Misalignment of sensors on the calibrating machine's implements using rotary motion.

Abstract

This invention relates to the misalignment of sensors on implements used for calibrating working machines using rotary motion. Specifically, the computer-implemented method for operating implements of working machines disclosed herein includes a calibration mode and an operating mode. In calibration mode: the at least one component of one or more components can be rotated into one or more postures about at least one linkage corresponding to at least one component of one or more components of the implement; for the one or more postures, the implement can be rotated about the frame of the working machine; output signals can be received from at least one sensor associated with the at least one component of one or more components; and at least one characteristic of the at least one component of one or more components can be tracked. In operating mode, the movement of the at least one component of one or more components can be based at least in part on the tracked at least one characteristic.

Description

[0001] Cross-reference of related applications

[0002] This patent document contains copyrighted material. The copyright holder does not object to the reproduction of the patent document or patent disclosure appearing in the U.S. Patent and Trademark Office's patent files or records, but otherwise retains all copyrights. Technical Field

[0003] This disclosure generally relates to work machines such as construction machinery and forestry machinery, and more particularly to systems and methods for using swing motion to calibrate the misalignment of sensors on at least one implement of a work machine. Background Technology

[0004] The operating machines disclosed herein may include, for example, excavators, loaders, tracked traction devices, motorized graders, backhoes, forestry machinery, front shovels, etc. These operating machines typically have a ground engagement unit (e.g., typically tracks or wheels) that supports a chassis from the ground surface. These operating machines may also include operating implements, which may comprise a single component movable relative to the main frame of the operating machine, or may comprise multiple components movable relative to the main frame and also relative to each other, the operating implements being used to selectively modify the terrain in coordination with the movement of the operating machine.

[0005] In the field of such working machines, there is a persistent need for solutions that provide accurate orientation of one or more components of the working machine. Conventional algorithms designed to use sensor systems (such as inertial measurement unit (IMU) systems) to determine the position or orientation of one or more components of the working machine relative to a linkage joint are poor solutions for working machines, especially when manufacturing variations in the construction of the one or more components may cause misalignment of the sensor system on the one or more components, or when the working machine is subjected to dynamic conditions. These algorithms incorporate sensor fusion and integration of readings or inputs from the sensor systems to estimate the angle of one or more components of the machine relative to the linkage joint in order to determine the position or orientation of one or more components of the working machine's tooling.

[0006] However, this algorithm has known drawbacks. For example, algorithms that incorporate readings or inputs from sensor systems for sensor fusion and integration to estimate the angles of one or more components of the implement relative to the linkage joints do not take into account the rotational motion of the working machine. Linkage motion is typically defined as the rotation of one or more components of the implement about an axis defined by the linkage joint. On the other hand, rotational motion is typically defined as the revolution of the implement about the main frame of the working machine. In conventional IMU-based sensor systems, the IMU may include a three-axis accelerometer and a three-axis gyroscope. Current sensor fusion algorithms integrate measurements from the gyroscope to predict changes in the orientation of one or more components of the implement, while simultaneously predicting the current orientation of those components based on measurements from the accelerometer. The gyroscope and accelerometer work together, with the gyroscope being most actively sensing during movement of one or more components of the implement, and the accelerometer being most actively sensing when those components are stationary.

[0007] Because of misalignment of the sensor system on one or more components of the implement, the rotary motion of the implement may be perceived (or sensed) by the sensor system as linkage motion of one or more components of the implement. This is particularly problematic for the gyroscope of the IMU, which most actively senses the output signal during the movement of one or more components of the implement. When the rotary motion of the implement is perceived (or sensed) by the sensor system as linkage motion of one or more components of the implement, the error associated with the sensor misalignment may produce an error that relates not only to errors with respect to roll angle and yaw angle, but also to errors with respect to pitch angle.

[0008] These potential errors are particularly problematic for working machines capable of high-speed slewing motion, such as excavators, which includes a rotational speed of approximately twelve (12) to fifteen (15) revolutions per minute (RPM) corresponding to ninety degrees per second. For example, if the IMU's gyroscope measures at least 1% of the rotational speed associated with slewing motion at an angle or orientation of approximately 0.6 degrees, then the integration and fusion of sensor system measurements could result in a drift of approximately 0.9 degrees per second. This can in turn introduce significant errors because sensor fusion and integration will not reject the error, thereby providing an incorrect orientation or position of one or more components of the implement, or sensor fusion and integration will identify the perceived slewing motion as linkage motion, resulting in additional errors in the integration and sensor fusion.

[0009] At least considering the aforementioned limitations in existing algorithms designed to use sensor systems to determine the position or orientation of one or more components of a working implement relative to a linkage joint, it is desirable to provide a system and method for calibrating a sensor system on one or more components of a working implement of a working machine, wherein the one or more components of the working implement undergo or take linkage motion and / or rotational motion. Summary of the Invention

[0010] This disclosure provides enhancements to conventional systems of working machines, at least in part, by incorporating novel systems and methods for calibrating sensor systems on one or more components of the implement, wherein the one or more components of the implement undergo rotation about at least one linkage associated with at least one of the components of the implement, and the implement undergoes rotation about an axis substantially orthogonal to the main frame of the working machine. This disclosure provides a calibration scheme that uses information received from the rotational motion of the implement to identify installation misalignments of the sensor system, which may be due to manufacturing variations in the construction of the one or more components or occur under dynamic conditions experienced by the working machine.

[0011] In the context of methods for operating implements of machinery, certain embodiments of a computer-implemented method are disclosed. The implement can be coupled to the frame of the machinery, and the implement may include one or more components. The computer-implemented method may include steps associated with a calibration mode and steps associated with an operation mode. In calibration mode, the position of at least one of the one or more components can be calibrated. A sensor system, which may include inertial measurement units (IMUs), can be mounted or fixed to at least one of the one or more components. Each IMU may include multiple sensors, including gyroscopes, accelerometers, or magnetometers. The at least one sensor of the sensor system can be associated with at least one of the one or more components of the implement, wherein the at least one of the one or more components of the implement may correspond to at least one linkage joint. In calibration mode, the at least one of the one or more components of the implement can be rotated into one or more attitudes about an axis defined by the corresponding at least one linkage joint. For each of the one or more postures, the implement can be rotated at least once about an axis substantially orthogonal to the frame of the working machine. Furthermore, in calibration mode, an output signal with a sense element can be received from at least one sensor of the sensor system, where the sense element may include multiple angular velocity measurements. Based on at least a portion of the sense element in the output signal received from the at least one sensor of the sensor system, at least one characteristic of the at least one or more components of the implement can be tracked. The at least one characteristic may be the orientation or configuration of the at least one component of the one or more components of the implement relative to a corresponding at least one linkage joint. In operating mode, the movement of the at least one component of the one or more components of the implement can be guided at least in part based on the tracked at least one characteristic of the at least one component of the one or more components of the implement. The calibration mode or the operating mode (or both) can be selected by a user-initiated choice.

[0012] In the context of a work machine, the work machine may include implements configured to work on terrain. The implements may be attached to the frame of the work machine, and the implements may have one or more components, wherein at least one of the one or more components of the implement corresponds to at least one linkage joint. A sensor system, which may include an IMU, may be mounted or fixed to at least one of the one or more components. The IMU may include various sensors, including gyroscopes, accelerometers, or magnetometers. At least one sensor of these sensor systems may be associated with at least one of the one or more components of the implement. A controller may be functionally linked to the at least one sensor of the sensor system, and further, the controller is operable between a calibration mode and a working mode. In calibration mode, the controller can be configured to: rotate at least one component of the implement into one or more postures about an axis defined by a corresponding at least one linkage joint; perform at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine for each of the one or more postures; receive an output signal having sensing elements from the at least one sensor, wherein the sensing elements may include multiple angular velocity measurements; and track at least one characteristic based on at least a portion of the sensing elements in the received output signal for at least one component of the implement, wherein the at least one characteristic may be the orientation of the at least one component of the implement relative to a corresponding at least one linkage joint. In operating mode, the controller can be configured to guide the movement of at least one component of the implement, at least in part, based on the tracked at least one characteristic for at least one component of the implement. Calibration mode or operating mode (or both) can be selected by a user-initiated choice.

