Method, device and system for determining an angle
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XCMG EXCAVATOR MACHINERY CO LTD
- Filing Date
- 2023-06-30
- Publication Date
- 2026-07-21
AI Technical Summary
The sensors of split-type machinery accumulate errors over long periods of operation, making it impossible to accurately measure the relative rotation angle, which affects operational safety and accuracy.
By acquiring the difference in heading angle between the upper and lower parts of the split mechanical structure, and using a preset threshold to correct the sensor data, the actual heading angle is determined, including calibration during startup and driving, thus reducing errors.
It improves the safety and precision of split-type machinery during operation, and enhances the reliability of construction through accurate measurement of relative rotation angles.
Smart Images
Figure CN116793300B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a method, apparatus and system for determining an angle. Background Technology
[0002] Currently, there is an increasing demand for high safety and high operational precision in construction. By measuring the relative rotation angle between the upper and lower mechanisms of a split-type machine, the overall spatial attitude information of the machine can be calculated based on this angle. Utilizing this spatial attitude information allows for the determination of the machine's spatial posture, thereby improving its safety and operational precision during operation. Summary of the Invention
[0003] In related technologies, sensors can be used to measure relative rotation angles. However, the inventors noted that because the operation time of split-type machinery is usually long, and sensors will generate certain errors under long-term cumulative operation, it is impossible to obtain accurate relative rotation angles based on sensors on split-type machinery.
[0004] To address the aforementioned problems, the present disclosure proposes the following solutions.
[0005] According to one aspect of the present disclosure, a method for determining an angle is provided, comprising: acquiring angle data of an upper mechanism of a split-type machine when it rotates to a preset position, the angle data including a first heading angle of the upper mechanism acquired by a first sensor and a second heading angle of the lower mechanism of the split-type machine acquired by a second sensor; determining a first absolute value of the difference between the first heading angle and the second heading angle; and determining the actual heading angle of the lower mechanism based on the second heading angle when the difference between the first absolute value and a second absolute value of the difference between the upper mechanism and the lower mechanism at the preset position is greater than a first preset threshold, and determining the actual heading angle of the upper mechanism based on the second heading angle and the actual rotation angle.
[0006] In some embodiments, the actual heading angle of the upper mechanism is determined based on the sum of the second heading angle and the actual rotation angle.
[0007] In some embodiments, the method further includes: obtaining a third heading angle of the upper mechanism collected by the first sensor when the split-type mechanical unit is started; determining a third absolute value of the difference between the third heading angle and a first stored heading angle of the upper mechanism at the time of the last power failure; and if the third absolute value is greater than a second preset threshold, using the first stored heading angle as the actual heading angle of the upper mechanism.
[0008] In some embodiments, the method further includes: acquiring a fourth heading angle of the lower mechanism collected by the second sensor when the split-type mechanical unit is started; determining a fourth absolute value of the difference between the fourth heading angle and the second stored heading angle of the lower mechanism at the time of the last power failure; and, if the fourth absolute value is greater than a third preset threshold, using the second stored heading angle as the actual heading angle of the lower mechanism.
[0009] In some embodiments, the method further includes: acquiring a fifth heading angle of the lower mechanism collected by the second sensor when the split-type mechanical device enters a first driving state from a non-driving state and the duration of the first driving state is less than a first preset time; determining a fifth absolute value of the difference between the fifth heading angle and the sixth heading angle, wherein the sixth heading angle is a third stored heading angle stored by the lower mechanism when the last power failure occurred or a seventh heading angle of the lower mechanism collected by the second sensor when the split-type mechanical device is in the non-driving state and the lower mechanism is in the power-on state; and taking the sixth heading angle as the actual heading angle of the lower mechanism when the fifth absolute value is greater than a fourth preset threshold.
[0010] In some embodiments, the first preset time is 60 milliseconds.
