Work Machine Control Using Vehicle Body Coordinate Design Plane
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Solution Overview
Problem
Existing control systems for work equipment rely on global coordinate systems, which are not always accessible, especially in environments with poor satellite visibility, such as indoors, limiting their ability to control work machines effectively.
Innovation Solution
A control system that generates a design plane within a vehicle body coordinate system, allowing the control of work equipment without referencing a global coordinate system, by using a processor to specify the position of work equipment and rotate the design plane in association with the swing of the swing body, enabling control even in environments where GNSS is unavailable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS is used to control work equipment, then positioning accuracy is improved, but adaptability to different environments deteriorates
Solution Approach 1:
The patent introduces a vehicle body coordinate system as an intermediary between the work equipment and the global coordinate system. This local coordinate system is established at the swing body and rotates with it, serving as a mediator that enables positioning and control without requiring direct access to GNSS signals. The design plane is defined in this intermediary coordinate system, allowing the work equipment to be controlled relative to the swing body's current position and orientation.
Solution Approach 2:
The patent makes the coordinate system dynamic by tying it to the swing body's movement. The vehicle body coordinate system rotates around the vertical axis in accordance with the swing body's rotation, and the design plane rotates around the origin of this coordinate system in association with the swing body's swing. This dynamic adaptation allows the control system to maintain accuracy regardless of the swing body's position or orientation, enabling operation in environments where GNSS is unavailable.
2Manufacturing precision
If global coordinate system is used for control, then work equipment control accuracy is improved, but system complexity increases
Solution Approach 1:
The patent extracts the essential control function from the complex global coordinate system dependency. By defining the design plane and control references within the local vehicle body coordinate system, the system separates the control accuracy requirement from the global positioning requirement. This extraction allows the system to achieve control accuracy relative to the swing body without needing to maintain complex transformations to global coordinates, simplifying the overall system architecture.
Data Source
AI summary
A work machine includes an undercarriage, a swing body swingably supported by the undercarriage, and work equipment operably supported by the swing body. A control system controls the work machine. The control system includes a processor. The processor generates a design plane that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of a swing body. The processor rotationally converts the design plane around the origin of the vehicle body coordinate system in association with a swing of the swing body. The processor specifies a position of the work equipment in the vehicle body coordinate system. The processor controls the work equipment based on the specified position of the work equipment and the design plane.