Inertial Sensor Mounting Location Determination in Construction Machines
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Solution Overview
Problem
Conventional construction machines, such as hydraulic excavators, face challenges in efficiently setting the mounting locations for inertial sensors due to labor-intensive and costly processes, including potential mix-ups and increased inventory management costs, especially when using identical sensors for different parts without designated mounting locations.
Innovation Solution
A construction machine equipped with a plurality of inertial sensors of the same specification mounted on movable parts to detect angular velocities of three coordinate axes, a controller calculates the posture of each part using sensor outputs, and determines the mounting location based on operation pressure thresholds, allowing for easy setting and reducing mix-ups by establishing a corresponding relation between parts and sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If inertial measurement units are attached one by one to each movable part, then the mounting location can be set, but the hours and labors required for setting works increase
Solution Approach 1:
The system automatically determines the mounting location of inertial sensors by detecting operational parameters (traveling operation pressure and revolving operation pressure) and analyzing sensor outputs, eliminating the need for manual setting works by operators
Solution Approach 2:
The manual mechanical process of attaching and setting inertial measurement units is replaced by an automated control system that uses pressure sensors and data processing to automatically identify and assign sensor mounting locations
2Reliability
If inertial measurement units are made exclusive for specific mounting locations with different data transmission formats, then mix-up of mounting locations is prevented, but costs in inventory management and storage increase
Solution Approach 1:
Identical inertial measurement units can be mounted on different movable parts (boom, arm, bucket, vehicle body) by using automated location determination based on operational pressure detection and sensor output analysis, eliminating the need for different versions of sensors for different locations
Solution Approach 2:
The system changes the identification parameter from physical sensor variation to operational parameter detection (traveling operation pressure and revolving operation pressure thresholds) to distinguish between different mounting locations
3Loss of information
If data transmission formats are defined for each mounting location, then the controller can identify sensor locations, but the complexity of data management increases
Solution Approach 1:
All inertial measurement units use identical data transmission formats, simplifying data management. The controller identifies mounting locations by analyzing operational parameters (pressure thresholds) rather than relying on different data formats, reducing system complexity
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 simplifies the setting of inertial sensors' mounting locations, improves workability, reduces inventory costs, and prevents mix-ups, enabling efficient operation and management of sensors across different parts of the machine.
Implementation Method 1
a plurality of inertial sensors with the same specification that are respectively mounted on each of the plurality of movable parts to be capable of detecting angular velocities of three coordinate axes perpendicular to each other
Implementation Method 2
a traveling operation pressure sensor that detects a traveling operation pressure for causing the lower traveling structure to travel, and a revolving operation pressure sensor that detects a revolving operation pressure for revolving the upper revolving structure
Data Source
AI summary
First to third inertial sensors (16, 17, 18) are respectively mounted on a boom (5A), an arm (5B) and a bucket (5C) to rotate in coordinate axes different from each other at the time of operating the boom (5A). In a case where the boom (5A) is operated in a state where a traveling operation pressure Pa and a revolving operation pressure Pb are equal to or less than respective preset operation pressure threshold values, a controller (20) makes a determination on which movable part of the boom (5A), the arm (5B) and the bucket (5C) each of the inertial sensors (16, 17, 18) is mounted, based upon sensor outputs outputted from the inertial sensors (16, 17, 18). The controller (20) sets a corresponding relation between each of the boom (5A), the arm (5B) and the bucket (5C) and each of the inertial sensors (16, 17, 18) based upon the determination result.