Work Machine Attitude Calibration via Yaw Deviation Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Attitude detection devices on work machines, such as excavators, experience errors in detecting the attitude of working implements due to deviations in the yaw direction, leading to incorrect inclination angles and positional inaccuracies when attached with deviations from the reference position.
Innovation Solution
A calibration device and method that corrects errors in attitude detection by obtaining and comparing positions of the work machine in different attitudes, specifically when the pitch angle is 0 degrees, to calculate and correct the yaw angle deviation, thereby improving the accuracy of the detected attitude.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the attitude detection device is attached to the work machine, then the attitude of the work machine can be detected, but the detection value includes error when the device is attached with deviation from the reference position
Solution Approach 1:
The patent performs preliminary calibration by detecting the work machine's attitude at multiple predetermined positions (first position and second position) before actual operation. This preliminary action establishes reference detection values that account for installation deviations, enabling subsequent error correction during normal use without requiring perfect initial alignment.
Solution Approach 2:
The patent changes the operating parameters by measuring attitude at multiple different positions (first position and second position) rather than a single position. By comparing detection values across these different parameter states, the system calculates and corrects the installation deviation, transforming the fixed error into a correctable variable.
2Ease of operation
If the attitude detection device is used to detect working implement attitude, then working attitude can be specified, but the attitude angle becomes inclined when the device axis is deviated in yaw direction
Solution Approach 1:
The system implements feedback by continuously comparing the detected attitude values with the corrected reference values established during calibration. The correction value calculated from the difference between first and second position measurements is applied to compensate for yaw deviation, ensuring accurate attitude angle measurement during actual working operations.
3Measurement precision
If calibration is performed to correct attitude detection error, then detection accuracy improves, but additional calibration steps and computations are required
Solution Approach 1:
The patent applies partial correction by focusing calibration on the specific yaw direction deviation rather than attempting to correct all possible installation errors. The calibration process uses a simplified approach of measuring at two key positions and calculating a single correction value, avoiding overly complex multi-axis calibration procedures while achieving sufficient accuracy for the intended application.
Data Source
AI summary
When correcting an error caused by deviation of an attitude detection device with respect to a work machine including a swing body which swings, a working implement being attached to the swing body, the attitude detection device outputting an attitude of the work machine, the error is corrected by using a first position which is a position of a part of the work machine when the work machine is in a first attitude and a second position which is a position of the part when the work machine is in a second attitude.