[0013] In a particular and exemplary embodiment, a computer-implemented method for operating an implement for a working machine is provided, the implement being coupled to the frame of the working machine and having one or more components. The method may begin with a step of calibrating the position of at least one component of the one or more components of the implement. The step of calibrating the position of at least one component of the one or more components of the implement continues as follows: At least one sensor is associated with at least one component of the one or more components of the implement, wherein the at least one component of the one or more components of the implement corresponds to at least one linkage joint. The at least one component of the one or more components of the implement is rotated into one or more postures about an axis defined by the corresponding at least one linkage joint. For each of the one or more postures, at least one rotation of the implement is performed about an axis substantially orthogonal to the frame of the working machine. An output signal, including sensing elements, is received from the at least one sensor. At least one characteristic is tracked based on at least a portion of the sensing elements in the received output signal for at least one component of the one or more components of the implement. The method can continue the steps of guiding the movement of at least one of the one or more components of the implement. The movement of at least one of the one or more components of the implement is guided at least in part based on at least one tracked characteristic of at least one of the one or more components of the implement.

[0014] In one aspect of the embodiments referred to above, the method may further include the step of enabling user-initiated selection of a calibration mode corresponding to the step of calibrating the position of at least one of the at least one components of the apparatus.

[0015] In another aspect of the embodiments referred to above, the method may further include the step of enabling a user-initiated selection of a working mode that corresponds to the step of moving at least one of the at least one components of the guiding device.

[0016] In another aspect of the embodiments referred to above, the method may further include the steps of: enabling a user-initiated selection of a calibration mode corresponding to a step of calibrating the position of at least one of the at least one components of the apparatus; and enabling a user-initiated selection of an operating mode corresponding to a step of guiding the movement of at least one of the at least one components of the apparatus.

[0017] In another aspect of the embodiments referred to above, the at least one characteristic may include the orientation of at least one of the one or more components of the machine relative to a corresponding at least one linkage joint.

[0018] In another aspect of the embodiments referred to above, the step of guiding the movement of at least one of the one or more components of the implement may further include: guiding the movement of at least one of the one or more components of the implement based at least in part on the orientation of at least one of the one or more components of the implement relative to a corresponding at least one linkage joint.

[0019] In another aspect of the embodiment referred to above, the sensing element may include a plurality of angular velocity measurements. The step of calibrating the position of at least one of the one or more components may further include: tracking the at least one characteristic based on at least a portion of the plurality of angular velocity measurements.

[0020] In another aspect of the embodiment referred to above, the sensing element may include a plurality of angular velocity measurements. The step of calibrating the position of at least one of the one or more components may further include: tracking the at least one characteristic by identifying the maximum and minimum angular velocity measurements, at least in part, based on the plurality of angular velocity measurements.

[0021] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include: rotating at least one of the one or more components of the machine into at least two of the one or more postures about an axis defined by a corresponding at least one linkage joint.

[0022] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include, for each of the at least two of the one or more postures, performing at least two of the at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine.

[0023] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include: rotating at least one of the one or more components of the machine into at most two of the one or more postures about an axis defined by a corresponding at least one linkage joint.

[0024] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include, for each of the at most two of the one or more postures, performing at least two of the at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine.

[0025] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include, for each of the one or more postures, performing at least two of the at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine.

[0026] In another aspect of the embodiment referred to above, the step of calibrating the position of at least one of the one or more components may further include: performing the first of the at least one revolution of the implement at a rate of about one revolution per minute (RPM) or less, about an axis substantially orthogonal to the frame.

[0027] In another aspect of the embodiment referred to above, the step of calibrating the position of at least one of the one or more components may further include: performing a second or more rotations of the machine around an axis substantially orthogonal to the frame at a rate greater than about one revolution per minute.

[0028] In another aspect of the embodiments referred to above, the implement may include: a first component of the one or more components having a first end connected to a frame of the working machine at a first linkage joint in the at least one linkage joint; and a second component of the one or more components having a second end connected to a second linkage joint in the at least one linkage joint to a second end of the first component of the one or more components.

[0029] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include: rotating the first component of the one or more components into a first attitude of the one or more attitudes about an axis defined by a first linkage of the at least one linkage joint.

[0030] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include performing at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine, for the first posture of the one or more postures.

[0031] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include: rotating the first component of the one or more components into a first attitude of the one or more attitudes about an axis defined by a first link joint of the at least one link joint; and rotating the second component of the one or more components into a second attitude of the one or more attitudes about an axis defined by a second link joint of the at least one link joint.

[0032] In another aspect of the embodiments referred to above, the step of calibrating the position of at least one of the one or more components may further include performing at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine, for the first and second postures of the one or more postures.

[0033] In another embodiment disclosed herein, the working machine includes a implement configured to work on terrain. The implement is coupled to the frame of the working machine and has one or more components. At least one of the one or more components of the implement corresponds to at least one linkage joint. At least one sensor is associated with the at least one of the one or more components of the implement. A controller is functionally linked to the at least one sensor and is operable between a calibration mode and a working mode, during which steps according to the method embodiments and various optional aspects referred to above can be performed.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The invention may be embodied in other specific forms without departing from the spirit or essential attributes of the invention, and therefore, it is intended that this embodiment be considered illustrative rather than restrictive in all respects. Any headings used in the specification are merely for convenience and have no legal or restrictive effect. Many objects, features, and advantages of the embodiments set forth herein will readily become apparent to those skilled in the art upon reading the following disclosure in conjunction with the accompanying drawings. Attached Figure Description

[0035] Figure 1This is a side view of an excavator, which is an exemplary working machine according to an embodiment of this disclosure.

[0036] Figure 2 This is a block diagram illustrating an exemplary control system according to an embodiment of the present disclosure.

[0037] Figure 3 This is a side view showing the boom assembly of an excavator, which is an exemplary working implement of a working machine according to an embodiment of the present disclosure.

[0038] Figure 4A and Figure 4B It is a diagram showing the x-axis, y-axis, and z-axis coordinates of sensors mounted on one or more components of an implement that is part of the boom assembly of an excavator according to an embodiment of the present disclosure.

[0039] Figures 5A to 5C It is a graph showing the orientation of the boom, arm, and working frame of an excavator, which is an exemplary working machine according to an embodiment of the present disclosure.

[0040] Figure 6 This is a flowchart illustrating an exemplary implementation of the method according to the present disclosure.

[0041] Figures 7A to 7D This is a side view of an excavator as an exemplary working machine according to an embodiment of the present disclosure, wherein the boom assembly is rotated into one or more positions.

[0042] Figures 8A to 8F It is a graph expressing the orientation of the boom, which is an exemplary component of one or more components of a working machine according to an embodiment of the present disclosure. Detailed Implementation

[0043] Embodiments of this disclosure will now be described in detail, with one or more accompanying drawings illustrated herein. The drawings are provided for illustrative purposes and not for limitation. Indeed, those skilled in the art will understand that various modifications and changes can be made to the teachings of this disclosure without departing from its scope. For example, features illustrated or described as part of one embodiment may be used in conjunction with another embodiment to produce further embodiments.

[0044] Therefore, this disclosure is intended to cover these modifications and variations that fall within the scope of the appended claims and their equivalents. Other objects, features, and aspects of this disclosure are disclosed in or will become apparent from the following detailed description. It will be understood by those skilled in the art that this discussion is merely a description of exemplary embodiments and is not intended to limit the broader aspects of this disclosure.

[0045] The terms “connection,” “attachment,” “joining,” “installation,” “fixture,” etc., or any variations thereof, shall be interpreted as any manner of joining two objects, including but not limited to: using any fasteners, such as screws, nuts and bolts, bolts, pins and clevises, to allow a fixed, translational, or pivotal relationship; any kind of welding, such as conventional MIG welding, TIG welding, friction welding, brazing, soldering, ultrasonic welding, gas welding, induction welding, etc.; forming a single component; any mechanical fit, such as friction fit, interference fit, sliding fit, rotational fit, pivoting fit, etc.; any combination thereof; etc.

