Tilt Rotator Control Using a Virtual Rotation Axis
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Solution Overview
Problem
Existing systems for controlling work machines with tilt rotators lack effective automation for precise operation, making it difficult for operators to manage attachments supported by tilt rotators.
Innovation Solution
A system and method that utilizes sensors to measure the posture of an attachment relative to a vehicle body, calculates a virtual rotation axis, and generates control signals to align the attachment's axial direction with a design surface, assisted by a processor to automate the operation of the tilt rotator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a tilt rotator is attached to the work machine to enable rotation around three mutually orthogonal axes, then the attachment can be oriented in any direction (high degree of freedom), but it becomes difficult for the operator to operate the tilt rotator
Solution Approach 1:
The system uses sensors to detect the attachment's posture and automatically calculates the required rotation, enabling the tilt rotator to self-adjust without operator intervention. The processor autonomously determines the virtual rotation axis and generates control signals, making the system self-servicing rather than manually controlled
Solution Approach 2:
The patent replaces manual mechanical operation with an automated control system comprising sensors, a processor, and control signals. The system substitutes the operator's mechanical control with an electronic control system that automatically orients the attachment based on sensor data and calculated virtual rotation axes
2Manufacturing precision
If automation is introduced to control the tilt rotator, then operational precision is improved, but the system complexity increases
Solution Approach 1:
The patent introduces a virtual rotation axis as an intermediary concept that simplifies the control problem. Instead of directly controlling three-axis rotation, the system calculates a virtual rotation axis based on the attachment's current posture and rotates around this single axis, making the control system more manageable while achieving precise alignment
Solution Approach 2:
The control system is segmented into distinct functional modules: sensor acquisition, posture calculation, virtual rotation axis determination, and control signal generation. This modular segmentation allows each component to handle a specific task, reducing overall system complexity while maintaining high precision
Data Source
AI summary
A measurement value acquisition unit acquires measurement values from a plurality of sensors. A posture calculation unit calculates a posture of an attachment with respect to a vehicle body based on the measurement values. An intervention control unit determines a virtual rotation axis based on the calculated posture of the attachment. An operation signal acquisition unit acquires an operation signal for operating the support portion from an operation device. An intervention control unit generates a control signal for the tilt rotator to rotate the attachment around the virtual rotation axis so that an axial direction of the virtual rotation axis in a global coordinate system is held and a design surface and teeth of the attachment are approximately parallel to each other, based on the calculated posture of the attachment and an operation amount indicated by the operation signal for operating the support portion. An output unit outputs the generated control signal.