versatility of the vehicle are enhanced, but the control system complexity increases and requires modifications to manage the additional movements
Solution Approach 1:
The control system is segmented into two independent parts: the existing vehicle control system that manages the work implement movements, and a new complex attachment control system that manages the tilt and swivel movements. This segmentation allows the additional degree of freedom to be controlled without modifying the original control system architecture.
Solution Approach 2:
The machine control system is designed to generate velocities for both the work implement and the complex attachment using the same trajectory determination algorithms. This multi-functional approach allows the control system to handle both conventional and complex attachment movements through a unified control framework.
2Ease of manufacture
If the complex attachment is integrated with minimal additional features to the control system, then the ease of manufacture and installation is improved, but the ability to precisely control the additional degrees of freedom may be compromised
Solution Approach 1:
The complex attachment control system incorporates feedback from sensors that monitor the tilt and swivel movements. This feedback is used to adjust the velocities commanded to the attachment, ensuring precise control of the working tool's position and orientation while maintaining a relatively simple integrated control architecture.
Solution Approach 2:
An intermediary control layer is introduced between the vehicle control system and the complex attachment actuators. This intermediary layer receives velocity commands from the vehicle control system and translates them into appropriate actuator commands, maintaining precision while simplifying the overall integration.
3Stability of the object's composition
If the machine control system determines trajectories and generates velocities for both the work implement and complex attachment, then the coordination and synchronization of movements is improved, but the computational requirements and processing time increase
Solution Approach 1:
The trajectory determination algorithms are designed to calculate the required velocities for both the work implement and complex attachment in advance, based on the desired working tool position. This preliminary calculation approach allows for coordinated movement without real-time computational delays during actual operation.
Solution Approach 2:
The control system dynamically adjusts the velocity distribution between the work implement and complex attachment based on their respective positions and the desired trajectory. This dynamic allocation optimizes computational efficiency by focusing processing resources on the most critical movements at each moment.
Data Source
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AI summary
A self-propelled work vehicle (120) is disclosed. The self-propelled vehicle comprising: a main frame (130) moveable with respect to terrain; a work implement (140), comprising a first and a second component (142, 144), and having a first end moveably coupled to the main frame (130) and having a second end moveable with respect to the main frame (130), the second end including a first working tool mounting system (154); a complex attachment (350) comprising: a first portion (360) coupled to the first working tool mounting system (154) of the work implement (140); a second portion (362) including a working tool mounting system (380) of the complex attachment (350); a working tool (352) mounted to the working tool mounting system (380) of the complex attachment (350); at least one actuator (370) configured to selectively tilt the second portion (362) and the working tool mounting system (380) of the complex attachment (350) with respect to the first portion (360) of the complex attachment (350) and to selectively rotate the working tool (352) with respect to the second portion of the complex attachment (350); and a complex attachment control system (400) configured to receive tilt and rotate commands and to control the at least one actuator (370) to selectively tilt the second portion (362) with respect to the first portion (360) and to selectively rotate the working tool (352) in response to the tilt and rotate commands; and a work vehicle control system (210) configured to monitor and control a position of the first working tool mounting system (154) at the second end of the work implement (140), to generate the tilt and rotate commands, and to send the tilt and rotate commands to the complex attachment (350).