[0046] Now, referring to Figures 1 to 8F Various embodiments of a system and method for operating a work implement 42 for a work machine 20, the work implement 42 being coupled to the main frame 32 of the work machine 20 and having one or more components, are described herein. The method includes the steps of: calibrating the position of at least one of the one or more components of the work implement 42; and guiding the movement of at least one of the one or more components of the work implement 42. More specifically, refer to 1 to... Figure 8F Now, various embodiments of systems and methods for calibrating the installation misalignment of the sensor system 104 on the work implement 42 of the work machine 20 using rotary motion will be described.

[0047] Figure 1A representative work machine 20, such as a tracked excavator 20, is depicted. For reference, x-axis, y-axis, and z-axis coordinate systems are defined for the work machine 20 and its many features, including the main frame 32, underframe 22, and work implement 42. The work machine 20 includes an underframe 22 having a first ground engagement unit and a second ground engagement unit 24, the ground engagement unit including a first travel motor and a second travel motor (not shown) for driving the first ground engagement unit and the second ground engagement unit 24, respectively. The main frame 32 is supported from the underframe 22 by a slewing bearing 34, such that the main frame 32 can pivot relative to the underframe 22 about a pivot axis 36. With the main frame 32 pivotable relative to the underframe 22 about the pivot axis 36, the work implement 42 can also pivot about the pivot axis 36. The pivot axis 36 can be substantially orthogonal to the main frame 23 of the work machine 20. In other words, the pivot axis 36 is substantially vertical when the ground surface 38 engaged by the ground engagement unit 24 is substantially horizontal. The rotary motor (not shown) is configured to cause the main frame 32 to pivot or rotate relative to the base frame 22 about the pivot axis 36 on the rotary bearing 34.

[0048] In the context of the referenced working machine 20, the working implement 42 is a boom assembly 42 having one or more components. The pivoting or slewing of the working implement 42 about a pivot axis 36 relative to the base frame 22 can be referred to as the “rotational motion” of the working implement 42. This “rotational motion” can constitute a rotation about the pivot axis 36, which is typically aligned along the z-axis of a defined coordinate system; this rotational motion is also referred to as a yaw about the pivot axis 36.

[0049] One or more components of the working implement 42 may be pivotally connected via at least one linkage joint. For example, the working implement 42 may include: a boom 44 pivotally connected to the main frame 32 at linkage joint 105, an arm 46 pivotally connected to the boom 44 at linkage joint 106, and a working tool 48 pivotally connected to the arm 46 at linkage joint 110. In this embodiment, the working tool 48 is an excavator shovel 48 or bucket 48, which is pivotally connected to the arm 46 at linkage joint 110. One end of a dogbone connector 47 is pivotally connected to the arm 46 at linkage joint 108, and the other end of the dogbone connector 47 is pivotally connected to a tool link 49. In the context of the referenced working machine 20, the tool link 49 is a bucket link 49. For reference, "linkage motion" can constitute movement of the working implement 42 along the xz coordinate direction, including the extension and / or retraction of the boom 44 and / or arm 46. "Linkage motion" can also constitute rotation of the one or more components about an axis defined by any one of the link joints 105, 106, 108, or 110, or any combination thereof. "Linkage motion" can also constitute rotation about an axis orthogonal to a plane defined by the xz space in the defined coordinate system.

[0050] The boom assembly 42 extends from the main frame 32 along the working direction of the boom assembly 42. This working direction can also be described as the working direction of the boom 44. Depending on the defined coordinate system, the working direction is generally defined as extending along the xz coordinate space. As described herein, control of the working implement 42 may involve the control of any of the one or more components (e.g., boom 44, arm 46, and / or tool 48).

[0051] The sensor system 104 is mounted on the work machine 20. Within the context of this disclosure, the sensor system 104 may include multiple sensors, including sensors 104a, 104b, 104c, 104d, and 104e, respectively mounted to the main frame 32, boom 44, arm 46, dogbone connector 47, and tool 48. Within the context of the referenced work machine 20, the sensor system 104 may constitute a system of inertial measurement units (IMUs).

[0052] exist Figure 1In this embodiment, the first ground engagement unit and the second ground engagement unit 24 are tracked ground engagement units. Each ground engagement unit in the tracked ground engagement unit 24 includes a front idler sprocket 52, a drive sprocket 54, and a track chain 56 extending around the front idler sprocket 52 and the drive sprocket 54. A travel motor of each tracked ground engagement unit 24 drives its corresponding drive sprocket 54. Each tracked ground engagement unit 24 has a forward direction 58 defined from the drive sprocket 54 toward the front idler sprocket 52. The forward direction 58 of the tracked ground engagement unit 24 also defines the forward direction 58 of the underframe 22, thereby defining the forward direction of the working machine 20.

[0053] The operator's cab 60 may be located on the main frame 32. Both the operator's cab 60 and the boom assembly 42 may be mounted on the main frame 32 such that the operator's cab 60 faces the operating direction 58 of the boom assembly 42. The control console 62 may be located in the operator's cab 60.

[0054] An engine 64, which powers the work machine 20, is also mounted on the main frame 32. The engine 64 can be a diesel internal combustion engine. The engine 64 can drive a hydraulic pump to provide hydraulic power to the various operating systems of the work machine 20.

[0055] like Figure 2 As illustrated schematically, the work machine 20 includes a control system with a controller 112. The controller 112 may be part of the machine control system of the work machine 20, or it may be a separate control module. The controller 112 may include a user interface 114 and may optionally be mounted at a console 62 in the operator's room 60.

[0056] The controller 112 is configured to receive input signals from some or all of the various sensors that collectively define the sensor system 104, and separate examples thereof can be described below. The various sensors on the sensor system 104 may generally be discrete in nature, but signals representing more than one input parameter can be provided from the same sensor, and the sensor system 104 may also reference signals provided from the machine control system.

[0057] In the context of the self-propelled vehicle 20, the sensor system 104 can constitute a system of inertial measurement units (IMUs). An IMU is a tool for capturing various motion- and position-based measurements, including but not limited to velocity, acceleration, angular velocity, and angular acceleration.

[0058] An IMU can include any of a number of sensors, including but not limited to: (in particular) accelerometers that measure velocity and acceleration, (in particular) gyroscopes that measure angular velocity and angular acceleration, and (in particular) magnetometers that measure the strength and direction of a magnetic field. Typically, accelerometers provide (in particular) measurements relative to forces caused by gravity, while gyroscopes provide (in particular) measurements relative to the motion of a rigid body. Magnetometers provide (in particular) measurements relative to known internal constants, or relative to the strength and direction of a known, accurately measured magnetic field. Magnetometers provide measurements of the magnetic field to generate information about the IMU's position or angular orientation; similarly, gyroscopes generate information about the IMU's position or angular orientation. Therefore, magnetometers can be used in place of gyroscopes, in combination with gyroscopes, and in complement to accelerometers to generate local information and coordinates about the IMU's position, motion, and orientation.

[0059] The controller 112 can be configured to generate output for the user interface 114 (as further described below) for display to a human operator. The controller 112 can also be configured to generate control signals for controlling the operation of the respective actuators, or signals for indirect control via intermediate control units associated with the machine steering control system 126, the machine tool control system 128, and / or the engine speed control system 130. The controller 112 can, for example, generate control signals for controlling the operation of various actuators such as hydraulic motors or hydraulic piston-cylinder units 41, 43, and 45, and electronic control signals from the controller 112 can actually be received by an electro-hydraulic control valve associated with the actuator, such that the electro-hydraulic control valve, in response to the control signals from the controller 112, controls the flow of hydraulic fluid to and from the respective hydraulic actuator to control the actuation of that hydraulic actuator.