[0011] In some embodiments, when the split-type machinery is in the non-driving state and the lower mechanism is in the power-off state, the sixth heading angle is the third stored heading angle stored by the lower mechanism during the last power-off; when the split-type machinery enters the non-driving state from the second driving state and the duration of the lower mechanism being in the powered-on state in the non-driving state is greater than or equal to the second preset time, the sixth heading angle is the seventh heading angle.
[0012] In some embodiments, the method further includes sending at least one of the actual heading angle of the upper mechanism and the actual heading angle of the lower mechanism to a display screen for display.
[0013] In some embodiments, the preset location includes multiple locations.
[0014] In some embodiments, the sensor includes a microelectromechanical system (MEMS) sensor.
[0015] According to another aspect of the present disclosure, an angle determination apparatus is provided, comprising: a module for performing the method described in any of the above embodiments.
[0016] According to another aspect of the present disclosure, an angle determination apparatus is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any of the above embodiments based on instructions stored in the memory.
[0017] According to another aspect of the present disclosure, a program controller is provided, including: the angle determination device described in any of the above embodiments.
[0018] According to another aspect of the embodiments of this disclosure, an angle determination system is provided, comprising:
[0019] The program controller described in any of the above embodiments; the first sensor is configured to acquire the heading angle of the upper mechanism; and the second sensor is configured to acquire the heading angle of the lower mechanism.
[0020] In some embodiments, the system further includes: a sensor switch configured to send an indication signal to an angle determining device to acquire angle data when the upper mechanism rotates to the preset position.
[0021] In some embodiments, the inductive switch includes a transmitter and a receiver, one of which is disposed on the upper mechanism and the other on the lower mechanism; the transmitter is configured to transmit an inductive signal, and the receiver is configured to determine, upon receiving the inductive signal, that the upper mechanism has rotated to the preset position.
[0022] In some embodiments, the inductive switch includes a magnetic sensor and / or an infrared sensor.
[0023] According to another aspect of the present disclosure, a split-type machine is provided, including: an angle determination system as described in any of the above embodiments.
[0024] According to another aspect of the present disclosure, a computer-readable storage medium is provided, including computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method described in any of the above embodiments.
[0025] In this embodiment of the present disclosure, a sensor is used to obtain the first heading angle of the upper mechanism and the second heading angle of the lower mechanism when the upper mechanism of the split-type machine rotates to a preset position to determine the first absolute value of the difference between the two. Then, if the second absolute value of the difference between the first absolute value and the actual rotation angle between the upper mechanism and the lower mechanism at the preset position is greater than a first preset threshold, the actual heading angle of the lower mechanism and the actual heading angle of the upper mechanism are determined according to the second heading angle and the actual rotation angle, respectively, so as to accurately obtain the relative rotation angle of the split-type machine when the upper mechanism rotates to the preset position.
[0026] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a flowchart illustrating a method for determining the angle according to some embodiments of the present disclosure.
[0029] Figure 2 This is a flowchart illustrating a method for determining the angle according to other embodiments of this disclosure.
[0030] Figure 3 This is a flowchart illustrating a method for determining the angle according to some embodiments of the present disclosure.
[0031] Figure 4 This is a flowchart illustrating a method for determining the angle according to some embodiments of the present disclosure.
[0032] Figure 5 This is a structural schematic diagram of an angle determination device according to some embodiments of the present disclosure.
[0033] Figure 6 This is a structural schematic diagram of an angle determination device according to other embodiments of the present disclosure.
[0034] Figure 7 This is a schematic diagram of a split-type machine according to some embodiments of the present disclosure. Detailed Implementation
[0035] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.
[0036] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of this disclosure.
[0037] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.
[0038] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.
[0039] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.
[0040] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.
[0041] Furthermore, in the description of this disclosure, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or order. Similarly, although operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring such operations to be performed in the specific order shown or in sequential order, or requiring the execution of all illustrated operations to achieve the desired result. In some cases, multitasking and parallel processing can be advantageous.
