Posture Computing for Work Machines Using Centrifugal Correction
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Solution Overview
Problem
Existing work machines, such as excavators, face challenges in accurately determining the posture angle of their work implements, especially when the detection apparatus is not placed at the center of rotation, leading to incorrect swing angle calculations during operation.
Innovation Solution
A posture computing apparatus that includes a detection apparatus for angular velocity and acceleration, an acceleration correcting unit, and a posture angle computing unit, which corrects acceleration based on the apparatus' position and calculates the posture angle using the corrected acceleration and detected angular velocity, ensuring accurate swing angle determination regardless of the machine's operating state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the detection apparatus is placed away from the center of swing to facilitate installation and operation, then the ease of operation is improved, but the measurement precision of the swing angle deteriorates
Solution Approach 1:
The patent introduces an acceleration correcting unit as an intermediary component that processes the acceleration data from the detection apparatus. This unit calculates and removes the centrifugal acceleration component caused by the offset position, allowing the detection apparatus to be installed away from the center of swing while still obtaining accurate swing angle measurements. The intermediary corrects the measurement error without requiring physical relocation of the sensor.
2Measurement precision
If the detection apparatus is placed at the center of swing to ensure accurate swing angle measurement, then the measurement precision is improved, but the ease of operation deteriorates due to restricted installation positions
Solution Approach 1:
The patent changes the parameter being measured by the detection apparatus from direct swing angle to acceleration data. By detecting acceleration and then correcting for centrifugal effects through calculation, the system allows flexible installation positions while maintaining measurement accuracy. This parameter transformation enables the detection apparatus to function accurately regardless of its physical location on the work machine.
3Productivity
If the work machine operates in dynamic conditions (moving and swinging), then the productivity is improved, but the measurement precision of posture angle deteriorates due to centrifugal acceleration effects
Solution Approach 1:
The patent implements a feedback mechanism where the acceleration correcting unit continuously processes acceleration data to determine and remove centrifugal acceleration components. This feedback loop allows the system to maintain accurate posture angle measurements during dynamic operations by constantly adjusting for the effects of motion and swinging, enabling high productivity without sacrificing measurement precision.
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
Enables the work machine to accurately calculate the correct swing angle, preventing excavation beyond boundaries by providing precise posture angle information, enhancing operational control and efficiency.
Implementation Method 1
an IMU (Inertial Measurement Unit) is mounted on the work machine, and tilt angles such as a roll angle and a pitch angle can be obtained as information about the tilt of the work implement, from the detected values of the IMU
Implementation Method 2
an acceleration correcting unit that corrects the acceleration detected by the detection apparatus; based on a position where the detection apparatus is placed and information on the detection apparatus
Data Source
AI summary
A posture computing apparatus for a work machine is an apparatus that obtains a posture angle of a work machine including a traveling body and a swing body that is mounted on the traveling body and that rotates relative to the traveling body. The posture computing apparatus includes a detection apparatus that is provided to the swing body and detects angular velocity and acceleration; an acceleration correcting unit that corrects the acceleration detected by the detection apparatus, based on a position where the detection apparatus is placed and information on the detection apparatus; and a posture angle computing unit that obtains a posture angle of the work machine from the acceleration corrected by the acceleration correcting unit and the angular velocity detected by the detection apparatus.