Method for determining angle of tool of machine
A technology of working equipment and angles, applied in devices using electric/magnetic methods, mechanically driven excavators/dredgers, instruments, etc., can solve problems such as inability to produce exact solutions, occupation of resources, and weakening of dynamic effects
Active Publication Date: 2021-03-26
LIEBHERR MINING EQUIP COLMAR
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Problems solved by technology
This enables dynamic influences due to the movement of work equipment or vehicles to be dampened
However, this implementation does not yield the exact solution needed in all cases
Also, all methods available on the market are designed in such a way that they require an initial calibration, which takes additional resources
[0006] In general, existing methods are aimed at attenuating the unwanted effects of centrifugal forces especially when the superstructure is rotating, in order to enhance the accuracy of the measurement principles used
Method used
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Embodiment Construction
[0036] figure 1 A schematic diagram of the invention is shown. A machine 1 can be seen, which only schematically shows a superstructure 4 and a working device 2 fastened thereto, for example an excavator boom.
[0037] An IMU 8 is fixedly installed on the boom 2 of the excavator, and the IMU 8 can sense angular velocities in three spatial directions. The three spatial directions are orthogonal to one another, one of the three spatial directions is parallel to the axis of rotation 5 of the swivel joint 6 by means of which the working device 2 is pivotably arranged on the superstructure 4 of the machine 1 . The swivel joint 6 can here correspond to a hinge joint. If superstructure 4 is now at speed around figure 1 The axis of rotation 7 shown rotates, which then leads to an angular velocity, the vector of which is oriented parallel to the axis of rotation 7 . The corresponding vector can of course also extend in the opposite direction to the arrow of the axis of rotation ...
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The present invention relates to a method for determining an angle of a tool of a machine, the machine having an undercarriage and a superstructure which can be rotated relative thereto, the tool being fastened to the superstructure via a revolute joint such that the axis of rotation of the revolute joint is orthogonal to the axis of rotation of the rotatable superstructure, the tool being provided with an IMU, i.e. an inertial measurement unit, which is designed to sense an angular velocity in three dimensions (x, y, z) which are preferably perpendicular to one another, and a first of the three dimensions (y), the angular velocity (I) of which can be sensed by the IMU, being parallel to the axis of rotation of the revolute joint. The method is characterized in that an angular velocity (II) occurring during rotation of the superstructure is sensed by the IMU, and an angle of the tool relative to the axis of rotation of the superstructure is determined on the basis of the sensed superstructure angular velocity (II).
Description
technical field [0001] The invention relates to a method for determining the angle of a working device of a machine and to a corresponding machine. It is advantageous for work machines, in particular excavators, that they can precisely determine the angle of the work device, for example the angle of an excavator arm element. Various ways of determining such angles are known in the art, but none of them are stable, cheap, accurate and easy to integrate. In this case, it is desirable that the work equipment can also be easily retrofitted when carrying out the angle determination. Background technique [0002] Angle calculations with the aid of an inertial unit (IMU, English: Inertial Measurement Unit Inertial Measurement Unit) cannot satisfy all of the above conditions, since their accuracy decreases at high speeds. In addition, it has a special effect on working machines, especially excavators, so that it cannot be used simply like an inertial navigation system, for example...
Claims
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IPC IPC(8): E02F3/30E02F3/43G01C21/16E02F3/32E02F3/345E02F9/26G01B1/00
CPCE02F9/264E02F3/32E02F3/308E02F3/435G01B21/22G01P3/44
Inventor A·杰吉
Owner LIEBHERR MINING EQUIP COLMAR