[0060] Controller 112 may include or be associated with processor 150, computer-readable medium 152, communication unit 154, data storage device 156 (e.g., database network), and the aforementioned user interface 114 (or control panel 114) with display 118. Input / output devices 116, such as keyboards, joysticks, or other user interface tools 116, are provided to allow a human operator to input commands to controller 112. It should be understood that controller 112 described herein may be a single controller having all the described functions, or it may include multiple controllers, wherein the described functions are distributed among the multiple controllers.

[0061] The various "computer-implemented" operations, steps, or algorithms described in conjunction with controller 112, or alternative but equivalent computing devices or systems, may be implemented directly in hardware, as a computer program product such as a software module executed by processor 150, or in a combination of both. The computer program product may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or any other form of computer-readable medium 152 known in the art. An exemplary computer-readable medium 152 may be coupled to processor 150 such that processor 150 can read information from and write information to the computer-readable medium 152. In this alternative example, the computer-readable medium 152 may be integrated with processor 150. Processor 150 and computer-readable medium 152 may reside in an application-specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In this alternative example, processor 150 and computer-readable medium 152 may reside as discrete components in a user terminal.

[0062] As used herein, the term "processor" 150 may refer to at least general-purpose or special-purpose processing devices and / or logic that can be understood by those skilled in the art, including but not limited to microprocessors, microcontrollers, state machines, etc. The processor 150 may also be implemented as a combination of computing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other such configuration.

[0063] Communication unit 154 may support or provide communication between controller 112 and external systems or devices, and / or support or provide communication interfaces regarding internal components of the self-propelled machine 20. Communication unit 154 may include wireless communication system components (e.g., via cellular modem, WiFi, Bluetooth, etc.), and / or may include one or more wired communication terminals (such as a Universal Serial Bus port). Unless otherwise stated, data storage device 156, as further described below, may generally encompass hardware (such as volatile or non-volatile storage devices, drives, memories, or other storage media), and one or more databases residing on that hardware.

[0064] Reference Figure 1The sensor system 104 can be mounted on one or more components of the working machine 20. Sensor 104a is mounted on the main frame 32; sensor 104b is mounted on the boom 44; sensor 104c is mounted on the arm 46; sensor 104d is mounted on the dogbone connector 47; and sensor 104e is mounted on the tool 48. At least one sensor of the sensor system 104 can be mounted on opposite sides of at least one linkage joint, which can include: linkage joint 105, linkage joint 106, linkage joint 108, and linkage joint 110. The opposite sides of the at least one linkage joint can be identified by mounting or securing the sensor system 104 on either side of the at least one linkage joint, which is defined as a pivoting linkage joint connecting the one or more components of the working machine 42. For example, the at least one linkage joint can be defined at linkage joint 105, which forms a pivotal connection between the boom 44 and the main frame 32. As another example, the at least one linkage joint can be defined at linkage joint 106, which forms a pivotal connection between boom 44 and arm 46. As yet another example, the at least one linkage joint can be defined at linkage joint 108, which forms a pivotal connection between arm 46 and dogbone connector 47. And as yet another example, the at least one linkage joint can be defined at linkage joint 110, which forms a pivotal connection between arm 46 and tool 48.

[0065] Within the context of the operating machine 20 disclosed herein, the sensor system 104 can constitute an IMU system. As previously described herein, an IMU is a tool that uses multiple sensors (including but not limited to accelerometers and gyroscopes) to capture various motion- and position-based measurements. An IMU can combine a triaxial accelerometer with a triaxial gyroscope. An accelerometer is used to measure acceleration (m / s²). 2 An accelerometer is an electromechanical device or tool in which acceleration is defined as the rate of change of an object's velocity (m / s²). Accelerometers sense static forces (e.g., gravity) or dynamic forces (e.g., vibration and motion) that cause acceleration. An accelerometer can receive a sensed element that measures the force caused by gravity. By measuring the amount of static acceleration caused by Earth's gravity, an accelerometer can provide data about the angle of tilt of an object relative to the Earth, which can be established in a coordinate system of x, y, and z axes. However, when an object is accelerating in a particular direction, making the acceleration dynamic (as opposed to static), the data generated by the accelerometer cannot effectively distinguish between the dynamic force of motion and the force caused by Earth's gravity. A gyroscope is used to measure the angular velocity (rad / s or degrees / s) or angular acceleration (rad / s²) of an object. 2 or degree / s2 A gyroscope is a device used to measure changes in orientation. It can be a mechanical gyroscope, a microelectromechanical system (MEMS) gyroscope, a ring laser gyroscope, a fiber optic gyroscope, and / or other gyroscopes known in the art. In principle, a gyroscope is used to measure changes in the angular position of a moving object, which can be established using an x-axis, y-axis, and z-axis coordinate system.

[0066] Reference Figure 3 The description depicts a side view of a work implement 42 or boom assembly 42 having a boom 44 and a boom 46. At least one linkage joint can be defined at a linkage joint 106, which forms a pivotal connection between the boom 46 and the boom 44. The sensor system 104 can be mounted such that opposite sides of the at least one linkage joint are defined such that sensor 104c is mounted on the boom 46, while sensor 104b is mounted on the boom 44 and opposite to sensor 104c. (As in...) Figure 3 Further elaborated within the context of public disclosure, x-axis, y-axis, and z-axis coordinate systems were defined for the working implement 42 and the sensor system 104. Moreover, Figure 3 The body frame of sensors 104b and 104c is illustrated in such a way that the x-axis of the aforementioned body frame points along the extension or retraction direction of the work implement 42, or along the working direction of the work implement 42 as previously specified. Figure 3 The main reference frame for sensors 104b and 104c is also disclosed, wherein the z-axis of the aforementioned main reference frame points perpendicular to the x-axis; the z-axis of the aforementioned main reference frame may point towards the main frame 32 or the ground surface 38 of the working machine 20, or away from the main frame 32 or the ground surface 38 of the working machine 20. Since the x-axis, y-axis, and z-axis coordinate systems can be arbitrarily defined, the foregoing is not intended as a limitation. Although the x-axis, y-axis, and z-axis coordinate systems can be arbitrarily defined, they relate to or serve as the basis for providing mechanical rotation axes for roll (i.e., rotation about the x-axis), pitch (i.e., rotation about the y-axis), and yaw (i.e., rotation about the z-axis).

[0067] Reference Figures 4A to 4B A diagram depicting the x-axis, y-axis, and z-axis coordinates of a sensor system 104 (such as sensor 104b mounted on boom 44 and / or sensor 104c mounted on boom 46) mounted on the work implement 42. Figure 4AAs illustrated, the gyroscope of sensor 104b or sensor 104c can be positioned such that the x-axis points along the direction of the working tool 42 or the working direction of the working tool 42. The z-axis of the gyroscope of sensor 104b or sensor 104c can point perpendicular to the x-axis; the z-axis of the gyroscope can point towards the main frame 32 or the ground surface 38 of the working machine 20, or away from the main frame 32 or the ground surface 38 of the working machine 20. Figure 4A As shown, when the work implement 42 is operated or moved along the xz direction, there are differences in the angles, orientations, or angular velocities about the x-axis and z-axis. However, in the event of misalignment of the sensor system 104 on one or more components of the work implement 42 (such as boom 44 or arm 46), whether caused by manufacturing variations in the construction of said one or more components or by the work machine 20 undergoing dynamic conditions, the misalignment of the sensor system 104 may produce errors that relate not only to errors about the tilt angle (rotation about the x-axis) and yaw angle (rotation about the z-axis), but also to errors about the yaw angle (rotation about the y-axis). Figure 4A The coordinate systems are different. Figure 4B The coordinate system demonstrates that the gyroscope in sensor system 104, including sensors 104b and 104c, has not only excitation along the x and z axes but also excitation along the y axis. The rotational motion of the work implement 42 can be sensed (or detected) by sensor system 104 as the linkage motion of one or more components of the work implement 42. Therefore, Figure 4B The diagram showing the coordinates of the gyroscope in the image illustrates its movement in xyz space with tilt (rotation about the x-axis), yaw (rotation about the z-axis), and pitch (rotation about the y-axis).