[0042] In this disclosure, the relative rotation angle of the split-type machine can be determined by the difference between the heading angle of the upper mechanism and the heading angle of the lower mechanism.
[0043] Figure 1 This is a flowchart illustrating a method for determining the angle according to some embodiments of the present disclosure.
[0044] In step 102, the angle data of the upper mechanism of the split-type machine when it rotates to a preset position is obtained. Here, the angle data includes the first heading angle of the upper mechanism collected by the first sensor and the second heading angle of the lower mechanism of the split-type machine collected by the second sensor.
[0045] For example, the first sensor collects the heading angle of the upper mechanism in real time, and the second sensor collects the heading angle of the lower mechanism in real time. When the upper mechanism rotates to a preset position, the heading angle of the upper mechanism collected by the first sensor at the current moment is obtained as the first heading angle, and the heading angle of the upper mechanism collected by the second sensor at the current moment is obtained as the second heading angle.
[0046] In some embodiments, the first sensor may be fixedly installed in the upper part of the split-type machine, and the second sensor may be fixedly installed in the lower part of the split-type machine.
[0047] In some embodiments, at least one of the first sensor and the second sensor includes a MEMS sensor.
[0048] In some embodiments, the upper mechanism may be an upper turntable (which may include a driver's cab), and the lower mechanism may be a lower frame (driving chassis).
[0049] In step 104, the first absolute value of the difference between the first heading angle and the second heading angle is determined.
[0050] In step 106, if the second absolute value of the difference between the first absolute value and the actual rotation angle between the upper mechanism and the lower mechanism at the preset position is greater than the first preset threshold, the actual heading angle of the lower mechanism is determined based on the second heading angle, and the actual heading angle of the upper mechanism is determined based on the second heading angle and the actual rotation angle.
[0051] In some embodiments, the heading angle can be described starting from a preset direction (e.g., due north). For example, the heading angle is 0 degrees when facing due north; or 45 degrees east of north when facing northeast; or 135 degrees east of north when facing southeast.
[0052] Thus, by using sensors to obtain the first heading angle of the upper mechanism and the second heading angle of the lower mechanism when the upper mechanism of the split-type machine rotates to a preset position, the first absolute value of the difference between the two is determined. Then, if the second absolute value of the difference between the first absolute value and the actual rotation angle between the upper mechanism and the lower mechanism at the preset position is greater than the first preset threshold, the actual heading angle of the lower mechanism and the actual heading angle of the upper mechanism are determined according to the second heading angle and the actual rotation angle, respectively, thereby accurately obtaining the relative rotation angle of the split-type machine when the upper mechanism rotates to the preset position.
[0053] In some embodiments, the preset location may include multiple locations.
[0054] In this way, the actual heading angle of the lower mechanism and the actual heading angle of the upper mechanism can be determined multiple times through multiple positions, thereby obtaining the relative rotation angle of the split machine when the upper mechanism rotates to the preset position more accurately.
[0055] In some embodiments, the second heading angle can be used as the actual heading angle of the lower mechanism.
[0056] In some other embodiments, if it is known by other means that the second heading angle is inaccurate, the actual heading angle of the lower mechanism can be determined based on the second heading angle. For example, the second heading angle can be corrected to determine the actual heading angle of the lower mechanism.
[0057] Thus, by determining the actual heading angle of the lower mechanism based on the second heading angle, the accurate actual heading angle of the lower mechanism can be obtained, thereby accurately obtaining the relative rotation angle of the split-type machine when the upper mechanism rotates to the preset position.
[0058] In some embodiments, the actual heading angle of the upper mechanism can be determined based on the sum of the second heading angle and the actual rotation angle. For example, the actual heading angle of the upper mechanism can be determined by the sum of the second heading angle and the actual rotation angle.
[0059] Thus, the accurate actual heading angle of the upper mechanism can be obtained by summing the second heading angle and the actual rotation angle, thereby accurately obtaining the relative rotation angle of the split mechanism when the upper mechanism rotates to the preset position.
