Excavator Control System Prediction Correction for Position Accuracy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing excavation control systems for hydraulic excavators face delays in determining the designed terrain, leading to inaccuracies in the position of the working unit, as the processing time from GPS antenna data reception to terrain determination exceeds the time the bucket or vehicle has moved.
Innovation Solution
An excavation control system with a prediction correcting part that generates corrected revolving unit disposition data based on motion data and delay time, allowing for real-time prediction of the working unit's position and orientation, enabling the generation of designed terrain data that corresponds to the current position of the working unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the designed terrain is determined based on GPS antenna data reception and processing, then the terrain data can be obtained, but a delay time occurs causing the terrain data to correspond to the position of the working unit before moving
Solution Approach 1:
The prediction correcting part performs preliminary correction of the revolving unit disposition data using motion data and delay time information before the designed terrain data is generated. This allows the system to pre-adjust for the expected position based on current motion trends, so that when the terrain data is finally generated, it already corresponds to the corrected future position rather than the delayed past position.
Solution Approach 2:
The system uses motion data from sensors as feedback to continuously update and correct the revolving unit disposition data. By monitoring the actual motion of the revolving unit and feeding this information back to the prediction correcting part, the system can dynamically adjust the position prediction to match the actual movement, compensating for the processing delay in terrain data generation.
2Productivity
If the revolving unit disposition data is used directly for terrain determination, then the processing is simple, but the position data becomes inaccurate when the revolving unit is moving
Solution Approach 1:
The prediction correcting part performs preliminary correction of the revolving unit disposition data using motion data and delay time information before the designed terrain data is generated. This allows the system to pre-adjust for the expected position based on current motion trends, so that when the terrain data is finally generated, it already corresponds to the corrected future position rather than the delayed past position.
Solution Approach 2:
The prediction correcting part acts as an intermediary between the raw revolving unit disposition data and the final designed terrain data. It introduces a correction mechanism that uses motion data as an intermediate factor to bridge the gap between the current disposition data and the future position where the terrain data will be needed, thereby maintaining both processing efficiency and position accuracy.
Data Source
AI summary
An excavation control system includes a global coordinate computing device, a prediction correcting part, a cutting edge position data generating part, and a designed terrain data generating part. The global coordinate computing device generates revolving unit orientation data (Q) that indicates an orientation of a revolving unit. The prediction correcting part generates corrected revolving unit orientation data (R) by predictively correcting the revolving unit orientation data (Q) based on a delay time (t) and revolve angle speed data (Dω) that indicates a revolve angle speed (ω) of the revolving unit. The cutting edge position data generating part generates cutting edge position data (S) that indicates a position of a cutting edge based on reference position data (P1), the revolving unit orientation data (Q), and the corrected revolving unit orientation data (R). The designed terrain data generating part generates designed terrain data (U) based on the cutting edge position data (S) and stereoscopic designed terrain data (T).