Revolving Work Vehicle Position Detection via Coordinate Transformation
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Solution Overview
Problem
Revolving work vehicles with a boom swing function face challenges in accurately detecting the position of their working end due to changes in the relative relationship between position sensors and GPS antennas, leading to inaccuracies in position detection.
Innovation Solution
A configuration that includes a base carrier, a revolving superstructure, a swing body, a work machine, and position detecting devices to accurately calculate the working end's position using first and second position detecting devices, which are installed on the swing body and work machine, respectively, to account for horizontal and vertical movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS antennas are installed on the construction machine body and position sensors are installed on the work machine to detect position, then position detection is enabled, but the relative relationship between the output from the position sensors and the position information from the antennas changes due to swing operation of the boom, making accurate position detection impossible
Solution Approach 1:
The patent introduces an intermediary coordinate system transformation process that mediates between the position sensors on the work machine and the GPS antennas on the construction machine body. By establishing a virtual coordinate system that accounts for boom swing angles and performing coordinate transformations, the system reconciles the changing relative relationships without requiring direct rigid coupling between sensors and antennas, thus maintaining detection accuracy despite mechanical movements.
2Measurement precision
If GPS antenna is installed at the working end of the arm to detect position, then position information can be obtained, but the antenna is subjected to significant vibration and impact, making high-accuracy detection inconvenient
Solution Approach 1:
The patent extracts the GPS antenna from the working end of the arm where vibration and impact are significant, and relocates it to the construction machine body which experiences minimal vibration. Instead of relying on the antenna's physical position at the working end, the system uses coordinate system transformations and swing angle calculations to virtually determine the working end's position, thus eliminating the harmful effects of vibration and impact on the antenna while maintaining detection accuracy.
3Adaptability or versatility
If position sensors are installed on the work machine and GPS antennas on the construction machine body, then position detection system is established, but the change in relative relationship due to boom swing operation causes detection inaccuracy
Solution Approach 1:
The patent applies dynamics by making the coordinate system transformation process adaptive to the boom's swing motion. Instead of using a fixed coordinate relationship, the system dynamically calculates transformation matrices based on real-time swing angles detected by position sensors. This dynamic adjustment allows the system to maintain accurate working end position detection despite the changing spatial relationships caused by boom swing operations.
Data Source
AI summary
The present invention includes: a base carrier; a revolving superstructure provided above the base carrier in a manner capable of revolving; a boom bracket supported by the revolving superstructure in a horizontally rotatable manner about a center axis of the revolving superstructure and about an axis parallel to the center axis; a work machine supported by the boom bracket in a horizontally rotatable manner about the axis parallel to the center axis and in a vertically rotatable manner; a first position detecting sensor that is installed on the swing body and that detects a horizontal movement of the swing body about the axis; a second position detecting sensor that is installed on the work machine and that detects a vertical movement of the work machine; and a position detecting apparatus detecting a horizontal movement of the revolving superstructure about the center axis of the revolving superstructure.