[0068] When the rotational motion of the work implement 42 is sensed (or perceived) by the sensor system 104 as linkage motion of one or more components of the work implement 42, errors associated with misalignment of the sensor system 104 may arise that are related not only to errors with respect to roll and yaw angles but also to errors with respect to pitch angles. Specifically, this produces significant errors because the fusion and integration of the sensed elements received from the sensor system 104 will not reject these errors, thereby providing an incorrect orientation or position of one or more components of the work implement 42, or the fusion and integration of the sensed elements received from the sensor system 104 may identify the sensed rotational motion as linkage motion, resulting in additional errors in integration and sensor fusion. Figures 5A to 5C This error has been proven. Figures 5A to 5C The pitch around the main frame 32 and the orientation or angle of the boom 44 and arm 46 are depicted. Figure 5BThe diagram depicts a graph of the raw data, including measurements of angular velocities sensed and collected by the gyroscope. Clearly, when analyzing the orientation and angle of booms 44 and 46 relative to the main frame 32, there exists a erratic motion regarding the pitch (rotation about the y-axis) of the main frame 32. An error in the pitch sensing of the main frame 32 can result in a sensed angular velocity of approximately 0.5 degrees per second, for which the IMU's accelerometer may not correct for the sensed angular velocity. Figure 5A The graph depicts calibrated data incorporating measurements of angular velocities sensed and collected by the gyroscope. Assuming... Figure 5A The gyroscope in the sensor system 104 is calibrated to handle the pitch (rotation about the y-axis) of the main frame 32, so that the main frame 32 has little or no erratic motion relative to the boom 44 and arm 46. Figure 5C In the example, the following is shown: Figure 5A and Figure 5B The graph compares the angular velocity measurement results between the graphical data. Although there are still measurement inconsistencies in the angle or orientation of boom 44 and arm 46, the graph importantly expresses the difference in the pitch sensing motion of the main frame 32 between the calibrated gyroscope and the uncalibrated (raw) gyroscope in sensor system 104.

[0069] Reference Figure 6 The diagram depicts an exemplary embodiment of a method 200 representing the operation of a work implement 42 of a work machine 20, the work implement 42 being coupled to the main frame 32 of the work machine 20 and having one or more components. Figure 1 In the context of the exemplary work implement 42 of the depicted work machine 20, the one or more components may include boom 44, arm 46, and / or tool 48.

[0070] Method 200 may begin with step 202, which involves providing the working machine 20 to a work area, the work area or its terrain being defined by the ground surface 38, such as... Figure 1As depicted in [the text]. Method 200 may proceed to step 204: automatically or manually controlling the working implement 42 of the working machine 20 based at least in part on at least one characteristic of at least one of the one or more components of the working implement 42. The at least one characteristic may include the position or orientation of at least one of the one or more components of the working implement 42, including the position or orientation of the boom 44 and arm 46 relative to the at least one linkage joint (such as linkage joint 106 or linkage joint 105). In an alternative embodiment of method 200, step 204 of method 200 may further include: generating a display of the at least one characteristic of the one or more components, which may be accessed by or obtained through the display 118 of the controller 112.

[0071] The controller 112, functionally linked to at least one sensor of the sensor system 104, is operable between the calibration mode associated with step 206 and the operating mode associated with step 208. In an alternative embodiment of this disclosure, the calibration mode and the operating mode may be executed by the controller 112 based on user-initiated selections or events; alternatively, the calibration mode and the operating mode may be executed based on automatic, non-manual events, wherein the calibration mode and the operating mode may be pre-programmed into the controller 112 prior to operating the work machine 20 into the work area defined by the ground surface 38.

[0072] Reference Figure 6 Step 206 of method 200, which is associated with the calibration mode, can continue by calibrating the position of at least one component of the one or more components of the work implement 42 (including boom 44 or arm 46). Method 200 can continue to step 210: associating at least one sensor of sensor system 104 with at least one component of the one or more components of the work implement 42, such that at least one component of the one or more components of the work implement 42 corresponds to the at least one linkage joint, including linkage joint 105 and linkage joint 106 (or, in an alternative embodiment, linkage joint 108 and linkage joint 110). Method 200 can continue to step 212: rotating the at least one component of the one or more components of the work implement 42 about an axis defined by the at least one linkage joint, including linkage joint 105 and linkage joint 106 (or, in an alternative embodiment, linkage joint 108 and linkage joint 110). In step 212, at least one component of the working tool 42 can be rotated into one or more postures 300 about an axis defined by the at least one linkage joint. Figures 7A to 7DExemplary implementations are described. As previously stated, “linkage motion” can constitute movement of the work implement 42 along the xz coordinate direction, including extension and / or retraction of the boom 44 and / or arm 46. “Linkage motion” can also constitute rotation of the one or more components about an axis defined by any one of the link joints 105, 106, 108, or 110, or any combination thereof. “Linkage motion” can constitute rotation about an axis orthogonal to a plane defined by the xz space in the defined coordinate system, such that the “linkage motion” is generally aligned along the y-axis of the defined coordinate system.

[0073] Reference Figure 6 Method 200 can continue to step 213: for each of the one or more postures 300, perform at least one rotation of the working implement 42 about the pivot axis 36 relative to the base frame 22, such as Figures 7A to 7D Schematic representation. As previously stated, the pivot axis 36 can be substantially orthogonal to the main frame 32 of the working machine 20. In other words, the pivot axis 36 can be substantially vertical when the ground surface 38 engaged by the ground engagement unit 24 is substantially horizontal. In other exemplary aspects of method 200, step 212 can proceed to: rotating at least one component of the one or more components of the working implement 42 about an axis defined by a corresponding at least one linkage joint into at least two of the one or more postures 300, for example, including at least: a first posture 302, a second posture 304, a third posture 306, and a fourth posture 308, and any combination thereof, such as Figures 7A to 7D Schematic representation. In a further exemplary aspect of method 200, step 212 may proceed to: rotating at least one component of the one or more components of the working tool 42 about an axis defined by the at least one linkage joint into at most two of the one or more postures 300, for example, including at least: a first posture 302, a second posture 304, a third posture 306, and a fourth posture 308, and any combination thereof. Figures 7A to 7DThis is an illustrative representation. For each of the one or more postures 300, step 213 may proceed to: for each of the one or more postures 300 (such as first posture 302, second posture 304, third posture 306, or fourth posture 308, and combinations thereof), perform at least two of the at least one rotation of the working implement 42 around the pivot axis 36. In a further exemplary aspect of method 200, for each of the one or more postures 300, step 213 may proceed to: for at most two of the one or more postures 300 (including at least one of first posture 302, second posture 304, third posture 306, or fourth posture, and combinations thereof), perform at least two of the at least one rotation of the working implement 42 around the pivot axis 36. In other exemplary embodiments of method 200, step 213 may continue by performing at least two of the at least one rotation of the working implement 42 around the pivot axis 36 for each of the one or more postures 300. In a further exemplary embodiment of method 200, step 213 may continue by performing a first rotation of the working implement 42 around the pivot axis 36 at a rate of about one revolution per minute or less. Alternatively, step 213 may also continue by performing a second or more rotations of the working implement 42 around the pivot axis 36 at a rate greater than about one revolution per minute.

[0074] According to steps 212 and 213, and in an alternative embodiment of the working implement 42 of the working machine 20, the working implement 42 may include a first component of the one or more components having a first end connected to the main frame 32 of the working machine 20 at a first linkage joint in the at least one linkage joint; and a second component of the one or more components may be connected to a second end of the first component at a second linkage joint in the at least one linkage joint. In the context of this disclosure, the first component of the one or more components may constitute a boom 44 connected to the main frame 32 at a linkage joint 105, and the second component of the one or more components may constitute an arm 46 connected to the boom 44 at a linkage joint 106. The boom 44 may be rotated about an axis defined by a corresponding at least one linkage joint (such as linkage joint 105). Furthermore, the arm 46 may be rotated about an axis defined by a corresponding at least one linkage joint (such as linkage joint 106). The boom 44 and arm 46 can be rotated into one or more postures 300 about an axis defined by at least one linkage joint (including linkage joint 105 and linkage joint 106). For each of the one or more postures 300 achieved by rotating the boom 44 and / or arm 46 about an axis defined by at least one linkage joint, the work implement 42 can be performed at least once about the pivot axis 36. In an alternative embodiment, for each of the one or more postures 300 achieved by rotating the boom 44 and / or arm 46 about an axis defined by at least one linkage joint (including linkage joint 105 and linkage joint 106), two or more of the at least one rotation of the work implement 42 about the pivot axis 36 can be performed.