[0060] The inventors noted that when the split-type machinery is first started, the data collected by the sensors may drift, making it impossible to accurately obtain the relative rotation angle. Accordingly, the present disclosure also proposes the following solution.
[0061] Figure 2 This is a flowchart illustrating a method for determining the angle according to other embodiments of this disclosure.
[0062] In step 202, the third heading angle of the upper mechanism, collected by the first sensor, is obtained when the split-type mechanical unit starts.
[0063] In some embodiments, "when the split-type machine starts" can refer to the moment when the upper and lower mechanisms of the split-type machine enter the powered-on state. For example, if at a certain moment the upper and lower mechanisms of the split-type machine enter the powered-on state from the powered-off state, then that moment is the moment corresponding to "when the split-type machine starts".
[0064] In step 204, the third absolute value of the difference between the third heading angle and the first stored heading angle of the upper mechanism at the time of the last power failure is determined.
[0065] In some embodiments, "when the last power was cut off" may refer to the moment when the last power-on state ended before the moment of entering the current power-on state. For example, if the upper mechanism is in a power-on state from 8:00 to 9:00 and is cut off at 9:00, then the heading angle of the upper mechanism is stored as the first stored heading angle at the instant of power failure at 9:00.
[0066] In step 206, if the third absolute value is greater than the second preset threshold, the first stored heading angle is taken as the actual heading angle of the upper mechanism.
[0067] Thus, by obtaining the third absolute value of the difference between the third heading angle when the split-type mechanical unit starts and the first stored heading angle of the upper mechanism when the power was cut off, and then taking the first stored heading angle as the actual heading angle of the upper mechanism when the third absolute value is greater than the second preset threshold, the relative rotation angle when the split-type mechanical unit starts can be accurately obtained.
[0068] In some embodiments, when the modular machine is powered on, it is possible to verify whether the communication components of the modular machine are operating normally. For example, it is possible to verify whether the data transmission of the first sensor and / or the data transmission of the second sensor are normal.
[0069] Figure 3 This is a flowchart illustrating a method for determining the angle according to some embodiments of the present disclosure.
[0070] In step 302, the fourth heading angle of the lower mechanism, collected by the second sensor, is obtained when the split-type mechanical unit starts.
[0071] In step 304, the fourth absolute value of the difference between the fourth heading angle and the second stored heading angle of the lower mechanism at the time of the last power failure is determined.
[0072] In step 306, if the fourth absolute value is greater than the third preset threshold, the second stored heading angle is used as the actual heading angle of the lower mechanism.
[0073] Thus, by obtaining the fourth absolute value of the difference between the fourth heading angle when the split-type mechanical starts and the second stored heading angle of the lower mechanism when the power was cut off, and then taking the second stored heading angle as the actual heading angle of the lower mechanism when the fourth absolute value is greater than the third preset threshold, the relative rotation angle when the split-type mechanical starts can be accurately obtained.
[0074] The inventors also noted that when the split-type machinery is just starting to move, the data collected by the sensors may have large errors, making it impossible to accurately obtain the relative rotation angle. Accordingly, the embodiments of this disclosure also propose the following solutions.
[0075] Figure 4This is a flowchart illustrating a method for determining the angle according to some embodiments of the present disclosure.
[0076] In step 402, the fifth heading angle of the lower mechanism, collected by the second sensor, can be obtained when the split-type mechanical device transitions from a non-driving state to a first driving state, and the duration of the first driving state is less than a first preset time. It is understood that when the split-type mechanical device is in a driving state (e.g., the first driving state), the lower mechanism drives the upper structure to move.
[0077] In some embodiments, the preset time can be 60 milliseconds. The inventors discovered that when the duration of the split-type machine in motion is less than 60 milliseconds, the fifth heading angle of the lower mechanism collected by the second sensor is more prone to large errors, thus making it impossible to accurately obtain the relative rotation angle.
