Sensor Calibration via Swing Motion for Work Machine Orientation
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Solution Overview
Problem
Conventional sensor systems for work machines, such as excavators, fail to accurately account for swing motion due to mounting misalignment, leading to errors in orientation and position estimation, especially during high-speed operations, as they confuse swing motion with linkage motion, resulting in significant errors in roll, yaw, and pitch angles.
Innovation Solution
A novel calibration method that utilizes swing motion to identify and correct mounting misalignment of sensor systems by rotating the implement about linkage joints and tracking angular velocity measurements to determine the orientation of components relative to linkage joints, allowing for accurate calibration and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensor fusion algorithms are used to estimate component orientation, then orientation can be estimated, but mounting misalignment causes significant errors in roll, yaw, and pitch angles
Solution Approach 1:
The patent applies preliminary calibration actions before normal operation. The system performs calibration routines where the implement is rotated through specific sequences of movements (including swing motions) to pre-determine and store correction parameters that compensate for mounting misalignment. This preliminary calibration ensures that when actual operation occurs, the sensor fusion algorithms use corrected orientation data, eliminating the errors that would otherwise occur during normal operation.
2Device complexity
If swing motion is not accounted for in sensor fusion algorithms, then algorithm complexity is reduced, but orientation errors increase due to confusion between swing and linkage motion
Solution Approach 1:
The patent segments the motion analysis into distinct components: swing motion detection and linkage motion detection. By separating these two types of motion, the system can process them independently and apply appropriate corrections. The calibration routine specifically isolates swing motion as a separate phenomenon that must be compensated for, allowing the sensor fusion algorithm to maintain simplicity while achieving high precision through structured separation of motion types.
3Duration of action of stationary object
If sensor fusion integrates gyroscope and accelerometer measurements, then orientation can be tracked, but mounting misalignment causes drift in orientation estimates
Solution Approach 1:
The patent implements feedback mechanisms during the calibration process where the system actively monitors sensor readings and adjusts correction parameters accordingly. During calibration, the implement undergoes controlled movements and the system measures the actual versus expected sensor responses, using this feedback to refine and update the calibration parameters. This feedback loop ensures that the orientation tracking remains accurate over extended periods by continuously compensating for drift caused by mounting misalignment.
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
The method effectively reduces errors in orientation and position estimation by accurately distinguishing between swing and linkage motions, improving the accuracy of sensor data integration and reducing drift, thereby enhancing the precision of work machine operations.
Implementation Method 1
the gyroscope most actively sensing during movement of the one or more components of the implement
Implementation Method 2
the accelerometer most actively sensing while the one or more components of the implement are at rest
Data Source
AI summary
A computer-implemented method of operating an implement for a work machine as disclosed herein includes a calibration mode and an operation mode. In the calibration mode: at least one of one or more components of the implement may be rotated about at least one linkage joint corresponding to the at least one of the one or more components into one or more poses; for the one or more poses, the implement may be revolved about a frame of the work machine; output signals may be received from at least one sensor associated with the at least one of the one or more components; and at least one characteristic for the at least one of the one or more components may be tracked. In the operation mode, movement of the at least one of the one or more components may be based in part on the tracked at least one characteristic.