Inertial Measurement Device for Articulation Angle Determination
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Solution Overview
Problem
Current methods for determining the kink angle and steering angle in mobile work machines, such as wheel loaders and dumpers, are inefficient and prone to sensor drift, making it difficult to accurately compensate for driving influences and determine vehicle movement.
Innovation Solution
The implementation of an inertial measuring device with first and second rotary sensors on the front and rear cars, respectively, allows for the reliable determination of kink and steering angles by analyzing rotation rates and integrating them to separate steering and driving movements, thereby minimizing sensor drift and interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If current methods are used to determine articulation angle and steering angle, then the determination can be made, but sensor drift and interference from driving influences reduce measurement precision
Solution Approach 1:
The patent divides the vehicle into front and rear sections, each equipped with its own yaw rate sensor. By segmenting the measurement system and placing sensors at different locations, the patent can differentiate between steering-induced yaw rates and driving-induced yaw rates, thereby improving measurement precision while maintaining reliability
Solution Approach 2:
The patent uses the difference between front and rear yaw rate signals as an intermediary to isolate steering movement from driving movement. This intermediary approach allows the system to filter out driving influences and extract only the steering component, resolving the contradiction between precision and reliability
2Measurement precision
If yaw rate sensors are integrated on front and rear sections, then articulation angle can be reliably determined, but device complexity increases
Solution Approach 1:
The yaw rate sensors serve multiple functions: they measure both the magnitude and direction of rotation, and by comparing front and rear sensor readings, they simultaneously determine both articulation angle and steering angle. This multi-functionality reduces the need for additional specialized sensors, thereby managing device complexity while achieving high measurement precision
Solution Approach 2:
The system uses the inherent differential signals from the front and rear yaw rate sensors to automatically separate steering and driving movements through mathematical processing. The sensors and control unit work together to self-correct for driving influences without requiring external calibration or additional complex measurement systems
Data Source
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AI summary
The invention relates to a method for operating a work machine (100). The work machine (100) comprises a front carriage (105) and a rear carriage (110) connected to the front carriage (105) via an articulated steering mechanism (115), as well as an inertial measuring device (120). The inertial measuring device (120) can have a first yaw rate sensor (125) arranged on the front carriage (105) and a second yaw rate sensor (130) arranged on the rear carriage (110). The method comprises a reading step and a determination step. In the reading step, a first yaw rate signal is read from the first yaw rate sensor (125), wherein the first yaw rate signal represents a rotation rate of the front carriage (105). Additionally, a second yaw rate signal is read from the second yaw rate sensor (130), wherein the second yaw rate signal represents a rotation rate of the rear carriage (110).In the determination step, an angle signal is determined using the first and second rotation rate signals. The angle signal represents at least one articulation angle and additionally or alternatively a steering angle of the machine (100).