Excavator Calibration Device Swing Angle Range Selection
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Solution Overview
Problem
Existing calibration methods for hydraulic excavators result in inevitable errors between calibrated working equipment parameters and true values, leading to poor estimation accuracy of the bucket's position when the blade edge is in attitudes other than those used for calibration, making it difficult to reduce errors within a predetermined acceptable range.
Innovation Solution
A calibration device and method that include a swing angle detector, attitude calculating unit, and estimated position calculating unit, along with a measurement value acquiring unit and calibration unit, to select a calibration range where the variation in swing angle has a predetermined relationship with stroke displacement, allowing for highly accurate calibration of working equipment parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If calibration is performed using only five specific attitudes of the blade edge, then the calibration process is simple and quick, but the estimation accuracy of the bucket position deteriorates when the blade edge is in attitudes other than those used for calibration
Solution Approach 1:
The patent divides the calibration process into two distinct phases: a quick initial calibration using five specific attitudes, and a subsequent refinement phase using multiple intermediate attitudes within a predetermined swing angle range. This segmentation allows the system to benefit from both the speed of simplified calibration and the accuracy of comprehensive calibration.
Solution Approach 2:
The patent performs preliminary calibration using five specific attitudes to establish baseline working equipment parameters. This preliminary action enables quick setup while preparing the system for more accurate refinement calibration that follows, ensuring both efficiency and precision are achieved in sequence.
2Measurement precision
If calibration is performed using multiple intermediate attitudes within a predetermined swing angle range, then the position estimation accuracy is improved, but the calibration process becomes more complex and time-consuming
Solution Approach 1:
The patent introduces dynamic adjustment to the calibration process by automatically determining the number and distribution of intermediate attitudes based on the predetermined swing angle range and relationship between stroke displacement and swing angle variation. This dynamic approach optimizes calibration accuracy while adapting the process complexity to actual needs rather than using a fixed, overly complex procedure.
Solution Approach 2:
The patent changes the calibration parameters by introducing a predetermined swing angle range and using the relationship between stroke displacement and swing angle variation to determine optimal intermediate attitudes. This parameter-based approach systematically manages calibration complexity while ensuring high accuracy through mathematically optimized measurement points.
3Ease of manufacture
If all working equipment parameters are calibrated based on the blade edge position, then the calibration process is straightforward, but inevitable errors occur between calibrated parameters and true values
Solution Approach 1:
The patent introduces intermediate attitudes as mediator measurement points between the five specific calibration attitudes and the actual operating attitudes. These intermediate measurements act as mediators that bridge the gap, providing additional data points that reduce calibration errors while maintaining the overall straightforward calibration framework.
Solution Approach 2:
The patent implements feedback by using the relationship between stroke displacement and swing angle variation to determine optimal intermediate attitudes for calibration. This feedback mechanism continuously refines the calibration process, ensuring that measurements are taken at the most informative positions to minimize errors between calibrated and true parameter values.
Data Source
AI summary
A calibration device for a work machine includes: a measurement value acquiring unit acquiring respective measurement values of a first actuation unit and a bucket measured using an external measurement device; a working equipment parameter acquiring unit acquiring working equipment parameters of the member of the first actuation unit and the bucket; a calibration unit calibrating the working equipment parameters of the member of the first actuation unit and the bucket based on the measurement value of a reference point of the bucket acquired by the measurement value acquiring unit; and a calibration range selecting unit selecting, from among a first range where a variation in a swing angle of the bucket has a predetermined relationship with a change in swing angle information of the bucket and a second range where a variation in the swing angle increases as compared with the variation in the first range.