Earthmoving Implement State Estimator for Multi-Axis Control
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Solution Overview
Problem
Existing earthmoving machines lack efficient automated control systems for precise manipulation of earthmoving implements in multiple degrees of rotational freedom, leading to reduced accuracy and increased operator effort.
Innovation Solution
The implementation of a system comprising a translational chassis movement indicator, an earthmoving implement inclinometer with accelerometers and angular rate sensors, and an implement state estimator that uses fusion algorithms and weighting factors to generate accurate implement state estimates and control the implement's position in multiple degrees of rotational freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automated control systems are implemented for earthmoving implements, then operator workload is reduced and precision is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple sensing capabilities (accelerometers, angular rate sensors, GPS receivers) into an integrated implement state estimation system. The estimator merges data from these diverse sensors to comprehensively determine implement position, orientation, and motion state, reducing the need for separate complex control systems for each function.
Solution Approach 2:
The implement state estimator acts as an intermediary component that processes raw sensor data from multiple sources and transforms it into meaningful implement state information. This intermediary layer simplifies the control architecture by providing a unified interface between sensors and control algorithms, reducing overall system complexity.
2Measurement precision
If multiple sensors are integrated for comprehensive motion tracking, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent segments the sensing function into specialized components: accelerometers for linear acceleration measurement, angular rate sensors for rotational motion detection, and GPS receivers for positional tracking. Each sensor type is optimized for specific measurement needs, and the implement state estimator integrates these segmented measurements into a comprehensive implement state assessment.
Solution Approach 2:
The implement state estimator serves multiple functions simultaneously: it processes data from accelerometers, angular rate sensors, and GPS receivers; calculates implement position, orientation, and velocity; and provides comprehensive state information for control purposes. This multi-functional approach reduces the need for separate processing systems for each sensor type.
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 solution enables enhanced automated control of earthmoving implements, improving precision and reducing operator workload by accurately monitoring and controlling the implement's position and orientation in real-time.
Implementation Method 1
an implement accelerometer, which provides a measurement indicative of acceleration of the earthmoving implement in one or more translational or rotational degrees of freedom
Implementation Method 2
an implement angular rate sensor, which provides a measurement of a rate at which the earthmoving implement is rotating in one or more degrees of rotational freedom
Data Source
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AI summary
Earthmoving machines are provided comprising a translational chassis movement indicator, an earthmoving implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the earthmoving implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the earthmoving implement is rotating in one or more degrees of rotational freedom. The implement state estimator generates an implement state estimate that is based at least partially on implement position signals, signals from the translational chassis movement indicator and the implement inclinometer, and one or more weighting factors representative of signal noise.