Construction Machine Calibration Using Merged GNSS and Angle Sensors
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Solution Overview
Problem
Existing methods for positioning and calibration of construction working machines, such as backhoes and bulldozers, face challenges in accurately measuring the dimensions and positions of movable working tools due to ambiguity in measurement positions and dimensions, leading to accumulated errors and complex calibration processes.
Innovation Solution
A positioning calibration method that uses a combination of GNSS receivers, angle sensors, and optical surveying devices to measure and calibrate the positions and dimensions of movable working tools, where the measuring instrument for calibration is the same as for positioning, simplifying the process and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional tilt sensor calibration methods are used requiring another tilt angle measuring device, then calibration can be performed, but device complexity and cost increase
Solution Approach 1:
The patent combines the positioning function and calibration function into a single surveying device system. The same surveying device that measures the position of the movable working tool is also used to measure calibration positions, eliminating the need for separate calibration devices and reducing system complexity while maintaining calibration accuracy
Solution Approach 2:
The surveying device is designed to perform multiple functions: both positioning measurement and calibration measurement. By making the measuring instrument universal, the patent reduces the number of devices needed and simplifies the overall system while achieving accurate calibration results
2Measurement precision
If multiple prism attachments are used for calibration, then measurement coverage is improved, but sticking errors and operation complexity increase
Solution Approach 1:
The patent extracts the essential calibration information from multiple complex prism attachments and concentrates it into a single prism attachment at a specifically designed calibration position. This single position is calculated based on the relationship between the movable working tool and the machine body, allowing calibration to be performed with one attachment point, thereby reducing sticking errors and operational complexity
Solution Approach 2:
The system uses the movable working tool itself and its relationship with the machine body to define the calibration position, rather than requiring external multiple attachment points. The calibration position is self-determined based on the tool's geometric relationship with the machine, simplifying the calibration process
3Ease of manufacture
If design drawing dimensions are used for calibration, then calibration can be performed without field measurement, but accuracy decreases due to manufacturing tolerances and wear
Solution Approach 1:
The patent calculates the calibration position in advance based on the geometric relationship between the movable working tool and the machine body, but performs the actual measurement using the surveying device in the field. This allows the system to be prepared beforehand while still capturing actual field conditions, combining the benefits of pre-planning with accurate field measurement
Solution Approach 2:
The patent replaces physical field measurement of multiple dimensions with a calculated position approach using a surveying device. Instead of mechanically measuring multiple points and dimensions in the field, the system calculates a specific calibration position and measures only that point, substituting complex mechanical measurement with a simplified optical/electronic surveying method
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
This method reduces the need for multiple prism attachments, minimizes sticking errors, and allows for high-precision calibration at the construction site without expert data setting, using a single set of expensive GNSS receivers and antennas, resulting in accurate and efficient positioning and calibration.
Implementation Method 1
a first surveying device provided on a machine body for surveying position coordinates of the machine body
Implementation Method 2
a first angle detecting device provided on the machine body for detecting an angle of the machine body, and at least one second angle detecting device provided on the movable working tool
Implementation Method 3
a second surveying device provided outside the construction working machine for surveying position coordinates of a plurality of posture positions of the movable working tool
Data Source
AI summary
A positioning calibration controller for measuring and calibrating the configuration dimensions of a construction working machine having an machine body including a first surveying device for surveying the position coordinates and a movable working tool including one or more angle detecting devices, wherein the positioning calibration method and the positioning calibration controller of the construction working machine having the feature of specifying the configuration dimensions and the configuration positions of the movable business tool by the position measurement data and the angle data detected by the angle detecting device by measuring the position coordinates of the plurality of posture positions of the movable business tool by a second surveying device.