Excavator Sensor Position Determination Logic
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Solution Overview
Problem
Hydraulic excavators face challenges in precise operation due to unknown sensor locations when additional sensors are added post-manufacture, affecting control precision and safety.
Innovation Solution
Implementing sensor position determination logic and control signal generator logic in mobile machines to determine sensor positions based on acceleration data during rotation, allowing for precise control signal generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional sensors are added post-manufacture to enhance control capabilities, then the adaptability and control precision are improved, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The system performs preliminary actions by automatically determining sensor positions through calibration routines before the sensors can be used for control. The controller executes calibration sequences that rotate the house and boom to specific positions, capturing acceleration data that reveals sensor location relative to rotation axes.
Solution Approach 2:
The sensor position determination system is self-service in that it uses the sensor's own acceleration measurements during controlled movements to determine its location. The system leverages the sensor's inherent capabilities to provide information about its own position without requiring external measurement systems or manual calibration.
2Measurement precision
If sensor position is determined through multiple rotation sequences, then measurement precision is improved, but the loss of time and operational duration increase
Solution Approach 1:
The calibration process uses periodic actions by rotating the house and boom through specific sequences of movements. The controller executes repeated cycles of rotation to specific positions, holds briefly, and captures data, creating periodic sampling that builds sufficient precision through multiple measurements.
Solution Approach 2:
The system applies partial action by using a limited set of critical rotation positions rather than exhaustive sampling. By strategically selecting key positions in the rotation sequences (such as horizontal and vertical orientations), the system achieves sufficient precision without requiring complete coverage of all possible orientations.
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
Enhances operational precision and safety by accurately determining sensor positions, enabling more precise control of excavator components without significant cost increases.
Implementation Method 1
a sensor operably coupled to the rotatable house and configured to provide at least one sensor signal indicative of acceleration
Data Source
AI summary
An excavator includes a rotatable house and a bucket operably coupled to the rotatable house. The excavator also includes one or more swing sensors configured to provide at least one rotation sensor signal indicative of rotation of the rotatable house and one or more controllers coupled to the sensor. The one or more controllers being configured to implement inertia determination logic that determines the inertia of a portion of the excavator and control signal generator logic that generates a control signal to control the excavator, based on the inertia of the portion of the excavator.