[0075] Reference Figures 7A to 7D An exemplary implementation of steps 212 and 213 is visually depicted, such that one or more components of the working implement 42 are rotated about an axis defined by the at least one linkage joint into one or more postures 300, and the working implement 42 is rotated about a pivot axis 36 relative to the base frame 22. In an exemplary aspect of method 200, one or more components of the working implement 42 can be rotated about an axis defined by the at least one linkage joint into at most two of the one or more postures 300, wherein the at most two postures 300 can be at least a first posture 302, a second posture 304, a third posture 306, or a fourth posture 308, and combinations thereof. For the purposes of this disclosure, Figures 7A to 7DThe depiction of the one or more postures 300 is not intended to be limiting; rather, the one or more postures 300 depicted as 300 are representative examples of postures 300 that can be achieved by rotating the working tool 42 about an axis defined by the at least one linkage joint. (See also...) Figure 7A The diagram depicts a first posture 302 among the one or more postures 300. The boom 46 can be rotated about an axis defined by at least one corresponding link joint (link joint 106) such that the boom 46 is fully extended in xz space, where the boom 46 achieves maximum rotation about the link joint 106. The boom 44 can be rotated about an axis defined by at least one corresponding link joint (link joint 105) such that the boom 44 can be lowered in the direction of the ground surface 38, and the working tool 48 is closest to but does not contact the ground surface 38. In an alternative embodiment of the first posture 302, the working tool 48 or bucket 48 can be in a "fully dumped" position such that the working tool 48 rotates about an axis defined by at least one corresponding link joint (link joint 110) in a direction away from the main frame 32 of the working machine 20. (See also...) Figure 7B The diagram depicts a second posture 304 among the one or more postures 300. The arm 46 can be rotated about an axis defined by at least one corresponding link joint (link joint 106) such that the arm 46 is fully extended in xz space, where the arm 46 achieves maximum rotation about the link joint 106. The boom 44 can be rotated about an axis defined by at least one corresponding link joint (link joint 105) such that the boom 44 can be moved to an "intermediate height" position, which is between the maximum and minimum rotation of the boom 44 about the link joint 105. In an alternative embodiment of the second posture 304, the working tool 48 can be in a "fully curled" position such that the working tool 48 rotates about an axis defined by at least one corresponding link joint (link joint 110) in a direction toward the main frame 32 of the working machine 20.

[0076] Reference Figure 7C The third posture 306 of the one or more postures 300 is depicted. The arm 46 can be rotated about an axis defined by at least one corresponding link joint (link joint 106), such that the arm 46 is in the direction of the main frame 32 of the working machine 20, from the arm in Figures 7A to 7BThe arm 46 rotates approximately 90 degrees (90°) from its current position. This rotation of the arm 46 can also be referred to as the retraction of the arm 46 in xz space. The boom 44 can be rotated about an axis defined by at least one corresponding link joint (link joint 105) to move the boom 44 to a “mid-height” position, which is between the maximum and minimum rotation of the boom 44 about the link joint 105. In an alternative embodiment of the third posture 306, the working tool 48 can be in a “fully curled” position, such that the working tool 48 rotates about an axis defined by at least one corresponding link joint (link joint 110) in the direction toward the main frame 32 of the working machine 20. See reference. Figure 7D The fourth posture 308 of the one or more postures 300 is depicted. The arm 46 can be rotated about an axis defined by at least one corresponding link joint (link joint 106), such that the arm 46 is in the direction of the main frame 32 of the working machine 20, from the arm in Figures 7A to 7B The boom 46 rotates approximately 90 degrees (90°) from its position. This rotation of the boom 46 can also be referred to as the retraction of the boom 46 in xz space. The boom 44 can be rotated about an axis defined by at least one corresponding link joint (link joint 105) to move the boom 44 to a “maximum height” position, wherein the boom 44 achieves maximum rotation about the link joint 105. In an alternative embodiment of the fourth posture 308 of the one or more postures 300, the working tool 48 or bucket 48 can be in a “fully dumped” position, such that the working tool 48 rotates about an axis defined by at least one corresponding link joint (link joint 110) in a direction away from the main frame 32 of the working machine 20.

[0077] For the one or more postures 300 (including: first posture 302, second posture 304, third posture 306 and fourth posture 308, such as...) Figures 7A to 7B In various postures (illustrated illustratively), the work implement 42 can rotate about the pivot axis 36 relative to the base frame 22. In an exemplary embodiment of step 213, the work implement 42 may perform a first rotation about the pivot axis 36 at a rate of about one revolution per minute or less. In a further exemplary aspect of step 213, the work implement 42 may perform a second or more rotations about the pivot axis 36 at a rate greater than about one revolution per minute. In an alternative embodiment of step 213, intermittent pauses or rests may be inserted between consecutive rotations of the work implement 42 about the pivot axis 36. The range of intermittent pauses or rests may vary from about fifteen (15) seconds to about sixty (60) seconds.

[0078] Reference Figure 6Method 200 may continue to step 214: receiving output signals from at least one sensor (such as sensor 104a, sensor 104b, sensor 104c, sensor 104d, and / or sensor 104e) of sensor system 104. Sensor system 104 may be a system of IMUs, wherein each IMU may include an accelerometer, a gyroscope, and / or a magnetometer, and each IMU has a subject reference frame. The output signal may include sensing elements, and in an alternative embodiment, the sensing elements may include multiple angular velocity measurements obtained by the gyroscopes of the IMUs in sensor system 104, which are determined based on the rotational motion of the work implement 42 or the linkage motion of one or more components of the work implement 42. The sensing elements from the received output signal may be received by controller 112, such as Figure 2 As depicted, the controller is functionally linked to the sensor system 104.

[0079] In an alternative embodiment of step 214, and prior to step 215, which tracks at least one characteristic based on at least a portion of the sensed elements, method 200 may incorporate an algorithm that combines measurements received by sensor system 104 to generate a desired output in the work implement 42 of the self-propelled vehicle 20. This algorithm may include, or otherwise continue, an initialization routine that initializes a bias due relative to measurements received by a gyroscope in sensor system 104. The estimated bias due to the gyroscope can be subtracted from the measured gyroscope data received by the IMU, enabling the calculation of angular velocity and angular acceleration. The algorithm may also include selecting a filtering algorithm based on a measured noise due from a specific work area, or its terrain, which may be defined by ground surface 38. Filters may be needed to process high-frequency measurements, such as those received by a gyroscope in the IMU. Furthermore, there are various filtering methods that can be used in conjunction with the measurement results received by the IMU, such as Kalman filters (KF) and / or complementary filters (CF).

[0080] Reference Figure 6 Method 200 may continue to step 215: tracking the at least one characteristic based on at least a portion of the sensed elements in the received output signal of at least one of the one or more components of the work implement 42. The sensed elements from the received output signal may be received by controller 112, such as... Figure 2As depicted, the controller is functionally linked to the sensor system 104 and can be configured to track the at least one characteristic. Step 215 may employ linkage kinematics and rigid body motion to determine an angular velocity or angular acceleration that can produce an angle or orientation of at least one of the components of the working implement 42.

