Dynamic Bin Weighing Using IMU and Kalman Filtering
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Solution Overview
Problem
Conventional weighing systems for agricultural crops and materials are prone to errors due to disturbances caused by uneven or rough ground, leading to inaccurate weight measurements during harvesting and application, as the machinery carrying the crops or products bounces and moves over rough terrain.
Innovation Solution
A system that includes load cells and an inertial measurement unit (IMU) to provide force and orientation information, which is processed by a controller to adjust for slope and filter out disturbances using a Kalman filter, resulting in more accurate weight estimates of agricultural materials in a bin.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional load cells are used to measure weight of agricultural materials in a moving bin, then weight measurement is provided, but measurement accuracy deteriorates due to disturbances from uneven ground and bin movement
Solution Approach 1:
An inertial measurement unit (IMU) is introduced as an intermediary device to detect bin movement and orientation. The IMU measurements are used to calculate compensation factors that correct the load cell readings, thereby eliminating the harmful effects of bin movement on weight measurement accuracy
Solution Approach 2:
The system continuously monitors bin movement via the IMU and dynamically adjusts the weight measurements through real-time compensation calculations. This feedback loop ensures that measurements remain accurate despite changing dynamic conditions during harvesting operations
2Productivity
If the bin is moved over rough terrain during harvesting, then productivity is improved, but measurement precision deteriorates due to increased disturbances and bouncing
Solution Approach 1:
The system converts the harmful effects of bin movement and bouncing into useful information by using the IMU to detect these movements. The detected movements are then used to calculate compensation factors that correct the weight measurements, transforming the previously harmful dynamic conditions into an opportunity for improved measurement accuracy
3Measurement precision
If slope compensation is applied to correct for bin orientation, then measurement accuracy is improved, but device complexity increases due to additional sensors and processing
Solution Approach 1:
The inertial measurement unit (IMU) serves multiple functions: it detects bin movement, determines bin orientation for slope compensation, and provides data for dynamic compensation calculations. This multi-functionality reduces the need for separate dedicated sensors for each measurement task, thereby limiting the increase in system complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system significantly reduces measurement disturbances, improving the accuracy of weight data during harvesting and application by compensating for slope and filtering out noise, thus enhancing the reliability of yield management strategies.
Implementation Method 1
An inertial measurement unit (IMU) is coupled to the bin and configured to provide gyroscope information and accelerometer information as a function of orientation and movement of the bin respectively
Implementation Method 2
An inertial measurement unit (IMU) is coupled to the bin and configured to provide gyroscope information and accelerometer information as a function of orientation and movement of the bin respectively
Implementation Method 3
a plurality of load cells configured to provide force information as a function of a weight of the bin and a weight of the agricultural materials in the bin
Data Source
AI summary
Weighing systems and methods for dynamic loads are provided. A plurality of sensors are configured to provide force information based on a weight of a bin and a weight of a material in the bin. An IMU is coupled to the bin and configured to provide gyroscope information and accelerometer information based on orientation and movement of the bin respectively. A controller is communicatively coupled to the plurality of sensors and to the IMU. The controller is configured to receive the force information from the plurality of sensors and the gyroscope information and the accelerometer information from the IMU. The controller is configured to compensate the force information based on slope of the bin to provide slope-compensated force information, filter the slope-compensated force information using a Kalman filter to provide filtered force information, and estimate the weight of the material in the bin based on the filtered force information.