[0078] In some embodiments, the first preset time may be one machine cycle of the program controller.
[0079] In step 404, the fifth absolute value of the difference between the fifth heading angle and the sixth heading angle is determined. Here, the sixth heading angle is the third stored heading angle stored by the lower mechanism when the power was last cut off, or the seventh heading angle of the lower mechanism collected by the second sensor when the split machine is in a non-moving state and the lower mechanism is in a powered-on state.
[0080] In step 406, if the fifth absolute value is greater than the fourth preset threshold, the sixth heading angle is taken as the actual heading angle of the lower mechanism.
[0081] Thus, by obtaining the fifth absolute value of the difference between the fifth and sixth heading angles when the split-type mechanical unit just enters the driving state through the sensor, and then taking the sixth heading angle as the actual heading angle of the lower mechanism when the fifth absolute value is greater than the fourth preset threshold, the relative rotation angle when the split-type mechanical unit just enters the driving state can be accurately obtained.
[0082] In some embodiments, when the speed of the split-type machine is not zero, it can be considered to be in a driving state; when the speed of the split-type machine is zero, it can be considered to be in a non-driving state.
[0083] As one implementation method, the travel speed of the split-type machine can be obtained using a first sensor or a second sensor.
[0084] Therefore, by using the first or second sensor to obtain the actual driving speed of the split-type machinery, the driving speed of the split-type machinery can be obtained more accurately.
[0085] In some embodiments, the travel speed of the lower mechanism can be used as the travel speed of the split-type machine.
[0086] In some embodiments, when the split-type machinery is in a non-moving state and the lower mechanism is in a power-off state, the sixth heading angle is the third stored heading angle stored by the lower mechanism at the time of the last power-off. For example, if the lower mechanism of the split-type machinery switches from a power-off state to a power-on state, then the sixth heading angle is the heading angle stored by the lower mechanism at the time of the last power-off.
[0087] In other embodiments, the sixth heading angle is the seventh heading angle if the split-type mechanical unit transitions from a second driving state to a non-driving state, and the lower mechanism remains powered on for a duration greater than or equal to a second preset time in the non-driving state. For example, if the split-type mechanical unit starts up, enters a driving state, then enters a standby state, and then enters a driving state again, in this case, if the standby time of the lower mechanism in the standby state is greater than or equal to the second preset time, then the sixth heading angle is the seventh heading angle of the lower mechanism collected by the second sensor.
[0088] Thus, considering that the split-type machinery may adjust its direction of travel during operation, thereby defining the sixth heading angle under different conditions, the relative rotation angle can be accurately obtained when the split-type machinery just enters the driving state.
[0089] In some embodiments, the second preset time may be 1 minute.
[0090] In some embodiments, when the split-type machine transitions from a driving state to a non-driving state, and the duration for which the lower mechanism is powered on in the non-driving state is equal to a second preset time, the second sensor collects the seventh heading angle of the lower mechanism as the sixth heading angle. For example, if the second preset time is 1 minute, then when the duration is exactly 1 minute, the second sensor collects the seventh heading angle of the lower mechanism as the sixth heading angle.
[0091] In this way, the inaccurate heading angle obtained by the second sensor due to long-term operation can be avoided (for example, the inaccurate heading angle obtained due to the cumulative error of long-term integration calculation of the sensor), so as to accurately obtain the relative rotation angle when the split machine has just entered the driving state.
[0092] It should be understood that, in addition to Figures 1 to 4 Apart from the cases mentioned above where the actual heading angle is determined, in other situations, the heading angles collected by the first and second sensors are used as the actual heading angles of the upper mechanism and the lower mechanism, respectively. For example, if the upper mechanism of a split-type machine has not rotated to the preset position, the heading angle of the upper mechanism collected by the first sensor can be directly used as the actual heading angle of the upper mechanism, and the heading angle of the lower mechanism collected by the second sensor can be directly used as the actual heading angle of the lower mechanism.
