Split Machine Heading Angle Determination with Sensor Drift Correction
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Solution Overview
Problem
Existing methods for determining the relative rotation angle of split machines are inaccurate due to sensor errors that accumulate over time, especially when the machines operate for extended periods, and during immediate start-ups or short travel states.
Innovation Solution
The method involves obtaining angle data from sensors mounted on the upper and lower mechanisms of the split machine, calculating differences in heading angles, and determining actual heading angles based on these differences and preset thresholds to accurately determine the relative rotation angle, even when sensors drift or data errors occur.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If sensor data is used to determine relative rotation angle over extended periods, then continuous monitoring is achieved, but measurement precision deteriorates due to sensor error accumulation
Solution Approach 1:
The system performs preliminary calibration by determining the relative rotation angle through coordinate transformation at the initial state (when upper and lower mechanisms are horizontal). This preliminary reference value is stored and used for subsequent corrections, allowing the system to maintain measurement precision over extended operation periods by periodically recalibrating against known reference positions
Solution Approach 2:
The system implements feedback by continuously comparing sensor-derived angle data with the pre-stored reference relative rotation angle. When the absolute difference exceeds a threshold, the system triggers correction using the reference value, creating a closed-loop feedback mechanism that compensates for sensor drift and maintains measurement accuracy throughout operation
2Loss of time
If sensor data is used immediately after start-up or during short travel states, then quick angle determination is achieved, but measurement precision deteriorates due to sensor instability
Solution Approach 1:
The system prepares reference relative rotation angle data in advance during calibration phases (when mechanisms are in known horizontal positions). This pre-prepared reference data acts as a cushion against sensor instability, allowing the system to quickly determine accurate angles even during transient states by comparing against the pre-established reference rather than relying solely on unstable immediate sensor readings
3Device complexity
If only sensor data is used for angle determination, then system complexity is reduced, but reliability deteriorates due to sensor errors
Solution Approach 1:
The system introduces a reference relative rotation angle as an intermediary element between the sensor data and the final angle determination. This reference value, derived from coordinate transformation at known reference positions, mediates the relationship between sensor readings and actual angles, compensating for sensor errors without requiring additional physical sensors or complex hardware modifications
Data Source
AI summary
The present disclosure provides an angle determining method, device, and system. The angle determining method includes: obtaining angle data when an upper mechanism of a split machine rotates to a preset position, the angle data including a first heading angle of the upper mechanism and a second heading angle of a lower mechanism; determining a first absolute value of a difference between the first heading angle and the second heading angle; and determining an actual heading angle of the lower mechanism according to the second heading angle and determining an actual heading angle of the upper mechanism according to the second heading angle and an actual rotation angle between the upper mechanism being at the preset position and the lower mechanism, in a case where a second absolute value of a difference between the first absolute value and the actual rotation angle is greater than a first preset threshold.