Work Machine Posture Sensor Calibration on Unknown Slopes
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Solution Overview
Problem
Existing calibration methods for work machine posture sensors require known slopes and precise alignment, making them equipment-intensive and time-consuming.
Innovation Solution
A system and method that utilize vehicle body and work implement sensors to calculate yaw angle errors, allowing calibration on unknown slopes and without exact alignment, using a controller to adjust detected angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the work machine is disposed on a slope with known inclination angle and aligned with the slope direction for calibration, then the calibration accuracy is improved, but the equipment complexity and time consumption increase
Solution Approach 1:
The work machine uses its own work implement sensor to provide reference data for calibrating the vehicle body sensor, eliminating the need for external slope equipment. The system performs self-calibration by utilizing the gravitational force detection capability of both sensors and the known geometric relationship between the vehicle body and work implement.
Solution Approach 2:
The work implement sensor acts as an intermediary reference device that enables calibration without requiring external slope equipment. By using the work implement sensor's gravitational force detection as a reference, the system can calculate the yaw angle error of the vehicle body sensor through coordinate transformation.
2Measurement precision
If the work machine is precisely aligned with the slope direction during calibration, then the calibration accuracy is improved, but the time consumption increases
Solution Approach 1:
The system performs self-calibration using the relative geometric relationship between the vehicle body and work implement, eliminating the need for time-consuming manual alignment operations. The operator only needs to attach the work implement, and the system automatically calculates the calibration parameters.
Solution Approach 2:
The calibration process is simplified by pre-establishing the geometric relationship model between the vehicle body sensor and work implement sensor. This allows the system to directly calculate yaw angle error from sensor data without requiring preliminary alignment operations.
3Measurement precision
If external slope equipment is used for calibration, then the calibration accuracy is improved, but the adaptability decreases
Solution Approach 1:
The work machine performs self-calibration using its own sensors and the gravitational force detection capability, eliminating dependence on external slope equipment. This makes the calibration process adaptable to various work environments including construction sites, farms, and uneven terrain where external equipment may not be available.
Solution Approach 2:
The calibration method is universally applicable to different work machines and work implements by utilizing the common gravitational force detection capability of the sensors. The method works on any terrain without requiring specific slope equipment, making it highly versatile.
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
Enables accurate calibration of posture sensors with reduced equipment and time requirements, eliminating the need for known slopes and precise alignment.
Implementation Method 1
The vehicle body sensor detects a roll angle, a pitch angle, and a yaw angle of the vehicle body
Implementation Method 2
The work implement sensor detects a roll angle of the work implement
Data Source
AI summary
The system includes a vehicle body sensor attached to a vehicle body of a work machine, a work implement sensor attached to a work implement of the work machine to detect a roll angle of the work implement, and a controller communicably connected to the sensors. The vehicle body sensor detects roll, pitch, and yaw angles of the vehicle body. The controller acquires the roll and pitch angles of the vehicle body detected by the vehicle body sensor, acquires the roll angle of the work implement detected by the work implement sensor, calculates a yaw angle error of the vehicle body sensor with respect to the vehicle body based on the pitch angle of the vehicle body and a difference between the roll angle of the vehicle body and the roll angle of the work implement, and calibrates the vehicle body sensor using the yaw angle error.