[0093] In some embodiments, at least one of the actual heading angles of the upper mechanism and the lower mechanism can be sent to a display screen for display. The display screen can be installed, for example, in the driver's cab.
[0094] Thus, by displaying the actual heading angle on the screen, the motion state of the split-type machinery can be easily adjusted, thereby improving the safety and operational accuracy of the split-type machinery during operation.
[0095] In some embodiments, the first preset threshold, the second preset threshold, the third preset threshold, and the fourth preset threshold can be the same preset value, for example, all of them can be 0.05.
[0096] In some embodiments, two of the first preset threshold, second preset threshold, third preset threshold, and fourth preset threshold can be the same preset value. For example, the first preset threshold is the same as the second preset threshold, the first preset threshold is the same as the third preset threshold, the first preset threshold is the same as the fourth preset threshold, the second preset threshold is the same as the third preset threshold, the second preset threshold is the same as the fourth preset threshold, or the third preset threshold is the same as the fourth preset threshold.
[0097] In some embodiments, three of the first preset threshold, second preset threshold, third preset threshold, and fourth preset threshold may be the same preset value. For example, the first preset threshold, second preset threshold, and third preset threshold may be the same; the first preset threshold, second preset threshold, and fourth preset threshold may be the same; the first preset threshold, third preset threshold, and fourth preset threshold may be the same; or the second preset threshold, third preset threshold, and fourth preset threshold may be the same.
[0098] In some embodiments, the first preset threshold, the second preset threshold, the third preset threshold, and the fourth preset threshold can be different preset values.
[0099] The different embodiments described above can be combined with each other to obtain a more accurate relative rotation angle. For example, Figure 1 , Figure 2 , Figure 3 and Figure 4 Any of the embodiments shown can be combined with each other.
[0100] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus embodiments, since they largely correspond to the method embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.
[0101] In some embodiments, the angle determination apparatus may include a module that performs the angle determination method of the above embodiments.
[0102] Figure 5 This is a structural schematic diagram of an angle determination device according to some embodiments of the present disclosure.
[0103] like Figure 5 As shown, the angle determination device includes an acquisition module 501, a first determination module 502, and a second determination module 503.
[0104] The acquisition module 501 is configured to acquire angle data when the upper mechanism of the split-type machine rotates to a preset position. The angle data includes the first heading angle of the upper mechanism collected by the first sensor and the second heading angle of the lower mechanism of the split-type machine collected by the second sensor.
[0105] The first determining module 502 is configured to determine the first absolute value of the difference between the first heading angle and the second heading angle.
[0106] The second determining module 503 is configured to determine the actual heading angle of the lower mechanism based on the second heading angle, and to determine the actual heading angle of the upper mechanism based on the second heading angle and the actual rotation angle, when the second absolute value of the difference between the first absolute value and the actual rotation angle between the upper mechanism and the lower mechanism at the preset position is greater than the first preset threshold.
[0107] In some embodiments, the angle determination device may further include other modules to perform the angle determination method of any of the above embodiments.
[0108] Figure 6 This is a structural schematic diagram of an angle determination device according to other embodiments of the present disclosure.
[0109] like Figure 6 As shown, the angle determination device 600 includes a memory 601 and a processor 602 coupled to the memory 601. The processor 602 is configured to execute the method of any of the foregoing embodiments based on instructions stored in the memory 601.
[0110] The memory 601 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.
[0111] The angle determining device 600 may also include an input / output interface 603, a network interface 604, and a storage interface 605. The input / output interface 603, network interface 604, and storage interface 605, as well as the memory 601 and processor 602, can be connected, for example, via a bus 606. The input / output interface 603 provides a connection interface for input / output devices such as a monitor, mouse, keyboard, and touchscreen. The network interface 604 provides a connection interface for various networked devices. The storage interface 605 provides a connection interface for external storage devices such as SD cards and USB flash drives.