[0081] In other aspects of method 200, step 215 may continue by tracking the at least one characteristic by identifying a maximum angular velocity or angular acceleration measurement and a minimum angular velocity measurement, based at least in part on sensing elements including (at least in part) the plurality of angular velocity measurements. The maximum angular velocity measurement (also referred to as a “peak”) and / or the minimum angular velocity measurement (also referred to as a “valley”) can be determined by initiating a rotation of the work implement 42 at varying speeds, wherein the first rotation of the work implement 42 about the pivot axis 36 relative to the base frame 22 in the at least one rotation can be performed at a rate of about 1 revolution per minute or less, and the second or more rotations in the at least one rotation can be performed at a rate of about 1 revolution per minute or greater (including greater than 10 revolutions per minute (RPM)). The at least one rotation corresponding to the one or more postures 300 of the one or more components of the work implement 42 in Figures 7A to 7D The text provides illustrative examples and combines them with... Figure 6 Steps 212 and 213 of the disclosed method 200 are further described in detail. For example, in tracking at least one characteristic of one or more components of the working implement 42 to calibrate the position or orientation of the one or more components, the maximum angular velocity measurement result and the minimum angular velocity measurement result can be compared to determine the vector ρ, which indicates the position or orientation of the one or more components of the working implement 42. The foregoing calculations and comparisons can be representatively expressed by the following series of equations:

[0082] A_Rotate=A_Static-ρω^2

[0083] A_(Max,Fast)-A_(Max,Slow)=ρ(ω_Fast^2-ω_Slow^2)

[0084] A_(Min,Fast)-A_(Min,Slow)=ρ(ω_Fast^2-ω_Slow^2)

[0085]

[0086] For the at least one rotation of the working implement 42, the vector ρ of one or more components of the working implement 42 may not be determined or calculated relative to the base frame 22 along the pivot axis 36.

[0087] In determining or identifying the vector ρ, the vector ρ can be oriented positionally along the direction of the at least one linkage joint, such that the vector ρ extends from at least one sensor of the sensor system 104 to the at least one linkage joint. For example, the vector ρ can extend from sensor 104b to linkage joint 106, and the vector ρ can extend from sensor 104c to linkage joint 106; alternatively, or in combination with the foregoing, the vector ρ can extend from sensor 104b to linkage joint 105. The vector ρ measured from the sensor system 104 can be functionally used to convert the sensed elements received from the sensor system 104 of the IMU into the position or orientation of the one or more components of the working implement 42. The foregoing calculation can be representatively expressed by the following equation:

[0088]

[0089]

[0090] In the above formula, the vector ρ can constitute a quantity of position or orientation measured in the xz plane, where the subscripts of A (e.g., A1 to A4) and B (B1 to B4) are associated with one or more postures 300 corresponding to boom 46 and boom 44. Theta(θ) can be an angle measured relative to the rotational motion of the work implement 42 about the pivot axis 36 relative to the base frame 22. Using the variable ρ, at least one characteristic, such as the position or orientation of the one or more components of the work implement 42, can be calculated to calibrate any misalignment of the sensor system 104 due to manufacturing of the sensor system 104 (and subsequently fixation of the sensor system 104 on the work implement 42) or changes in dynamic operating conditions.

[0091] Reference Figure 6In an exemplary aspect of method 200, step 208 of method 200 associated with the working mode can continue by guiding the movement of at least one component of the one or more components of the working implement 42 (including boom 44 and arm 46). Method 200 can continue to step 220: guiding the movement of at least one component of the one or more components of the working implement 42 based at least in part on at least one tracked characteristic of the at least one component of the one or more components of the working implement 42. In an alternative embodiment, the at least one characteristic may be the orientation or position of the at least one component of the one or more components of the working implement 42 relative to a corresponding at least one linkage joint. The orientation or position of the at least one component of the one or more components of the working implement 42 may be based on at least a portion of the plurality of angular velocity measurements, and in an alternative embodiment, may be based on at least a portion of the plurality of angular velocity measurements, wherein the maximum angular velocity measurement and the minimum angular velocity measurement are identified.

[0092] In the context of step 204 of method 200 of this disclosure, the movement of one or more components of the working implement 42 (including: boom 44, arm 46 and / or working tool 48) can be controlled or guided at least in part based on at least one tracked joint characteristic. The controller 112 (which may be functionally linked to the sensor system 104, such as...) Figure 2 The illustrated example can also be configured to automatically control the movement of one or more components of the work implement 42 (or boom assembly 42) of the work vehicle 20 (or excavator 20). A human operator can control the movement or orientation of one or more components of the work implement 42 via or through the user interface tool 116 of the user interface 114. By interacting with the user interface tool 116 of the user interface 114, the controller 112 can be configured to operate a machine implement control system 128 of one or more components of the work implement 42 of the work machine 20. The controller 112 can, for example, generate control signals for controlling the operation of various actuators such as hydraulic motors or hydraulic piston-cylinder units 41, 43, and 45, such as... Figure 1 As depicted herein. Alternatively, or in conjunction with step 204, method 200 may continue by generating a display of at least one tracked characteristic for at least one of the one or more components of the working implement 42 of the working machine 20. Controller 112 (which may be functionally linked to sensor system 104) Figure 2The illustrated device can be configured to display at least one characteristic of at least one of the one or more components of the working implement 42 (including: boom 44, arm 46, and / or working tool 48). Specifically, the display 118 of the user interface tool 116 in the controller 112 can display, show, or otherwise express to a human operator at least one tracked characteristic of at least one of the one or more components of the working implement 42 (such as boom 44, arm 46, and / or working tool 48).

[0093] Reference Figure 6 And as previously stated, the controller 112 (which is functionally linked to at least one sensor of the sensor system 104, including sensor 104a, sensor 104b, sensor 104c, sensor 104d, and sensor 104e) can operate between the calibration mode associated with step 206 and the operating mode associated with step 208. Furthermore, as previously stated, the calibration mode and operating mode can be executed based on user-initiated selections or events; alternatively, the calibration mode and operating mode can be executed based on automatic, non-manual events, wherein the calibration mode and operating mode can be pre-programmed into the controller 112 before operating the work machine 20 into the work area defined by the ground surface 38. Importantly, step 204, which controls the work implement 42 based on at least one characteristic (including the position or orientation of the one or more components of the work implement 42), does not need to proceed to the calibration mode; thus, guiding the movement of the one or more components of the work implement 42 into rotary or linkage motion neither hinders nor depends on the initiation or configuration of the calibration mode associated with step 206.

[0094] Reference Figures 8A to 8F Each graph depicts a representative example of method 200 performed in the steps listed herein; specifically, Figures 8A to 8F The graph illustrates the collection and reception of sensed elements (including angular velocity and angular acceleration measurements) from the output signals received by the sensor system 104 when the boom 44 performs rotational and linkage movements, with the boom 44 serving as an exemplary component of one or more components of the work implement 42. In summary, and without limiting the foregoing, Figures 8A to 8F This expresses the correction or calibration of the installation misalignment of the sensor system 104.

[0095] Reference Figures 8A to 8BTwo positions or orientations of the boom 44 are tested to determine the changes in the angular velocity or angular acceleration of the boom 44, wherein the two positions or orientations are -46.6 degrees and -7.2 degrees relative to at least one corresponding link joint, wherein the boom 44 rotates about an axis defined by at least one corresponding link joint. When the boom 44, as part of the work implement 42, rotates about a pivot axis 36 relative to the base frame 22 (constituteing "slewing motion"), the angular velocity measurements about the y-axis (or pitch) collected by the sensor system 104 are -0.6 degrees per second and -0.4 degrees per second. The disturbance about the y-axis indicates a confusion or incorrect construction between the link motion of one or more components of the work implement 42 and the slewing motion of the work implement 42 about the pivot axis 36. (Refer to...) Figures 8C to 8D Using small-angle approximations based on angular velocity measurements and superposition results, a linear best-fit model can be performed, and its equation is representatively stated as follows:

[0096]

[0097]

[0098]

[0099] In the above formula, the variable ω can be determined according to... Figure 1 , Figure 3 up to Figure 4 and Figures 7A to 7D The reference frame described is used to construct the angular velocities about the x-axis, y-axis, and z-axis, where theta(θ) is the angle measured relative to the deflection (rotation about the z-axis) and roll (rotation about the x-axis) associated with the motion of boom 44.

