Work Machine Slewing Angle Measurement Without Fixed Markers
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing working machines struggle to accurately calculate slewing angles of a slewing body without relying on specific objects or markers, especially when facing different directions in various work environments and undergoing modifications.
Innovation Solution
A system that acquires a series of images from a movable image capturing part, calculates first slewing angles relative to a base body, obtains a slewing angle reference, and determines second slewing angles using image processing and feature point matching to establish a reference independent of specific markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional angle detection system references a predetermined portion of the traveling body, then the slewing angle can be calculated, but the system fails when the working machine undergoes remodeling or modification or faces various work sites with different specifications
Solution Approach 1:
The system uses the working machine's own slewing motion to automatically establish a reference direction. The image capturing part captures images during slewing operations, and the calculation part determines the reference direction based on the relative positions of the slewing body and base body shown in the images, eliminating the need for external markers or predetermined reference portions.
Solution Approach 2:
The patent introduces an intermediary reference direction established through image processing. Instead of directly referencing fixed markers on the traveling body, the system uses the relative positional relationship between the slewing body and base body captured in images as an intermediary to establish a stable reference direction that adapts to different work conditions.
2Measurement precision
If the image capturing part is fixed on the slewing body, then the structure is simple, but the system cannot accurately measure slewing angle when the slewing body faces different directions
Solution Approach 1:
The image capturing part is designed to be movable relative to the slewing body, allowing it to capture images from different orientations. This dynamic configuration enables the system to accurately measure slewing angles regardless of the slewing body's facing direction by capturing the relative positional relationship between slewing body and base body in each image.
Solution Approach 2:
The system transitions from a fixed single-point reference to a two-dimensional relative positional relationship captured in images. By capturing the spatial relationship between the slewing body and base body from multiple angles, the system establishes a reference direction in a different dimensional space, enabling accurate measurement regardless of orientation.
3Adaptability or versatility
If a specific object or marker is used as reference, then the calculation is straightforward, but the system cannot adapt to different work environments and starting directions
Solution Approach 1:
The system automatically establishes its own reference direction using the working machine's operational characteristics. The calculation part processes images captured during normal slewing operations to determine the reference direction based on the relative positions of the slewing body and base body, eliminating the need for external markers or complex reference setup procedures.
Solution Approach 2:
The system changes the reference parameter from a fixed spatial marker to a dynamic parameter based on the relative positional relationship between slewing body and base body. This parameter change allows the reference direction to automatically adapt to different work environments and starting directions while maintaining calculation simplicity through image processing.
Data Source
AI summary
Acquiring a plurality of images generated in a time series by an image capturing part being movable in conjunction with slewing of a slewing body, each of the images showing an external environment; calculating first slewing angles of the slewing body, with reference to a position of the slewing body relative to a base body, for the images respectively on the basis of each image among the images and on the basis of a preceding image adjacent to the image obtaining a predetermined position in the external environment to be a slewing angle reference on the basis of the first slewing angles calculated for the images respectively; and calculating, on the basis of the first slewing angles and on the basis of the slewing angle reference, second slewing angles of the slewing body with respect to the slewing angle reference for the images respectively.