Boom-Mounted GPS Locating System for Excavator Positioning
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Solution Overview
Problem
Existing machine locating systems, such as those using GPS antennae, face complexity in determining the position and orientation of machines with booms due to the lack of antennae on the boom and failure to account for boom flexing under heavy loads, making it difficult for operators to accurately position and orient tools relative to work sites.
Innovation Solution
A machine locating system that includes a first GPS unit on the gantry member and a second GPS unit on the boom, allowing for precise determination of the machine's position, orientation, and tool location, while also measuring boom flexing through signals received by a controller for improved operational efficiency and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS antennae are mounted on the body of the machine, then the position of critical components can be determined, but the location of the tool connected to the boom remains unknown and boom flexing cannot be accounted for
Solution Approach 1:
The system divides the machine into multiple segments (body and boom) and places GPS antennae at different locations on each segment. This segmentation allows independent tracking of each component's position, enabling determination of both body position and tool location while accounting for boom flexing independently.
Solution Approach 2:
The system transitions from a single reference point (body-mounted antenna) to a multi-dimensional positioning approach by placing antennas on both the body and the boom. This adds spatial dimensionality to the measurement system, enabling three-dimensional tracking of the tool's position and detection of boom flexing in multiple directions.
2Ease of manufacture
If GPS antennae are not located at rotational axes, then installation is simpler, but calculations to determine locations away from antennae become complex
Solution Approach 1:
The system applies different functional qualities to different locations: the body-mounted antenna provides reference for overall machine position, while the boom-mounted antenna provides local position data specific to the boom's movement and flexing. This local differentiation simplifies calculations by providing position data closer to the components of interest.
Solution Approach 2:
The boom-mounted GPS antenna acts as an intermediary between the body-mounted antenna and the tool. It provides intermediate position data that simplifies the calculation chain, allowing direct determination of tool position without complex transformations from body-mounted antenna data alone.
3Device complexity
If only body-mounted GPS antennae are used, then the system is simpler, but the position and orientation of the tool relative to work site cannot be precisely determined
Solution Approach 1:
The positioning system is segmented into body-mounted and boom-mounted components, allowing each to serve specific measurement functions. This segmentation maintains relative system simplicity while significantly improving tool position accuracy by providing direct boom position data.
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 simplifies calculations, enhances accuracy in determining machine and tool positions, and provides real-time load information, enabling operators to optimize operations, predict component life, and ensure safety by accurately accounting for boom flexing and load conditions.
Implementation Method 1
The first and second GPS units periodically receive satellite signals and determine their three-dimensional coordinates with respect to a chosen reference system
Data Source
AI summary
A locating system for a machine having a boom is disclosed. The locating system has a first GPS unit and a second GPS unit. The second GPS unit is located on the boom.