Work Machine Bearing Self-Calibration Using Straight-Line Travel
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Solution Overview
Problem
Existing methods for calibrating the bearing of work machines are complicated and require external measurement apparatuses, making the process cumbersome and inaccurate.
Innovation Solution
A system and method that utilizes a first and second positional sensor mounted on the work machine to calculate a first bearing, and through a determination condition of straight-line travel, calculates a second bearing to correct the first bearing using a correction value based on the difference between the two, without external apparatuses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external measurement apparatus (total station) is used to calibrate bearing error, then measurement precision is improved, but device complexity and ease of operation deteriorate
Solution Approach 1:
The work machine performs self-calibration of bearing error using its own onboard positional sensors and controller. The controller calculates the bearing error by comparing the bearing derived from positional sensor data with the bearing derived from position changes during straight-line travel, eliminating the need for external measurement apparatus and enabling autonomous calibration.
Solution Approach 2:
The patent uses the work machine's own positional sensors and controller as intermediaries to perform calibration. Instead of directly measuring bearing error with external equipment, the system uses positional data from onboard sensors to indirectly calculate and correct the bearing error through mathematical computations and comparison of different bearing calculation methods.
2Measurement precision
If external measurement apparatus is used for calibration, then measurement precision is improved, but ease of operation worsens
Solution Approach 1:
The work machine autonomously performs calibration operations using its own onboard systems. The controller automatically acquires positional data, calculates bearings through multiple methods, determines the bearing error, and applies correction values without requiring external measurement apparatus or complex manual intervention, significantly improving ease of operation.
Solution Approach 2:
The patent replaces the mechanical/optical measurement system (total station) with an electronic/computational system using onboard positional sensors and controller. The calibration process is transformed from a manual field measurement operation to an automated electronic calculation and correction process, enhancing operational simplicity.
3Measurement precision
If multiple positional sensors are used to calculate bearing, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The onboard positional sensors serve multiple functions: they provide position information for navigation, enable calculation of bearing through positional relationships, and facilitate bearing error calibration by providing data for comparing different bearing calculation methods. This multi-functionality justifies the use of multiple sensors without proportionally increasing system complexity.
Solution Approach 2:
The patent combines the functions of bearing measurement and bearing error calibration into a single integrated process using the same onboard positional sensors and controller. By merging these functions and utilizing the existing sensor network for multiple purposes, the system avoids the need for separate dedicated calibration sensors, thereby controlling device complexity.
Data Source
AI summary
A controller calculates a first bearing indicative of the bearing of a work machine based on first positional data and second positional data. The controller calculates the position of the work machine. The controller calculates a second bearing indicative of the bearing of the work machine based on a change in the position of the work machine in a predetermined zone when a determination condition, including a travel condition indicating that the work machine is traveling in a straight line, is satisfied within the predetermined zone. The controller calculates a correction value of the bearing of the work machine based on the difference between the first bearing and the second bearing in the predetermined zone. The controller corrects the first bearing based on the correction value.