Motor Grader Blade Position Detection via Multi-Sensor Fusion
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Solution Overview
Problem
Current motor graders face challenges in achieving accurate detection of the blade's position, which is crucial for efficient and high-quality land grading operations.
Innovation Solution
The proposed work machine incorporates a vehicular body frame with a pivotable front and rear frame, a cab with a satellite position determination antenna, and multiple sensors to detect the inclination and rotation of the blade, allowing a controller to calculate the blade's position in a global coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors and antennas are used to improve blade position detection accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system segments the detection function into multiple independent sensors: a satellite position determination antenna for global position, a first sensor for cab inclination, a second sensor for drawbar angle, a third sensor for swing circle rotation, and a fourth sensor for blade inclination. Each sensor handles a specific aspect of position detection, and the controller integrates these segmented measurements to achieve high-precision blade position determination while keeping each individual sensor relatively simple.
2Measurement precision
If multiple sensors and antennas are used to improve blade position detection accuracy, then measurement precision is improved, but the number of components increases
Solution Approach 1:
The controller serves as a universal integration platform that processes data from multiple different sensors (satellite antenna, inclination sensor, angle sensors) and performs multiple functions: receiving satellite position determination signals, integrating detection results from all sensors, calculating blade position in global coordinate system, and enabling automatic control. This multi-functional approach reduces the need for separate dedicated systems for each function.
Solution Approach 2:
The system merges five different detection components (satellite antenna, first sensor, second sensor, third sensor, fourth sensor) into a unified blade position determination system. All sensors are integrated through the controller which combines their detection results to calculate the final blade position, achieving high measurement precision while consolidating the system architecture.
3Measurement precision
If satellite antenna is mounted on cab roof and multiple sensors are used, then blade position detection accuracy is improved, but ease of operation decreases
Solution Approach 1:
The system implements self-service through automatic control functionality. The controller automatically integrates detection results from all sensors, calculates blade position in global coordinate system, and provides this information for automatic control of the blade. This eliminates the need for manual measurement and calculation operations, allowing the system to serve itself in terms of data processing and position determination.
Solution Approach 2:
The system establishes a feedback loop where the controller continuously receives detection results from multiple sensors, calculates blade position, and provides this information for automatic control. The detected blade position feeds back to the control system, enabling closed-loop control that improves operational ease by automating the control process based on real-time position data.
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 configuration enhances the accuracy of blade position detection, enabling more precise control and efficient land grading operations.
Implementation Method 1
an antenna for reception of a satellite position determination signal arranged in a roof portion of the cab
Implementation Method 2
a first sensor mounted on the cab, the first sensor detecting an inclination of the cab
Implementation Method 3
a second sensor that detects an angle of inclination of the draw bar with respect to the cab
Implementation Method 4
a third sensor that detects an angle of rotation of the swing circle with respect to the draw bar
Implementation Method 5
a fourth sensor that detects an angle of inclination of the blade with respect to the swing circle
Data Source
AI summary
Detection accuracy of a device for obtaining a position of a blade is improved. A motor grader includes an antenna for reception of a satellite position determination signal arranged in a roof portion of a cab, a first IMU mounted on the cab, a second IMU mounted on a draw bar, a rotation angle sensor that detects an angle of rotation of a swing circle with respect to the draw bar, an inclination angle sensor that detects an angle of inclination of a blade with respect to the swing circle, and a controller. The controller obtains the position of the blade in a global coordinate system based on the satellite position determination signal received by the antenna and results of detection by the first IMU, the second IMU, the rotation angle sensor, and the inclination angle sensor.