Excavator Tilt-Rotator Control Remapping for Tool Orientation
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Solution Overview
Problem
Operating an excavator with a tilt-rotator arrangement requires skilled coordination of multiple joint movements to precisely position and orient the tool, making it difficult for operators to seamlessly transition between manual and automated control, especially for complex and repetitive tasks.
Innovation Solution
A system that includes an input interface for user commands, a sensor data interface for real-time orientation determination, a surface setting unit for defining reference surfaces, and a remapping unit that coordinates joint movements using inverse kinematics to allow direct adjustment of the tool's position and orientation relative to a reference surface, enabling intuitive interplay between manual and automatic control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If standard joystick mapping is used to control each joint movement individually, then the excavator can be operated with conventional controls, but the operator must coordinate multiple joint movements to achieve precise tool positioning and orientation
Solution Approach 1:
The patent introduces a remapping unit as an intermediary between the joystick input and the joint control system. This remapping unit translates joystick movements into coordinated joint movements that automatically achieve the desired tool position and orientation, eliminating the need for the operator to manually coordinate multiple joints while maintaining precise control
Solution Approach 2:
The patent replaces the mechanical coordination requirement with an electronic/software-based solution. The remapping unit uses computational algorithms to calculate the necessary joint movements based on joystick input and current excavator configuration, substituting the need for operator skill-based mechanical coordination with automated electronic control
2Adaptability or versatility
If tilt-rotator arrangement is added to increase flexibility and precision, then the tool can be oriented more precisely, but the complexity of coordinating joint movements increases significantly
Solution Approach 1:
The remapping unit serves as an intermediary that handles the complexity of the tilt-rotator arrangement automatically. It receives simple joystick inputs and computes the coordinated movements of all joints including the tilt-rotator components, allowing the operator to benefit from the enhanced flexibility without dealing with the increased coordination complexity
Solution Approach 2:
The patent segments the control function into two parts: the operator controls the primary positioning through joystick input, while the remapping unit independently handles the complex coordination of multiple joints including the tilt-rotator. This segmentation allows the tilt-rotator arrangement to be integrated without proportionally increasing the operator's coordination burden
3Productivity
If automated control functionalities are implemented to reduce coordination effort, then repetitive complex movements can be automated, but the ability to seamlessly transition between manual and automated control is limited
Solution Approach 1:
The patent implements a dynamic control system where the remapping unit can be activated or deactivated based on operator needs. The system dynamically adjusts between providing full automated coordination assistance and direct joint control, allowing seamless transitions between manual and automated modes depending on the task requirements and operator skill level
4Ease of operation
If remapping of controls is implemented to map joystick movement to linear degree of freedom, then basic remapping functionality is achieved, but support for rotatory tool degrees of freedom is insufficient
Solution Approach 1:
The remapping unit is designed with multi-functionality to handle both linear and rotatory degrees of freedom of the tool. It can accommodate different tool types and configurations, providing universal support for various movement patterns including linear positioning, rotatory orientation, and combinations thereof, all through the same joystick interface
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
The invention relates to a system for controlling movement of multiple links (1, 2, 3, 10) of an excavator in order to move a tool (4) arranged at the end of an excavator arm, wherein the system comprises a sensor data interface configured to receive sensor data (43) for determining relative orientations of the multiple links (1, 2, 3, 10) with respect to each other, and a surface setting unit configured to have access to design data (42) defining a reference surface (13). The system further has a remapping unit configured to remap (27A - 29B) a user command (21A - 26B) for moving two of the multiple links (1, 2, 3, 10) with respect to each other about a corresponding joint to an associated rotatory tool degree of freedom (15, 16, 18) out of three independent rotatory degrees of freedom (15, 16, 18) of a movement of the tool (4) with respect to the reference surface (13). The system then coordinates output signals (46), such that as a function of the remapped user command (21A - 26B) the tool (4) is rotated within the associated rotatory tool degree of freedom (15, 16, 18), without the need that an operator coordinates underlying joint movements.