[0112] This disclosure also provides a program controller, including the angle determination device of any of the above embodiments.
[0113] This disclosure also provides an angle determination system, including a program controller, a first sensor, and a second sensor, as described in any of the above embodiments. Here, the first sensor is configured to acquire the heading angle of the upper mechanism, and the second sensor is configured to acquire the heading angle of the lower mechanism.
[0114] In some embodiments, the angle determination system further includes a sensor switch. Here, the sensor switch is configured to send an indication signal to instruct the angle determination device to acquire angle data when the upper mechanism rotates to the preset position when the upper mechanism rotates to the preset position.
[0115] In some embodiments, the inductive switch includes a transmitter and a receiver. Here, one of the transmitter and receiver is disposed in the upper mechanism, and the other in the lower mechanism. The transmitter is configured to transmit an inductive signal, and the receiver is configured to determine that the upper mechanism has rotated to a preset position upon receiving the inductive signal. It should be understood that the number of transmitters can be one or more, and the number of receivers can also be one or more. As some implementations, the number of transmitters is one, and the number of receivers is multiple, such as two. For each receiver, the rotation of the upper mechanism to the preset position is determined as soon as the inductive signal is received.
[0116] In some embodiments, the inductive switch includes a magnetic sensor and / or an infrared sensor.
[0117] This disclosure also provides a modular machine, including the angle determination system of any of the above embodiments. In some embodiments, the modular machine may be an excavator.
[0118] Figure 7 This is a schematic diagram of a split-type machine according to some embodiments of the present disclosure.
[0119] As shown in the figure, the split-type machine includes a slewing bearing 700, an upper mechanism 701, a lower mechanism 702, a first sensor 703, a second sensor 704, a wireless receiver 705, a receiver 706, a transmitter 707, a transmitter 708, and a program controller 709. Here, the program controller 709 may include the angle determination device of any of the above embodiments.
[0120] In some embodiments, the upper mechanism 701 and the lower mechanism 702 are connected by a slewing bearing 700. As some embodiments, the upper mechanism 701 may be fixedly mounted on the upper part of the slewing bearing 700, and the lower mechanism 702 may be fixedly mounted on the lower part of the slewing bearing 700. The upper mechanism 701 can rotate freely 360° through the transition connection of the slewing bearing 100.
[0121] In some embodiments, the upper mechanism 701 is provided with a display screen (not shown).
[0122] In some embodiments, the first sensor 703 is fixedly mounted on the upper mechanism 701 and connected to the program controller 709 via a data cable to transmit angle data.
[0123] In some embodiments, the second sensor 704 is fixedly mounted on the lower mechanism 702 and maintains signal communication with the wireless receiver 705 via wireless transmission to transmit heading angle data. This avoids the cable tangling problem that would occur if the upper mechanism 701 and the lower mechanism 702 used wired communication.
[0124] It should be understood that the first sensor 703 and the second sensor 704 can also collect angle data such as roll angle and pitch angle in order to obtain more comprehensive spatial attitude information.
[0125] In some embodiments, the second sensor 704 is configured to be powered by a battery.
[0126] In some implementations, at least two batteries are used. This allows at least two batteries to serve as backups for each other and facilitates easy replacement.
[0127] As one implementation, battery power information can be transmitted to the program controller 709 via an indicator light on the battery or the second sensor 704, or via a wireless signal, so that the operator can know the remaining battery power.
[0128] In some embodiments, the wireless receiver 705 is fixedly mounted on the upper mechanism 701 and connected to the program controller 709 via a data cable to transmit heading angle data from the second sensor 704.
[0129] In some embodiments, the program controller 709 continuously receives data from the first sensor 703 and the second sensor 704, and can store the data.
[0130] This disclosure also provides a computer-readable storage medium including computer program instructions that, when executed by a processor, implement the method of any of the above embodiments.
[0131] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.
