Bucket Position Estimation Using Protected Linkage Angle Sensing
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Solution Overview
Problem
Angular sensors attached to buckets and bucket pins in work machines are prone to damage or breakage due to submersion during operations like dredging, necessitating robust protection.
Innovation Solution
A position estimating system with a bucket angle sensor disposed in a linkage mechanism, specifically the third linkage part of the extension arm, which reduces the risk of submersion and allows for easy attachment and detachment without sensor replacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If angular sensors are attached to the bucket and bucket pin to detect pivot angles, then position estimation accuracy is improved, but the sensors are prone to damage or breakage due to submersion during operations
Solution Approach 1:
The work implement is divided into multiple segments (boom, arm, bucket, extension arm) with the sensor strategically placed on the extension arm rather than directly on the bucket. This segmentation allows the sensor to remain part of the functional system while being physically separated from the high-risk submersion zone, resolving the contradiction between measurement precision and sensor durability
Solution Approach 2:
The extension arm acts as an intermediary component between the bucket and the main arm. By placing the angular sensor on the extension arm rather than directly on the bucket pin, the system uses this intermediate structure to protect the sensor from direct submersion exposure while still enabling accurate angle detection for position estimation
2Productivity
If the extension arm is attached to extend the work range, then productivity is improved, but the complexity of the work implement increases
Solution Approach 1:
The extension arm is designed as a universal attachment that can be easily connected and disconnected from the work implement. The standardized coupling mechanism allows the same extension arm structure to be used across different work implement configurations, increasing work range without proportionally increasing complexity through modular design
Solution Approach 2:
The extension arm configuration is made dynamic and adaptable rather than fixed. The ability to attach and detach the extension arm allows the system to change its configuration based on operational needs, providing extended work range when required while maintaining a simpler base configuration when the extension is not needed
Data Source
AI summary
A position estimating system includes a first posture detector disposed in a linkage mechanism, and a controller that estimates information regarding the position of a bucket with respect to a work machine based on data regarding a shape of a first work implement, data regarding a shape of a second work implement, information regarding a posture of the first work implement, and a value detected by the first posture detector. The second work implement includes an extension part having a first end portion connectable to the bucket and a second end portion connectable to an arm. The linkage mechanism includes a first linkage part connected to the extension part through a first coupling portion, a second linkage part connected to the first linkage part through a second coupling portion, and a third linkage part disposed closer to the second end portion than the first linkage part.