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.

1 . 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 . The method of  claim 1 , further comprising:
 receiving measured second velocities from the complex attachment; and   generating adjusted second velocities in response to differences between the measured second velocities and the desired second velocities and providing the adjusted second velocities as the velocities responsive to the desired second velocities.   
     
     
         3 . The method of  claim 2 , wherein the adjusted second velocities are the same as the desired second velocities when the measured second velocities are the same as the desired second velocities. 
     
     
         4 . The method of  claim 1 , further comprising:
 coupling a source of hydraulic flow to the complex attachment;   receiving hydraulic flow requests from the complex attachment; and   adjusting hydraulic flow to the complex attachment in response to the hydraulic flow requests.   
     
     
         5 . The method of  claim 1 , wherein the work implement comprises:
 a first component having a first end coupled to the main frame at a first linkage joint;   a second component having a first end coupled to a second end of the first component at a second linkage joint; and   a third linkage joint located at a second end of the second component.   
     
     
         6 . The method of  claim 5 , wherein the first component is a boom, the second component is an arm, and the third linkage joint is configured to enable attachment of the complex attachment. 
     
     
         7 . The method of  claim 1 , wherein the desired first velocities and the velocities responsive to the desired second velocities are synchronized before sending the desired first velocities to the control system and before sending the velocities responsive to the desired second velocities to the complex attachment. 
     
     
         8 . The method of  claim 1 , wherein the desired first and second velocities are determined by applying inverse kinematics to the desired trajectory. 
     
     
         9 . 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. 
 
     
     
         10 . The self-propelled work vehicle of  claim 9 , wherein the work vehicle control system comprises:
 a trajectory determination subsystem to determine a desired trajectory of a point-of-interest of the working tool;   a velocity determination subsystem responsive to the desired trajectory to determine desired first velocities and desired second velocities to achieve the desired trajectory, the desired first velocities for components of the work implement and for the first working tool mounting system, the desired second velocities for the complex attachment, wherein the tilt and rotate commands sent to the complex attachment are responsive to the desired second velocities; and   a hydraulic control subsystem that receives the desired first velocities and that controls movements of the components and the first working tool mounting system of the work implement.   
     
     
         11 . The self-propelled work vehicle of  claim 10 , further comprising a synchronization subsystem to synchronize the desired first velocities and velocities responsive to the desired second velocities to generate synchronized first velocities and synchronized second velocities, the complex attachment receiving the synchronized second velocities and tilting and rotating the working tool in response to the synchronized second velocities. 
     
     
         12 . The self-propelled work vehicle of  claim 11 , wherein the work vehicle control system includes a feedback control subsystem configured to receive feedback from the complex attachment system representing measured second velocities and to generate the velocities responsive to the desired second velocities responsive to differences between the measured second velocities and the desired second velocities. 
     
     
         13 . The self-propelled work vehicle of  claim 10 , wherein the velocity determination subsystem generates the desired first velocities and the desired second velocities using inverse kinematics.