[0100] Reference Figures 8E to 8F This exemplifies the difference between a calibrated (or corrected) sensor system 104 on boom 44 and an uncalibrated (raw) sensor system 104. As previously described... Figures 8A to 8BAs described herein, when the boom 44, which is part of the work implement 42, rotates relative to the base frame 22 about the pivot axis 36, the angular velocity measurements about the y-axis (or pitch) are -0.6 degrees per second and -0.4 degrees per second. The disturbance about the y-axis indicates a confusion or incorrect configuration between the linkage motion of the one or more components of the work implement 42 and the rotational motion of the work implement 42 about the pivot axis 36. By calibrating the position or orientation of at least one of the one or more components of the work implement 42 (including the boom 44), the rotational motion of the work implement 42 no longer disturbs the y-axis of the gyroscope of the sensor system 104. Therefore, when linkage motion and / or rotational motion are performed, the tracking of the position or orientation of the one or more components of the work implement 42 is not affected or deviated by the disturbance of the y-axis in the gyroscope of the IMU of the sensor system 104. When the movement of at least one of the components of the control machine 42 is controlled, the correction of the y-axis disturbance of the gyroscope of the sensor system 104 can be identified and detected such that the IMU may have become inaccurate due to manufacturing changes in the construction of the control machine 42 or due to subjecting the control machine 20 to dynamic conditions. By identifying and detecting the inaccuracy of the sensor system 104, the fusion of the sensed elements (including angular velocity measurements) will produce or enable the predetermined or directional movement of the one or more components of the control machine 42.

[0101] To facilitate understanding of the embodiments described herein, numerous terms have been defined above. The terms defined herein have meanings commonly understood by one of ordinary skill in the art related to this invention. Terms such as “a” and “the” are not intended to refer only to a singular entity, but rather to include general categories whose specific examples may be used for illustration. The terms used herein are used to describe specific embodiments of the invention, but their use does not limit the scope of the invention unless set forth in the claims. Phrases such as “in one embodiment,” “in an alternative embodiment,” etc., do not necessarily refer to the same embodiment, although they may refer to the same embodiment.

[0102] The conditional language used herein (especially words such as "may," "can," "may," "for example," etc.) is generally intended to express, unless expressly stated otherwise or otherwise understood in the context in which it is used, that certain embodiments include certain features, elements, and / or states, while other embodiments do not include certain features, elements, and / or states. Therefore, such conditional language is generally not intended to imply that one or more embodiments require features, elements, and / or states in any way, whether such features, elements, and / or states are included in or to be performed in any particular embodiment.

[0103] As used herein, when used with a list of items, the phrase “one or more of…” means that different combinations of one or more of these items may be used, and only one of the individual items in the list may be required. For example, “one or more of items A, B, and C” may include, but is not limited to, item A, or items A and B. The example may also include items A, B, and C, or items B and C.

[0104] A detailed description has been provided prior for illustrative and descriptive purposes. Therefore, although a particular embodiment of a new and useful invention has been described, such reference is not intended to be construed as limiting the scope of this disclosure. It will thus be apparent that the apparatus and methods of this disclosure readily achieve the mentioned and inherent purposes and advantages. While certain preferred embodiments of this disclosure have been illustrated and described for these purposes, many changes to the arrangement and construction of components and steps can be made by those skilled in the art, and these changes are covered within the scope and spirit of this disclosure as defined by the appended claims.

Claims

1. A computer-implemented method (200) for operating an implement (42) for a work machine (20), the implement being coupled to a frame (32) of the work machine and having one or more components (44, 46, 47, 48), the method comprising the steps of: a) The position of at least one of the one or more components (44, 46, 47, 48) of the apparatus is calibrated by the following: Associate (210) at least one sensor (104, 104a, 104b, 104c, 104d, 104e) with at least one component of the one or more components of the implement, wherein the at least one component of the one or more components of the implement corresponds to at least one linkage joint (105, 106, 108, 110). Rotate (212) at least one of the components of the tool into one or more postures (300, 302, 304, 306, 308) about an axis defined by at least one corresponding linkage joint. For each of the one or more postures (300, 302, 304, 306, 308), at least one rotation of the implement is performed about an axis (36) that is substantially orthogonal to the frame of the working machine; Receive (214) an output signal from the at least one sensor, the output signal including sensing elements; as well as At least one characteristic is tracked (215) based on at least a portion of the sensing elements in the received output signals of at least one of the one or more components of the apparatus; as well as (b) To guide (220) the movement of at least one of the one or more components of the apparatus based at least in part on at least one tracked characteristic of at least one of the components of the apparatus.

2. The method according to claim 1, further comprising the following steps: This enables user-initiated selection of the calibration mode (206) corresponding to step a).

3. The method according to claim 1, further comprising the following steps: This enables users to make selections for the working mode (208) corresponding to step b).

4. The method according to claim 1, further comprising the following steps: This enables user-initiated selection of the calibration mode (206) corresponding to step a) and the operating mode (208) corresponding to step b).

5. The method according to claim 1, wherein: The at least one characteristic includes the orientation of at least one of the one or more components of the machine relative to a corresponding at least one linkage joint.

6. The method according to claim 5, wherein: Step b) further includes: guiding (220) the movement of at least one of the one or more components of the apparatus based at least in part on the orientation of at least one of the components of the apparatus relative to a corresponding at least one linkage joint.

7. The method according to claim 1, wherein: The sensing elements include multiple angular velocity measurements, and Step a) further includes: tracking (215) the at least one characteristic based on at least a portion of the plurality of angular velocity measurements for at least one of the one or more components of the machine.

8. The method according to claim 1, wherein: The sensing elements include multiple angular velocity measurements, and Step a) further includes: tracking (215) the at least one characteristic by identifying the maximum angular velocity measurement result and the minimum angular velocity measurement result, based at least in part on the plurality of angular velocity measurements of the plurality of components of the one or more components of the machine.

9. The method according to claim 1, wherein: Step a) further includes: for each of the one or more postures (300, 302, 304, 306, 308), performing at least two of the at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine.

10. The method according to claim 1, wherein: Step a) further includes: performing the first rotation of the at least one rotation of the apparatus in (213) at a rate of one revolution per minute or less around an axis substantially orthogonal to the frame, and performing the second rotation or more rotations of the at least one rotation of the apparatus in (213) at a rate greater than one revolution per minute around an axis substantially orthogonal to the frame.

11. The method according to claim 1, wherein: The implement includes: a first component (44) of the one or more components, the first component having a first end connected to the frame of the working machine at a first link joint (105) of the at least one link joint; and a second component (46) of the one or more components, the second component being connected to a second end of the first component of the one or more components at a second link joint (106) of the at least one link joint.

12. The method according to claim 11, wherein, Step a) also includes: Rotate (212) the first component of the one or more components about an axis defined by the first link of the at least one link joint into a first posture of the one or more postures (300, 302, 304, 306, 308); and For the first posture of one or more postures, perform at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine.

13. The method according to claim 11, wherein, Step a) also includes: Rotate (212) the first component of the one or more components about an axis defined by the first link of the at least one link joint into a first posture of the one or more postures (300, 302, 304, 306, 308); and The second component of the one or more components is rotated (212) about an axis defined by the second link of the at least one link joint into a second posture among the one or more postures (300, 302, 304, 306, 308).

14. The method of claim 13, wherein: Step a) further includes: for the first and second postures of the one or more postures, performing at least one rotation of the implement about an axis substantially orthogonal to the frame of the working machine.

15. A working machine, the working machine comprising: The implement (42) is configured to work on terrain (38), the implement is connected to the frame (32) of the working machine (20), and the implement has one or more components (44, 46, 47, 48), at least one of the one or more components (44, 46, 47, 48) of the implement corresponds to at least one linkage joint (105, 106, 108, 110). At least one sensor (104, 104a, 104b, 104c, 104d, 104e), said at least one sensor being associated with at least one of said one or more components of said apparatus; A controller (112) functionally linked to the at least one sensor, the controller being operable between a calibration mode (206) and an operating mode (208), and the controller being configured for the respective operable mode to guide the execution of the operation in the method (200) according to any one of claims 1 to 14.

Images