US 2026/0062884 A1 · METHOD FOR INTERFACING MACHINE CONTROL SYSTEM WITH ATTACHMENT FOR AUTOMATION

Abstract

A system and method control the movements of a working tool attached to a work implement of a self-propelled work vehicle via a complex attachment, wherein the complex attachment provides at least one additional freedom of movement for the working tool. A machine control system within the work vehicle determines a trajectory for a point-of-interest for the working tool. The machine control system generates a set of first velocities to enable the machine control system to control the movements of components of the work implement and generates a set of second velocities for the movements of the working tool. The set of second velocities are sent to the complex attachment to cause the complex attachment to control the movements of the working tool with respect to the work implement. The at least one additional freedom of movement can include rotation and tilting of the working tool.

Claims13

Dependent claims

A computer-implemented method of controlling movement of a point-of-interest of a working tool mounted to a complex attachment, the complex attachment mounted to the work implement of a work vehicle, the work implement comprising components movable with respect to the work vehicle and with respect to each other, the complex attachment operable to move the point-of-interest of the working tool with respect to the work implement, the method comprising:

defining a desired trajectory for the point-of-interest of the working tool;
determining desired first velocities for the movements of the components of the work implement and determining desired second velocities for the movements of the point-of-interest of the working tool with respect to the work implement;
applying the desired first velocities to a control system that controls actuators of the work implement;
and
sending velocities responsive to the desired second velocities to the complex attachment, the complex attachment applying the velocities responsive to the desired second velocities to control the movement of the point-of-interest of the working tool with respect to the work implement.

2 more elements

A self-propelled work vehicle comprising:

a main frame moveable with respect to terrain;
a work implement having a first end moveably coupled to the main frame and having a second end moveable with respect to the main frame, the second end including a first working tool mounting system;
a complex attachment comprising:
a first portion coupled to the first working tool mounting system of the work implement;
a second portion including a working tool mounting system of the complex attachment;
a working tool mounted to the working tool mounting system of the complex attachment;
at least one actuator configured to selectively tilt the second portion and the working tool mounting system of the complex attachment with respect to the first portion of the complex attachment and to selectively rotate the working tool with respect to the second portion of the complex attachment;
and
a complex attachment control system configured to receive tilt and rotate commands and to control the at least one actuator to selectively tilt the second portion with respect to the first portion and to selectively rotate the working tool in response to the tilt and rotate commands;
and
a work vehicle control system configured to monitor and control a position of the first working tool mounting system at the second end of the work implement, to generate the tilt and rotate commands, and to send the tilt and rotate commands to the complex attachment.

8 more elements

Dependencies are inferred from the claim text.

Method for interfacing machine control system with attachment for automation

Life of this patent

Method for interfacing machine control system with attachment for automation

Life of this patent

Abstract

Claims13