[0132] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0133] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that the functions specified in one or more flowchart illustrations and / or one or more blocks in a block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate functions for implementing the functions in the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0136] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.
Claims
1. A method for determining an angle, comprising: The third heading angle of the upper mechanism of the split-type machine is acquired by the first sensor and the fourth heading angle of the lower mechanism of the split-type machine is acquired by the second sensor when the split-type machine is started. Determine the third absolute value of the difference between the third heading angle and the first stored heading angle of the upper mechanism at the time of the last power failure; If the third absolute value is greater than the second preset threshold, the first stored heading angle is taken as the actual heading angle of the upper mechanism; otherwise, the third heading angle is taken as the actual heading angle of the upper mechanism. Determine the fourth absolute value of the difference between the fourth heading angle and the second stored heading angle of the lower mechanism at the time of the last power failure; If the fourth absolute value is greater than the third preset threshold, the second stored heading angle is used as the actual heading angle of the lower mechanism; otherwise, the fourth heading angle is used as the actual heading angle of the lower mechanism. When the split-type machine enters the first driving state from the non-driving state and the duration of the first driving state is less than a first preset time, the fifth heading angle of the lower mechanism of the split-type machine is collected by the second sensor, and the first preset time is 60 milliseconds. Determine the fifth absolute value of the difference between the fifth heading angle and the sixth heading angle; If the fifth absolute value is greater than the fourth preset threshold, the sixth heading angle is taken as the actual heading angle of the lower mechanism; otherwise, the fifth heading angle is taken as the actual heading angle of the lower mechanism. The fourth preset threshold, the third preset threshold and the second preset threshold are the same. Wherein, when the split-type mechanical unit is in the non-moving state and the lower mechanism is in the power-off state, the sixth heading angle is the third stored heading angle stored by the lower mechanism during the last power-off; and when the split-type mechanical unit enters the non-moving state from the second moving state, and the duration of the lower mechanism being in the powered-on state in the non-moving state is greater than or equal to the second preset time, the sixth heading angle is the seventh heading angle of the lower mechanism collected by the second sensor when the split-type mechanical unit is in the non-moving state and the lower mechanism is in the powered-on state, and the second preset time is 1 minute.
2. The method according to claim 1, further comprising: At least one of the actual heading angle of the upper mechanism and the actual heading angle of the lower mechanism of the split-type machine is sent to the display screen for display.
3. The method according to claim 1, wherein, At least one of the first sensor and the second sensor includes a microelectromechanical system (MEMS) sensor.
4. An angle determining device, comprising a module for performing the method according to any one of claims 1-3.
5. An angle determining device, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method of any one of claims 1-3 based on instructions stored in the memory.
6. A programmable controller, comprising: The angle determining device as described in claim 4 or 5.
7. A system for determining an angle, comprising: The program controller as described in claim 6; The first sensor is configured to acquire the heading angle of the upper mechanism; and The second sensor is configured to acquire the heading angle of the lower mechanism of the split-type machine.
8. The system according to claim 7, further comprising: An inductive switch is configured to send an indication signal when the upper mechanism rotates to a preset position, instructing an angle determination device to acquire angle data when the upper mechanism rotates to the preset position. The angle data includes a first heading angle of the upper mechanism acquired by a first sensor and a second heading angle of the lower mechanism acquired by a second sensor.
9. The system according to claim 8, wherein, The inductive switch includes a transmitter and a receiver, one of which is disposed in the upper mechanism and the other in the lower mechanism; The transmitter is configured to transmit a sensing signal, and the receiver is configured to determine, upon receiving the sensing signal, that the upper mechanism has rotated to the preset position.
10. The system according to claim 9, wherein, The inductive switch includes a magnetic sensor and / or an infrared sensor.
11. A split-type machine, comprising: The angle determination system as described in any one of claims 7-10.
12. A computer-readable storage medium comprising computer program instructions, wherein, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1-3.