Excavator GNSS Mask Control for Work Device Posture Changes
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Solution Overview
Problem
Existing satellite positioning systems in work machines, such as hydraulic excavators, face decreased precision due to movable radio wave obstacles like front work devices, which change posture frequently during operations.
Innovation Solution
A work machine equipped with posture sensors to monitor the position and posture of the front work device and upper swing structure, a positioning antenna to receive satellite signals, and a controller that computes and selects the best mask range for satellite selection based on the sensed postures to maximize positioning precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a fixed mask range is used for satellite selection, then the positioning system is simple to operate, but the positioning precision decreases when the front work device changes posture
Solution Approach 1:
The mask range is made dynamic by automatically adjusting it according to the detected posture of the front work device. The system detects the boom angle, arm angle, and bucket angle, then selectively applies mask ranges based on these posture parameters, allowing the mask range to adapt to different working conditions rather than remaining fixed
Solution Approach 2:
The system changes the mask range parameter based on the detected work device posture. Different mask ranges are selected according to the boom angle, arm angle, and bucket angle, optimizing the satellite selection criteria for each specific posture configuration to maintain positioning precision
2Measurement precision
If the mask range is changed frequently according to work device posture, then the positioning precision is maintained, but the number of available satellites decreases
Solution Approach 1:
Different mask ranges are applied locally based on specific posture conditions. The system detects the current work device posture and selects an appropriate mask range from multiple pre-defined options, optimizing satellite selection for each local posture condition rather than applying a single global mask range
Solution Approach 2:
The mask range selection is dynamically adjusted based on real-time posture detection. The system monitors boom angle, arm angle, and bucket angle, and selectively applies different mask ranges according to the detected posture, balancing positioning precision with satellite availability
3Quantity of substance
If no mask range is used, then the number of available satellites is maximized, but the positioning precision decreases due to multipath interference
Solution Approach 1:
The system changes the mask range parameter based on the detected work device posture. Different mask ranges are selected according to the boom angle, arm angle, and bucket angle, optimizing the satellite selection criteria for each specific posture configuration to maintain positioning precision
Solution Approach 2:
The mask range is made dynamic by automatically adjusting it according to the detected posture of the front work device. The system detects the boom angle, arm angle, and bucket angle, then selectively applies mask ranges based on these posture parameters, allowing the mask range to adapt to different working conditions rather than remaining fixed
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 effectively suppresses the decrease in satellite positioning precision caused by the operation of the work device, thereby enhancing the precision of work performed by the machine.
Implementation Method 1
a positioning antenna 50A that is mounted to the upper swing structure 3 and receives satellite signals from a plurality of positioning satellites
Implementation Method 2
a plurality of posture sensors 75A to 75C that sense postures of the work device 6 and the upper swing structure 3
Data Source
AI summary
A controller provided to a work machine stores a plurality of mask ranges which are used to select positioning satellites to be used by a receiver to compute a position of an antenna and are set with reference to an antenna on the basis of the postures of a work device and an swing structure. The controller computes each of a plurality of positioning precisions on the basis of satellite related data on the positioning satellites each of which is selected through use of each of the plurality of mask ranges and satellite related data on the positioning satellites which are selected through use of none of the plurality of mask ranges. The receiver computes the position of the antenna on the basis of satellite signals of the positioning satellites selected in a case of having the highest positioning precision out of the plurality of computed positioning precisions.